CN210423634U

CN210423634U - Harmonic reducer and robot joint driver

Info

Publication number: CN210423634U
Application number: CN201920735523.9U
Authority: CN
Inventors: 贾瑞清; 张钧嘉; 王乾; 贾敏; 谢明佐; 刘欢; 王磊
Original assignee: Beijing Qinniu Chuangzhi Technology Co ltd
Current assignee: Beijing Qinniu Chuangzhi Technology Co ltd
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2020-04-28
Anticipated expiration: 2029-05-22

Abstract

The utility model provides a harmonic reducer, which comprises a shell component, a flexible gear part and a gear following part; the flexible gear is in a shape of a cylinder with certain tooth number on the outer circumferential surface and capable of deforming; the outer circumferential surface is provided with outer teeth which extend along the axis direction, are in a circumferential ring shape and are uniformly distributed at intervals; the flexible tooth part is made of flexible materials, the shell and the tooth following part is made of rigid materials or the flexible tooth part is made of rigid materials, and the shell and the tooth following part are made of flexible materials. The utility model provides a harmonic reducer ware processing simple manufacture, with low costs, the transmission is steady reliable, the precision is high. The utility model also provides a robot joint driver, the motor and the harmonic reducer adopt an integrated design, the number of intermediate connecting pieces is reduced, the cost is reduced, the weight and the volume of the equipment are reduced, and the robot joint driver is more suitable for the application of small-sized robots; the end face connection is equal to the connection mode of the end face of the motor, so that the equipment is convenient to update and transform, and the novel design has high flexibility.

Description

Harmonic reducer and robot joint driver

Technical Field

The utility model relates to the technical field of robot, concretely relates to harmonic speed reducer ware and robot joint driver.

Background

At present, the key joint parts of the robot are all provided with harmonic reducers, and compared with other reducers, the harmonic reducers have the advantages of stable transmission, highest precision, small structural size and light mechanism weight under the condition of the same speed ratio and the same load, and are widely applied to precision industries such as robots, numerical control machines, semiconductor equipment and the like.

The conventional harmonic reducer generally comprises a rigid gear, a flexible gear, a wave generator containing a flexible bearing and other parts. The torque output is transmitted through a thin-wall deformable flexible gear; the flexspline is usually cup-shaped or silk hat-shaped, and is thin-walled and has a right-angled part approaching 90 degrees. The flexible gear with the structure has higher requirements on the performance of steel, the hardness of the flexible gear needs to be ensured while the requirement on elasticity needs to be ensured, and the flexible gear generally adopts imported alloy steel and has higher requirements on the processing precision. Because of the special material and high production process requirement, the cost and price of the speed reducer are far higher than those of other types of speed reducers. At present, a small miniature low-cost harmonic reducer does not exist in the market, the traditional harmonic reducer is large in size and high in cost, and the traditional harmonic reducer is not suitable for some desktop robots with small torque requirements.

In addition, the conventional harmonic reducer with an input shaft is not compact in overall structure, so that the harmonic reducer is large in size, the occupied space is increased, the manufacturing raw materials are added, and the output is not stable and accurate enough. Because the harmonic reducer and the motor need to be connected through other intermediate connecting pieces (such as a motor fixing frame, a connecting flange and the like), the whole speed reducer is troublesome to manufacture, and because a plurality of intermediate connecting pieces are added, the whole speed reducer is higher in production cost, low in transmission precision, large in size and heavy in weight; when the device is used as a robot joint driver, the universality, the connection precision and the sealing performance are poor, and the use is inconvenient.

In order to further reduce the cost, facilitate the use of desktop robots, and facilitate the daily industrial production, it is imperative to design a harmonic reducer and a robot joint driver to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model aims to provide a harmonic speed reducer ware and robot joint driver little miniature, simple structure, transmission are steady reliable, the precision is high and with low costs to defect and not enough among the above-mentioned background art. Meanwhile, the harmonic reducer and the robot joint driver are simple to manufacture, low in cost and convenient for large-scale production and application.

In order to realize the purpose, the utility model discloses a technical scheme be: the utility model provides a harmonic reducer, which comprises a shell assembly and a wave generator, wherein the shell assembly comprises a shell and a shell cover; the wave generator is arranged in the mounting cavity, the shell is internally provided with internal teeth, and the wave generator also comprises a flexible tooth part and a tooth following part; the flexible gear is in a shape of a cylinder with an outer circumferential surface having a certain number of teeth and being deformable; the outer circumferential surface is provided with outer teeth which extend along the axis direction, are in a circumferential ring shape and are uniformly distributed at intervals; the flexible tooth part is made of flexible materials, and the shell and the tooth following part are made of rigid materials; the flexible gear piece is extruded and deformed into an elliptical shape by a wave generator, and the external teeth are meshed with the internal teeth; follow the tooth spare and include along with the tooth dish portion, along with the setting of tooth dish portion in the installation cavity, along with tooth dish portion be provided with the internal tooth chamber of flexible tooth spare shape adaptation, flexible tooth spare inserts in the internal tooth chamber.

Further, the flexible gear is a pre-stressed composite layer anti-torsion gear ring; the composite material layer is formed by combining any one of an elastic steel ring or a steel wire with glass fiber and then combining any one of nylon, rubber or polyurethane through vulcanization compounding.

Further, the prestressing is achieved by deforming the elastic steel ring or the steel wire during the manufacturing.

Furthermore, the tooth form of the anti-torsion gear ring of the prestressed composite material layer is trapezoidal.

Further, the number of the inner teeth is larger than that of the outer teeth; the number of the outer teeth is equal to the number of teeth of the inner tooth cavity.

Furthermore, the shell is of a cup-shaped structure, and a positioning hole is formed in the bottom end face of the cup of the shell; the shell cover is of a cup-shaped structure and is fixedly connected with the shell through a first screw; and a boss is arranged on the outer end face of the shell cover.

Furthermore, a bearing installation cavity and a motor shaft avoidance hole are formed in the gear following disc part, and a first bearing used for supporting the motor shaft is arranged in the bearing installation cavity; the gear following piece further comprises an output shaft part which is rotatably supported on the shell cover through a second bearing and extends out of the shell cover.

Furthermore, the wave generator is of a double-contact vertical type, and the double-contact vertical type wave generator comprises a connecting frame, a supporting shaft and a roller wheel and is integrally arranged in a cup-shaped cavity of the shell; two sides of the connecting frame are respectively provided with two U-shaped openings, and a roller avoiding part is arranged between the two U-shaped openings; the two ends of the supporting shaft are provided with connecting planes matched with the U-shaped openings, and the middle of the supporting shaft is sleeved with the roller.

Furthermore, the connecting frame is provided with a motor shaft hole, and a connecting through groove is formed in the motor shaft hole; the motor shaft is a D-shaped shaft and penetrates through the motor shaft hole; and connecting pieces are arranged in the connecting through grooves and are in interference fit with the groove bottoms of the connecting through grooves and the plane of the motor shaft.

The utility model also provides another harmonic reducer, which comprises a shell component and a wave generator, wherein the shell component comprises a shell and a shell cover; the wave generator is arranged in the mounting cavity, the shell is internally provided with internal teeth, and the wave generator also comprises a flexible tooth part and a tooth following part; the flexible gear is in a shape of a cylinder with an outer circumferential surface having a certain number of teeth and being deformable; the outer circumferential surface is provided with outer teeth which extend along the axis direction, are in a circumferential ring shape and are uniformly distributed at intervals; the flexible tooth part is made of rigid materials, and the shell and the tooth following part are made of flexible materials; the flexible gear piece is extruded by the wave generator to generate local compression deformation, and the external teeth are meshed with the internal teeth; follow the tooth spare and include along with the tooth dish portion, along with the setting of tooth dish portion in the installation cavity, along with tooth dish portion be provided with the internal tooth chamber of flexible tooth spare shape adaptation, flexible tooth spare inserts in the internal tooth chamber.

Furthermore, the flexible tooth part is made of spring steel; the shell and the gear following part are made of rubber, nylon or polyurethane.

Further, the inner teeth can be correspondingly deformed along with the deformation of the flexible tooth piece; the tooth form in the inner tooth cavity can be deformed into a tooth form which is formed by rotating the outer teeth of the flexible tooth part subjected to local compression deformation on the inner tooth cavity.

The utility model also provides a robot joint driver, including motor and any kind of above-mentioned harmonic speed reducer ware, be provided with the countersunk screw hole on the shell, the second screw passes behind the countersunk screw hole with the mounting hole of motor is connected, will shell and motor link firmly.

Furthermore, a connecting through hole is formed in the shell cover, a connecting threaded hole is formed in the shell, and the connecting through hole and the connecting threaded hole are coaxially arranged; the shell cover is further provided with a mounting threaded hole for mounting the robot joint driver, and the mounting threaded hole and the mounting hole of the motor are coaxially arranged.

Compared with the prior art, the utility model, beneficial effect lies in: the harmonic reducer of the utility model divides the flexible gear of the traditional harmonic reducer into a flexible gear part and a gear following part; the flexible gear is cylindrical, so that the processing and manufacturing of the flexible gear are simplified, and the cost and the processing difficulty of the harmonic reducer are greatly reduced; in addition, the flexible tooth part has no traditional 90-degree thin-wall structure, so that stress concentration is eliminated; the load capacity and the shock resistance of the harmonic reducer are enhanced, and the fatigue life of the harmonic reducer is greatly prolonged.

The flexible gear piece of the harmonic reducer adopts the prestressed composite material layer anti-torsion gear ring, and can reduce friction force, increase transmission torque and realize high-precision transmission through the arrangement of the prestressed composite material layer structure and the composite material layer structure; the tooth profile of the flexible tooth part adopts trapezoidal teeth, and compared with the involute tooth profile of a traditional harmonic reducer, the flexible tooth part has high transmission efficiency and low running noise.

The utility model discloses harmonic reducer's wave generator adopts double contact standard bearing to replace flexible bearing, reduces the cost, is convenient for process the preparation.

Compared with the prior art, the utility model provides a robot joint driver, beneficial effect lies in: the motor and the reducer are integrally designed, and a motor shaft is used as an input shaft and also serves as a driving shaft of the wave generator, so that intermediate connecting pieces are reduced, the cost is reduced, the weight and the volume of equipment are reduced, and the micro electromechanical system is more suitable for small robots (such as desktop robots); the end face connection is equal to the connection mode of the end face of the motor, so that the equipment is convenient to update, transform and obey the traditional design habit; has higher precision, universality, flexibility and wider application prospect.

The utility model discloses robot joint driver fixes the harmonic reducer casing at motor housing, can prevent that the dust from getting into inside, and the leakproofness is good, and the modern design has higher flexibility moreover.

In a word, the utility model provides a small and exquisite compactness, simple structure, practicality are strong, safe and reliable's harmonic speed reducer ware and robot joint driver, it has extensive application prospect in the robot field.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a robot joint actuator according to the present invention;

fig. 2 is a schematic diagram of an explosive structure of the robot joint actuator of the present invention;

fig. 3 is a schematic structural diagram of a dual-contact vertical wave generator according to the present invention;

FIG. 4 is a schematic diagram of the internal structure of the harmonic reducer of the present invention;

FIG. 5 is a schematic diagram of the internal structure of the robot joint actuator of the present invention;

fig. 6 is a schematic diagram of a deformation of the rigid flexible tooth element of the present invention.

Wherein the reference numerals are as follows:

the motor comprises a motor 1, a motor shaft 1-1, a housing 2, a connecting threaded hole 2-1, a countersunk head screw hole 2-2, a second screw 2-3, a housing cover 3, a first screw 3-1, a mounting threaded hole 3-2, a wave generator 4, a connecting frame 4-1, a supporting shaft 4-2, a roller 4-3, a connecting piece 4-4, a first bearing 4-5, a flexible gear piece 5, a gear following piece 6-1 and a second bearing 6-1.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments. It should be noted that the following described embodiments are exemplary only, and are not to be construed as limiting the invention. The examples, where specific techniques or conditions are not indicated, are to be construed according to the techniques or conditions described in the literature in the art or according to the product specifications.

In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any 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 the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Hereinafter, the harmonic reducer and the robot joint driver of the present invention will be described in detail by way of specific embodiments, respectively:

the first embodiment is as follows:

as shown in fig. 1 to 5, the robot joint driver according to the present embodiment includes a motor 1 and a harmonic reducer.

The specific structure of the harmonic reducer provided by the embodiment is as follows:

the harmonic reducer comprises a shell assembly, a wave generator 4, a flexible gear 5, a gear following piece 6 and other parts. The housing assembly comprises a housing 2 and a housing cover 3. The housing 2 is made of a rigid material, preferably an aluminum alloy. The shell 2 is of a cup-shaped structure, and inner teeth are arranged on the inner circumferential surface of the shell 2; a positioning hole matched with the motor is formed in the bottom end face of the cup of the shell 2, so that the assembly is convenient; and the other end surface opposite to the bottom end surface of the cup is provided with a connecting threaded hole 2-1. The shell cover 3 is provided with a connecting through hole corresponding to the connecting threaded hole 2-1, and the shell cover 3 is fixedly connected with the shell 2 through a first screw 3-1. The shell cover 3 is also of a cup-shaped structure, and a boss is arranged on the outer end face of the shell cover 3, so that the harmonic reducer can be conveniently positioned and installed; and the outer end surface is also provided with a mounting threaded hole 3-2 for mounting and fixing the harmonic reducer.

After the shell 2 and the shell cover 3 are fixedly connected, an installation cavity is formed inside. The wave generator 4, the flexible gear piece 5, the gear following piece 6 and other parts are arranged in the installation cavity. The wave generator 4 comprises a connecting frame 4-1, a supporting shaft 4-2 and a roller 4-3, and is integrally arranged in a cup-shaped cavity of the shell 2 and is of a double-contact vertical structure. The central part of the connecting frame 1 is provided with a motor shaft hole, and the motor shaft hole is provided with a connecting through groove. The motor shaft 1-1 is a D-shaped shaft and penetrates through the motor shaft hole. Connecting pieces 4-4 are arranged in the connecting through grooves, and the connecting pieces 4-4 are in interference fit with the groove bottoms of the connecting through grooves and the plane of the motor shaft to realize the transmission connection of the motor shaft and the connecting frame; of course, the motor shaft and the wave generator can be fixedly connected through other structural forms common in the field, such as a jackscrew fixing mode. Two sides of the connecting frame 4-1 are respectively provided with two U-shaped openings, and a roller avoiding part is arranged between the two U-shaped openings. Two ends of the supporting shaft 4-2 are provided with connecting planes matched with the U-shaped openings, and the rollers 4-3 are arranged in the middle of the supporting shaft 4-2. The rollers are preferably standard bearings. During assembly, only the supporting shaft 4-2 sleeved with the roller 4-3 is pushed into the connecting frame from the U-shaped opening, so that the assembly is convenient. Compared with a transmission harmonic reducer, the wave generator 4 provided by the embodiment omits a flexible bearing with high cost and difficult processing, and greatly reduces the cost; the desktop type mechanical arm is more suitable for use.

The flexible gear member 5 provided in this embodiment is a deformable cylinder having a certain number of teeth on its outer circumferential surface; the outer circumference of the flexible gear 5 is provided with outer teeth which extend along the axial direction and are in a circumferential ring shape and are distributed at uniform intervals. In particular, the flexible toothed element 5 may be a pre-stressed composite layer anti-torque ring. The composite material layer is formed by combining one of an elastic steel ring or a steel wire with glass fiber and then combining one of materials such as nylon, rubber or polyurethane and the like through vulcanization compounding; the composite material layer of the flexible tooth part 5 is made of one of nylon, rubber or polyurethane, one of glass fiber, steel ring or steel wire, glass fiber and one of nylon, rubber or polyurethane from outside to inside in sequence; preferably, the flexible tooth element 5 is made of rubber, glass fiber, steel wire, glass fiber and rubber which are compounded in sequence from outside to inside. The prestress of the anti-torsion gear ring of the prestressed composite layer is realized by extruding the elastic steel ring or the steel wire through the die to generate micro deformation or stretching when the anti-torsion gear ring of the prestressed composite layer is manufactured.

The external teeth on the flexible gear piece 5 are less than the internal teeth of the shell 2 by a certain number; the tooth profile of the flexible tooth element may be a tooth profile as is common in the art, preferably a trapezoidal tooth profile. The tooth form of the inner teeth of the shell 2 is the same as that of the flexible tooth piece 5. Compared with the involute tooth profile of the traditional harmonic reducer, the tooth profile of the trapezoidal tooth has high transmission efficiency and low running noise.

Because the internal tooth number of shell 2 is greater than the number of teeth of gentle tooth 5 external tooth, under normal condition, when both coaxial arrangements, the external diameter of gentle tooth 5 is less than the internal diameter of shell 2, and both do not contact. After the wave generator 4 is arranged in the shell 2, the wave generator 4 extrudes the flexible gear 5 to deform into an elliptical shape, so that the external teeth of the elliptical flexible gear 5 in the long axis direction are meshed with the internal teeth of the shell 2; a certain gap is formed between the elliptical flexible tooth piece 5 and the shell 2 in the direction of the short axis; a two-point contact engagement state of the flexible tooth member 5 with the housing 2 is established, specifically referring to the state of the flexible tooth member 5 in fig. 4.

The follower 6 is made of a rigid material, preferably an aluminum alloy. The following gear 6 comprises a following gear part and an output shaft part. The slave gear disc part and the output shaft part can be of an integral structure or a split structure. Be provided with in the tooth disk portion along with holding the interior tooth chamber of gentle tooth spare 5 shape adaptations, the number of teeth in tooth chamber is the same with the number of teeth of gentle tooth spare promptly, gentle tooth spare 5 is connected with along with the complete meshing of tooth disk portion. The gear following part is also provided with a bearing installation cavity and a motor shaft avoidance hole, and a first bearing 4-5 in the bearing installation cavity is used for supporting the motor shaft and simultaneously providing support and positioning for the whole gear following part. The motor shaft avoiding hole can adapt to the installation of a motor shaft with no length, and the adaptability and the universality of the harmonic reducer are improved. The output shaft portion is rotatably supported on the housing cover 3 via the second bearing 6-1 and extends therefrom. The whole harmonic reducer realizes the support and positioning of the motor shaft, the shell cover and the gear-following part only through two bearings, and improves the transmission precision and reliability; meanwhile, the output shaft part can bear certain bending moment.

As shown in fig. 5, the housing 2, the flexible tooth member 5 and the following tooth member 6 are coaxially arranged, and the flexible tooth member 5 is partially completely engaged with the following tooth member 6 and partially engaged with the housing 2 in two-point contact with the support of the wave generator 4. When wave generator 4 rotates in succession under the drive of motor shaft, the deformation of gentle tooth spare 5 can constantly change, makes the meshing state of gentle tooth spare 5 and shell 2 also constantly change, because the number of teeth of gentle tooth spare is less than the number of teeth of shell 2, makes the relative shell 2 of gentle tooth spare along the rotation of wave generator 4 opposite direction, when wave generator 4 rotated a week, gentle tooth spare 5 antiport certain small-angle. The number of teeth of the flexible gear piece 5 is the same as that of the gear following piece 6; therefore, the flexible gear 5 is deformed only with respect to the following gear 6 and does not rotate relatively, that is, the following gear 6 rotates synchronously with the flexible gear 5, thereby obtaining a decelerated rotation output of the output shaft portion of the following gear 6 with respect to the wave generator 4.

The shell 2 is also provided with a countersunk screw hole 2-2, and the shell 2 can be connected with a motor through a second screw 2-3 to form a robot joint driver with the motor and the harmonic reducer integrally designed. The motor end cover links firmly with the harmonic speed reducer ware among the robot joint driver that this embodiment provided, can play the effect of effective sealed harmonic speed reducer ware, can prevent that the dust from getting into inside the harmonic speed reducer ware.

The harmonic reducer is coaxially arranged with the connecting threaded hole 2-1 through the connecting through hole on the shell cover and is connected, so that the mounting threaded hole 3-2 of the harmonic reducer is coaxial with the mounting hole on the end face of the motor, namely the mounting mode and the size of the whole robot joint driver are equal to those of the motor, and the equipment is convenient to update, transform and comply with the traditional design habit; has higher precision, universality and flexibility.

The robot joint driver that this embodiment provided, the direct input shaft as harmonic speed reducer ware of motor shaft compares traditional harmonic speed reducer ware and has reduced the intermediate transfer spare, and motor and speed reducer ware adopt the integrated design, have reduced equipment weight and volume when reduce cost, more are fit for the application of small robot (like desktop type robot) micro electromechanical system.

Example two

In the embodiment, the flexible tooth part 5 is made of rigid material, preferably spring steel; the shell 2 and the gear-following piece 6 are made of flexible materials such as rubber, nylon or polyurethane. The rest of this embodiment is the same as the first embodiment, and is not described herein.

The soft tooth of rigidity 5 can produce the deformation equally, and the local compression deformation can take place when the soft tooth of rigidity 5 receives wave generator 4 extrusion promptly, and the internal tooth of flexible shell 2 can produce corresponding deformation along with the soft tooth of rigidity 5, makes the soft tooth of rigidity 5 and the internal tooth of flexible shell 2 carry out good meshing. The tooth form in the tooth cavity in the flexible following tooth piece 6 can be deformed into a tooth form which is generated by rotating the outer teeth of the deformed rigid flexible tooth piece 5 on the tooth cavity, so that the deformed rigid flexible tooth piece 5 and the flexible following tooth piece 6 can be tightly combined, and high-precision transmission is realized. When the end of the rigid flexible tooth element 5 in contact with the wave generator 4 is deformed by compression, the other end embedded in the flexible follower tooth element 6 is correspondingly deformed in the opposite direction, and the deformed rigid flexible tooth element 5 is shown in detail in fig. 6.

The flexible gear and the gear following part of the harmonic reducer of the embodiment are simpler to process and manufacture, and the manufacturing mode is simplified; the torsional rigidity of the rigid flexible gear piece 5 is higher, the transmission precision and the fatigue life of the harmonic reducer can be improved, and the transmission efficiency is increased; the meshing contact surface of the rigid flexible tooth piece 5, the flexible shell 2 and the flexible tooth piece 6 is larger, and the improvement of transmission precision is facilitated.

The harmonic reducer of the utility model divides the flexible gear of the traditional harmonic reducer into a flexible gear part and a gear following part; the flexible gear is cylindrical, so that the processing and manufacturing of the flexible gear are simplified, and the cost and the processing difficulty of the harmonic reducer are greatly reduced; in addition, the flexible tooth part has no traditional 90-degree thin-wall structure, so that stress concentration is eliminated; the load capacity and the shock resistance of the harmonic reducer are enhanced, and the fatigue life of the harmonic reducer is greatly prolonged; the wave generator adopts a standard bearing with two contact points to replace a flexible bearing, so that the cost is reduced, and the processing and the manufacturing are convenient.

The utility model also provides another harmonic reducer, wherein the flexible gear is made of rigid materials such as spring steel and the like; the shell and the gear-following part are made of flexible materials such as rubber, nylon or polyurethane. The harmonic reducer of the type is also simple to process and manufacture and low in cost; and the transmission precision, the fatigue life and the transmission efficiency are higher.

The utility model provides a robot joint driver, motor and harmonic reducer adopt integrated design, and the motor shaft is as the input shaft, becomes the drive shaft of wave generator simultaneously, has reduced the intermediate junction spare, has reduced equipment weight and volume when reducing cost, more is fit for small robot (such as desktop type robot) small electromechanical system and uses; the end face connection is equal to the connection mode of the end face of the motor, so that the equipment is convenient to update, transform and obey the traditional design habit; the precision and the universality are higher; utilize the convenient and fast fixing at motor housing of screw with harmonic reducer casing, can prevent that the dust from getting into inside, the leakproofness is good, and the modern design has higher flexibility moreover.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Claims

1. A harmonic reducer comprises a housing assembly and a wave generator, wherein the housing assembly comprises a shell and a shell cover; the utility model discloses a wave generator, including shell and cap, wave generator, installation cavity, internal tooth, its characterized in that are provided with in the shell: the gear-driven type gear-driven mechanism also comprises a flexible gear part and a gear-driven part; the flexible gear is in a shape of a cylinder with an outer circumferential surface having a certain number of teeth and being deformable; the outer circumferential surface is provided with outer teeth which extend along the axis direction, are in a circumferential ring shape and are uniformly distributed at intervals; the flexible tooth part is made of flexible materials, and the shell and the tooth following part are made of rigid materials; the flexible gear piece is extruded and deformed into an elliptical shape by a wave generator, and the external teeth are meshed with the internal teeth; follow the tooth spare and include along with the tooth dish portion, along with the setting of tooth dish portion in the installation cavity, along with tooth dish portion be provided with the internal tooth chamber of flexible tooth spare shape adaptation, flexible tooth spare inserts in the internal tooth chamber.

2. The harmonic reducer of claim 1, wherein: the tooth form of the flexible tooth piece is trapezoidal tooth.

3. The harmonic reducer of claim 2 wherein: the number of the inner teeth is larger than that of the outer teeth; the number of the outer teeth is equal to the number of teeth of the inner tooth cavity.

4. The harmonic reducer of claim 3 wherein: the shell is of a cup-shaped structure, and a positioning hole is formed in the bottom end face of the cup of the shell; the shell cover is of a cup-shaped structure and is fixedly connected with the shell through a first screw; and a boss is arranged on the outer end face of the shell cover.

5. The harmonic reducer of claim 4 wherein: the gear following disc part is provided with a bearing installation cavity and a motor shaft avoidance hole, and a first bearing for supporting a motor shaft is arranged in the bearing installation cavity; the gear following piece further comprises an output shaft part which is rotatably supported on the shell cover through a second bearing and extends out of the shell cover.

6. The harmonic reducer of claim 5 wherein: the wave generator is of a double-contact vertical type, and the double-contact vertical type wave generator comprises a connecting frame, a supporting shaft and a roller wheel and is integrally arranged in a cup-shaped cavity of the shell; two sides of the connecting frame are respectively provided with two U-shaped openings, and a roller avoiding part is arranged between the two U-shaped openings; the two ends of the supporting shaft are provided with connecting planes matched with the U-shaped openings, and the middle of the supporting shaft is sleeved with the roller.

7. The harmonic reducer of claim 6 wherein: the connecting frame is provided with a motor shaft hole, and a connecting through groove is formed in the motor shaft hole; the motor shaft is a D-shaped shaft and penetrates through the motor shaft hole; and connecting pieces are arranged in the connecting through grooves and are in interference fit with the groove bottoms of the connecting through grooves and the plane of the motor shaft.

8. A harmonic reducer comprises a housing assembly and a wave generator, wherein the housing assembly comprises a shell and a shell cover; the utility model discloses a wave generator, including shell and cap, wave generator, installation cavity, internal tooth, its characterized in that are provided with in the shell: the gear-driven type gear-driven mechanism also comprises a flexible gear part and a gear-driven part; the flexible gear is in a shape of a cylinder with an outer circumferential surface having a certain number of teeth and being deformable; the outer circumferential surface is provided with outer teeth which extend along the axis direction, are in a circumferential ring shape and are uniformly distributed at intervals; the flexible tooth part is made of rigid materials, and the shell and the tooth following part are made of flexible materials; the flexible gear piece is extruded by the wave generator to generate local compression deformation, and the external teeth are meshed with the internal teeth; follow the tooth spare and include along with the tooth dish portion, along with the setting of tooth dish portion in the installation cavity, along with tooth dish portion be provided with the internal tooth chamber of flexible tooth spare shape adaptation, flexible tooth spare inserts in the internal tooth chamber.

9. The harmonic reducer of claim 8, wherein: the flexible gear is made of spring steel; the shell and the gear following part are made of rubber, nylon or polyurethane.

10. The harmonic reducer of claim 9, wherein: the inner teeth can be correspondingly deformed along with the deformation of the flexible tooth piece; the tooth form in the inner tooth cavity can be deformed into a tooth form which is formed by rotating the outer teeth of the flexible tooth part subjected to local compression deformation on the inner tooth cavity.

11. A robot joint drive comprising a motor and a harmonic reducer according to any of claims 1-10, characterized in that: the shell is provided with a countersunk screw hole, and a second screw penetrates through the countersunk screw hole and then is connected with the mounting hole of the motor, so that the shell is fixedly connected with the motor.

12. The robotic joint driver of claim 11, wherein: the shell cover is provided with a connecting through hole, the shell is provided with a connecting threaded hole, and the connecting through hole and the connecting threaded hole are coaxially arranged; the shell cover is further provided with a mounting threaded hole for mounting the robot joint driver, and the mounting threaded hole and the mounting hole of the motor are coaxially arranged.