WO2023051714A1

WO2023051714A1 - Joint, mechanical arm and robot, and harmonic reducer device and mounting method therefor

Info

Publication number: WO2023051714A1
Application number: PCT/CN2022/122688
Authority: WO
Inventors: 王重彬; 叶伟智; 刘主福; 刘培超; 胡万权
Original assignee: 深圳市越疆科技有限公司
Priority date: 2021-09-30
Filing date: 2022-09-29
Publication date: 2023-04-06
Also published as: CN113847404A; CN115199724A; CN115199725A; CN115289197A

Abstract

A harmonic reducer device, comprising a flexspline (10b), a circular spline (60b) meshing with the flexspline (10b), and a wave generator (20b), wherein the wave generator (20b) comprises a sleeve (21b) for power input, and a wave generator main body (22b) arranged on the sleeve (21b). The harmonic reducer device further comprises an end cover (90b) and an output bearing (70b), which are arranged opposite each other; and further comprises a first stop structure (30b) and a second stop structure (40b), which stop the sleeve (21b), wherein projections of a power output end of the wave generator (20b) and of the second stop structure (40b) on an axis of the sleeve (21b) at least partially overlap. By means of the harmonic reducer device, the projections of the power output end of the wave generator (20b) and of the second stop structure (40b) on the axis of the sleeve (21b) at least partially overlap in a way which breaks through convention, such that the requirement for further miniaturization of the harmonic reducer device is achieved directly by changing the axial dimension of the harmonic reducer device without changing the radial dimension of the circular spline (60b), thus satisfying market demands. Further provided are a joint comprising the harmonic reducer device, and a mechanical arm, a robot and a method for mounting the mechanical arm and the robot.

Description

Joint, mechanical arm, robot and harmonic reducer device and installation method thereof

This application requires a Chinese patent application with the application number 202111164470.8 and the title of the invention "joint, mechanical arm, robot and its harmonic reducer device" filed at the China Patent Office on September 30, 2021, filed in July 2022 The Chinese patent application with the application number 202210886233.0 and the invention name "joint, mechanical arm, robot and its harmonic reducer device" submitted to the China Patent Office on the 26th, and the application number submitted to the China Patent Office on July 26, 2022 It is the priority of Chinese patent application 202210895537.3, titled "joint, mechanical arm, robot and its installation method", the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the technical field of robots, specifically a joint, a mechanical arm, a robot and a harmonic reducer device and installation method thereof.

Background technique

A robot usually includes a robotic arm and a joint that rotates the robotic arm, and a harmonic reducer is used at the joint to adjust the speed. The harmonic reducer is composed of three main components, which are fixed rigid spline, flexible spline and wave generator that causes radial deformation of the flexible spline. The inner wheel has an inner gear, and the flex spline 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. It is power transmission without deceleration. Under the action of the wave generator, the generator installed in the flexspline makes the flexspline deform radially and becomes an ellipse. At this time, on the long axis of the ellipse, the teeth mesh along the entire working height , while on the short axis, a radial gap is formed between the tooth tops. During the rotation of the generator, the shape of the flexspline is always close to an ellipse, realizing deceleration transmission.

Harmonic reducers have the advantages of high load capacity, large transmission ratio, small size, stable transmission and high transmission precision, and are widely used in electronics, aerospace, robotics and other industries.

The usual harmonic reducer adopts a top-hat flexspline, please refer to Figure 1. The flexspline 10 includes a cylinder 11 and an annular fixed table 12 that is perpendicular to the axis of the cylinder 11 and folded outward. The core of the cylinder 11 There is a central cavity (not marked) extending along the axis and completely penetrating through it. The outer peripheral surface of the cylindrical body 11 is provided with an annular toothed belt 13 extending along the axis and distributed in a circular array of single teeth. When the size of the flexible spline’s cylindrical body 11 is determined, the size of the harmonic reducer 100 cannot be further increased in the space occupied by the ring-shaped fixing table 12 due to the existence of the outwardly folded ring-shaped fixing table 12. development in the direction of miniaturization.

In the process of scientific and technological research and development for many years, researchers have invented a cup-shaped flexible spline and applied it to the harmonic reducer. Please refer to Figure 2. The flexible spline 10a includes a ring-shaped rotating body 11a and a The axis of the top hat flexspline 10 and the ring-shaped fixed platform 12a that is turned inwards are replaced by the cup-shaped flexspline 10a, which reduces the space occupied by the fixed platform 12 of the top hat-shaped flexible spline 10, making the harmony The wave reducer 100a has a smaller size, which also makes the size of the joints of the robot using such a harmonic reducer 100a smaller, and the whole robot is very compact.

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

technical problem

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

technical solution

In order to achieve the above purpose, the technical solution adopted by the present application is: a harmonic reducer device, including a cup-shaped flexible spline, a rigid spline meshed with the flexible spline, and a wave generator, and the wave generator includes a The power input sleeve and the wave generator main body which is arranged on the sleeve and causes the radial deformation of the flexible spline under the rotation of the sleeve to change the meshing position of the flexible spline and the rigid spline, The harmonic reducer device also includes an end cover and an output bearing oppositely arranged, and the harmonic reducer device also includes a first stop structure and a second stop structure for stopping the sleeve, the The power output end of the wave generator at least partially overlaps with the projection of the second stop structure on the axis of the sleeve.

In one embodiment, 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 0.1-1.

In one embodiment, 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 0.5-0.9.

In one embodiment, the second stop structure is a stop bearing.

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

In one embodiment, the first stop structure adopts a non-bearing structure and is sheathed 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 directions in the axial direction.

In one embodiment, a first step is formed on the outer ring surface of the sleeve, a shroud is formed on the outer surface of the end cap, and the first stop structure is arranged on the first step and the shroud. between the boards.

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

In one embodiment, a sealing structure is formed between the stopper and the sealing member, the sealing structure includes an annular groove and a protruding ring inserted into the annular groove, the stopper and the sealing One of the two parts is provided with the ring groove, and the other one of the stopper part and the sealing part is provided with the 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 stopper structure includes a stopper sleeved on the sleeve and rotates with the rotation of the sleeve and a seal connected to the stopper; The inner surface of one end of the stopper abuts against the first step, and the outer surface of one end of the sealing member abuts against the shroud.

In one embodiment, the seal is always in contact with the shroud 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 fixing portion with a U-shaped cross section, an extension extending from a side of the fixing portion close to the main body of the wave generator away from the direction of the sleeve, and a The side edge of the extension part away from the sleeve deviates from the direction of the sleeve and extends obliquely towards the enclosure plate, the sealing element includes a stop part fixed in the fixing part and a stopper part fixed by the stopper A side of the baffle portion away from the sleeve and close to the shroud extends obliquely toward a contact portion of the shroud, and the contact portion is in contact with the shroud.

In one embodiment, a shroud is formed on the outer surface of the end cap, and the first stop structure includes a connecting ring connected to a side of the shroud close to the sleeve, the connecting ring and A sealing structure is formed between the outer ring surfaces of the sleeve.

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

In one embodiment, the first stop structure adopts a bearing structure and is sleeved on the outside of the sleeve.

In one embodiment, the first stop structure adopts a bearing structure, and an elastic member is provided between the end cover and the first stop structure.

In one embodiment, a shroud is formed on the outer surface of the end cover, and the elastic member is interposed between the shroud and the first stop structure.

In one embodiment, the inner ring of the first stop structure is sleeved on the outer peripheral surface of the sleeve and rotates together with the sleeve; one end of the elastic member abuts against the surrounding plate, The other end of the elastic member abuts against the outer ring of the first stop structure.

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

In one embodiment, a mounting portion protrudes 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 flexspline.

In one embodiment, the inner ring surface of the sleeve is provided with a second step; one side of the stop bearing abuts against the second step, and the other side indirectly abuts against the flexspline At the bottom of the cup, the outer ring of the stopper bearing abuts against the second step.

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

In one embodiment, the other end cover and the output shaft are two independent components, and a wire harness structure is arranged 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 main body of the wave generator includes 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 rotating arm formed on the sleeve. A cam on the barrel 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 a flexible bearing connected to the elliptical disk.

The purpose of the embodiments of the present application is to 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 part for limiting the other bearing, and a housing is formed between the stator and the rotor of the motor. space, the other bearing is located in the accommodating space.

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

In one embodiment, the mounting part includes a plate body and a limiting ring connected to one side of the plate body, a fixing sleeve is sheathed on the outer side of the sleeve, and the limiting ring and the fixing sleeve The other bearing is radially limited, and the outer ring surface of the fixed sleeve is formed with a third step, and the third step and the plate body axially limit the other bearing.

In one embodiment, the joint further includes a brake mounted on the sleeve, a brake fixing seat for fixing the brake, a servo driver power board and a servo driver control board; in the extending direction of the sleeve, The brake fixing seat, the servo driver power board and the servo driver control board are sequentially arranged at intervals.

In one embodiment, the joint further includes a motor end encoder sleeved on the sleeve and a load end encoder sleeved on the output shaft, the motor end encoder and the load end encoder Does not occupy axial space of the joint.

The purpose of the embodiment of the present application is to provide a mechanical arm, which includes the joint in the above embodiment.

The purpose of the embodiments of the present application is to provide a robot, which includes the mechanical arm in the above embodiments.

In one embodiment, the robot includes an outer shell, and the outer shell forms a smooth transition structure at the corner of the joint.

The purpose of the embodiments of the present application is to provide a joint, which includes a harmonic reducer device, and the harmonic reducer device includes a cup-shaped flexible spline, a rigid spline meshing with the flexible spline, and a wave generator The wave generator includes a sleeve for power input and a wave generator body arranged on the sleeve, and the harmonic reducer device also includes an oppositely arranged end cover and an output bearing. The harmonic The reducer device also includes a first stop structure and a second stop structure that stop the sleeve, and the power output end of the wave generator and the second stop structure are on the axis of the sleeve. The projections on are at least partially overlapped, and the joint further includes a drive motor for power input to the sleeve.

In one embodiment, the joint further includes another bearing sleeved on the sleeve and a mounting part for limiting the other bearing, and a housing is formed between the stator and the rotor of the motor. space, and the other bearing is at least partially located in the accommodating space.

In one embodiment, the harmonic reducer device further includes an output shaft fixedly connected to the inner ring of the output bearing, and the joint further includes an encoder at the motor end sleeved on the sleeve and a sleeve The encoder at the load end on the output shaft, the encoder at the motor end and the encoder at the load end do not occupy the axial space of the joint.

In one embodiment, the second stop structure is a stop bearing.

In one embodiment, the end cover includes a main body, the rigid wheel is fixed between the inner end surface of the main body and the outer ring of the output bearing, and a surrounding plate is formed on the outer surface of the end cover. A plate is attached to the outer end edge of the body and is integral with the body.

In one embodiment, the harmonic reducer device further includes an output shaft fixedly connected to the inner ring of the output bearing, and a mounting part is protruded from the outer ring surface of the output shaft, and the mounting part is connected to the The cup bottom of the flexspline is fixed together with the inner ring of the output bearing.

In one embodiment, the inner ring surface of the sleeve is provided with a second step; one side of the second stop structure abuts against the second step, and the other side indirectly abuts against the flexible At the bottom of the cup of the wheel, the outer ring of the second stopper structure abuts against the second step.

The purpose of the embodiment of the present application is to further provide a mechanical arm, the mechanical arm includes the above-mentioned joint, and the joint exists as an independent module.

In one embodiment, the mechanical arm further includes at least two arm bodies, the joint is connected between the arm bodies, one of the two arm bodies includes a mount, and The inner ring of the output bearing of the joint is directly or indirectly fixed on the mounting seat, and the two arms are connected to form a mounting cavity, and the joint is placed in the mounting cavity as a whole independent module.

In one embodiment, one of the arms is defined as a first arm, and the other arm is defined as a second arm, and both the first arm and the second arm include a first shell and a second shell covering the first shell, the first shell of the first arm body is provided with the mounting seat, the first shell of the second arm body is connected to the first arm body The first shell of the second arm is connected to form a cavity, the second shell of the second arm is covered with the first shell of the second arm, so that all of the second arm The first shell, the second shell and the mounting seat together form the mounting cavity.

The purpose of the embodiment of the present application is to provide a robot, the robot includes the above-mentioned mechanical arm.

The purpose of the embodiments of the present application is to provide a method for installing a mechanical arm, the mechanical arm is the above-mentioned mechanical arm, and the installation method for the mechanical arm includes the following steps:

Assembling the joints, the assembled joints are used as a whole independent module;

To install the joint, the joint is integrally installed on the mounting seat of the first shell of the first arm body, wherein the inner ring of the output bearing of the joint is directly or indirectly fixed to the on the mount;

Installing the first shell of the second arm body, docking the first shell of the second arm body with the first shell of the first arm body to form the cavity, the the joint is accommodated in the cavity;

Covering the second shell of the second arm body, docking the second shell of the second arm body with the first shell of the second arm body and enclosing the joint in inside the installation cavity.

In one embodiment, the mechanical arm includes a third arm body, the third arm body includes a second mount, the third arm body includes a first shell and a second shell covering the first shell , the first shell of the third arm is provided with the second mounting base, the joint is defined as the first joint, and the other assembled joint is defined as the second joint, the installation of the mechanical arm The method also includes the steps of:

Install the second joint, the second joint is integrally installed on the second mounting seat of the first shell of the third arm body, wherein the inner ring of the output bearing of the joint is directly or Indirectly fixed on the second mounting seat, the installation direction of the second joint and the first joint form a preset angle;

installing the first shell of the first arm, docking the first shell of the third arm with the first shell of the first arm to form the cavity, the the second joint is accommodated in the cavity;

Cover the second shell of the first arm body, dock the second shell of the first arm body with the first shell of the first arm body and cover the second joint Enclosed in the installation cavity.

In one embodiment, the first shell of the first arm body includes the mounting base, a first tube shell formed on one side of the mounting base, and a second tube shell formed on the other side of the mounting base. The tube shell, the first tube shell and the second tube shell form a preset angle, and the second tube shell forms an installation gap at the turning extension of the mounting seat at a preset angle, and the installation gap communicate with the installation cavity.

In one embodiment, in the step of installing the first joint, the fixing member protrudes from the installation notch and passes through the mounting seat to be directly or indirectly locked into the output bearing of the first joint. ring, in the step of installing the second joint, the second joint protrudes through the installation notch and is directly or indirectly fixed with the second mounting base, and the protruding direction of the fixing member is the same as that of the The extending direction of the second joint is different, and the step of covering the second shell of the first arm body specifically includes the steps of:

The second shell of the first arm body covers the installation notch to cover the second joint and the fixing member.

In one embodiment, the mechanical arm includes a third arm body, the second arm body includes a second mount, and the third arm body includes a first shell and a second shell covering the first shell , the first shell of the second arm is provided with the second mount, the joint is defined as the first joint, and the other assembled joint is defined as the second joint, the installation of the mechanical arm The method also includes the steps of:

Install the second joint, the second joint is integrally installed on the second mounting seat of the first shell of the second arm body, wherein the output bearing of the second joint is directly or indirectly fixed on the second mounting seat, the installation directions of the second joint and the first joint are parallel;

Installing the first shell of the third arm body, docking the first shell of the third arm body with the first shell of the second arm body to form the cavity, the the second joint is accommodated in the cavity;

Cover the second shell of the third arm, dock the second shell of the third arm with the first shell of the third arm and cover the second joint Enclosed in the installation cavity.

In one embodiment, the first shell of the second arm body includes a first tube shell, a second tube shell parallel to the first tube shell, and a second tube shell connected to the first tube shell and the first tube shell. The connecting shell between the two tube shells, the second installation seat is arranged in the second tube shell, the first tube shell is formed with a first opening, and the first opening is connected with the first joint During the step of installing the first joint, the output bearing of the first joint faces into the installation cavity and protrudes from the first opening into and close to the installation base.

In one embodiment, the second tube shell is formed with a second opening, the second opening is located on one side of the second installation seat, and the second opening is connected to all the joints of the second joint. In the step of installing the second joint, the output bearing of the second joint faces into the installation cavity of the second joint and protrudes from the second opening into and close to the first joint Two mounting seats, the fixing part is directly or indirectly locked into the output bearing of the second joint from the other side of the second mounting seat.

In one embodiment, further comprising the steps of:

Install the second shell of the second arm body, connect the second shell of the second arm body with the first tube shell of the second arm body, the connecting shell and the first tube shell of the second arm body The two tube shells are butted together, and the second shell of the second arm body covers the first opening and covers the fixing part installed on the second mounting seat.

The purpose of the embodiments of the present application is to provide a method for installing a robot, and the method for installing a robot includes the above-mentioned method for installing a robot arm.

Beneficial effect

The beneficial effect that this application provides is:

The harmonic reducer device, joints and robot in this embodiment break through the conventions, and creatively improve the structural positional relationship between the second stop structure and the power output end of the wave generator, so that the power output end of the wave generator is in line with the wave generator. The projections of the second stop structure on the axis of the sleeve at least partially overlap to reduce the axial size of the harmonic reducer device and contribute to the miniaturization of the harmonic reducer device. Under the condition that the radial dimension of the rigid wheel remains unchanged, the demand for a more miniaturized harmonic reducer device can be achieved by directly changing the axial dimension of the harmonic reducer device, which caters to the market demand.

The beneficial effect of the installation method of the mechanical arm and the robot provided by the application lies in:

The joint is installed as an independent whole module, and is equipped with two shells of the arm body, which makes the installation of the joint convenient.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

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

Fig. 2 is a schematic cross-sectional view of a harmonic reducer using a cup-shaped flexspline.

FIG. 3 is a schematic diagram of a three-dimensional structure of a robot provided in an embodiment of the present application.

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

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

Fig. 6 is a schematic cross-sectional view of the joint in Fig. 5 along 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 between the harmonic speed reducer device provided by the first embodiment of the present application and the harmonic speed reducer shown in Fig. 2 .

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

FIG. 9 is an enlarged view of circle B in FIG. 8 .

Fig. 10 is a schematic cross-sectional view of the joint in 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 circle C in the joint of FIG. 10 .

Fig. 12 is a schematic cross-sectional view of the joint in 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 circle D in the joint of FIG. 12 .

Fig. 14 shows a comparison diagram of the axial dimension between the harmonic speed reducer device provided by the third embodiment of the present application and the harmonic speed reducer in Fig. 2 .

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

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

Fig. 21 shows a comparison diagram of the axial dimension between the harmonic reducer device provided by the first embodiment of the present application and the harmonic reducer device shown in Fig. 18 .

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

Fig. 23 is a three-dimensional structure diagram of a joint of a robot provided by an embodiment of the present application, on which the harmonic reducer device of the seventh embodiment is applied.

Fig. 24 is a schematic cross-sectional view of the joint shown in Fig. 23 .

Fig. 25 is a schematic diagram of a partial cross-sectional structure of the robot provided by the embodiment of the present application, wherein the joints used in the joints of the robot are harmonic reducer devices provided by the seventh embodiment.

Fig. 26 is a three-dimensional assembly view of the robot provided by the embodiment of the present application.

FIG. 27 is a partially exploded perspective view of the robot of FIG. 26 .

FIG. 28 is a partially exploded perspective view of the robot of FIG. 27 from another angle.

FIG. 29 is a schematic cross-sectional structure diagram of the robot in FIG. 26 .

FIG. 30 is a partially enlarged view of the robot in FIG. 29 .

Fig. 31 is a partially enlarged view of the robot of Fig. 29, in which part of the joints are removed to show part of the structure.

The label details are as follows:

10. Flexible spline; 11. Cylindrical body; 12. Fixed table; 13. Toothed belt; 100. Harmonic reducer;

10a, flexible spline; 11a, rotary body; 12a, fixed platform; 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, washer; 82a , the radial connection portion; 83a, the axial ring portion; 93a, the second end cover; 95a, the inner side of the second end cover 93a is provided with an oil seal;

200. Robot; 2001. Outer shell; 2002. Turning point; 203. Base; 201. Mechanical arm; 202. Arm body; 204. Joint; 9. Motor; 100b. Harmonic reducer device; 10b. Flexwheel; 60b , rigid wheel; 20b, wave generator; 21b, sleeve; 22b, wave generator main body; 90b, end cover; 70b, output bearing; 30b, first stop structure; 40b, second stop structure; 40b, Stopper bearing; 91b, coaming plate; 92b, main body of end cover 90b; 61b, first fixing member; 80b, output shaft; 81b, washer; 82b, installation part; 93b, another end cover; 95b, the output bearing 70b is a self-contained oil seal; 209, the housing of the brake 205; 208, the limit ring; 207, the plate body; 206, the mounting piece; 205, the brake; 92, the stator; 91, the rotor; 101, another Bearing; 11b, ring part; 12b, cup bottom; 14b, accommodation 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, convex ring; 36b, groove wall surface; 37b, groove bottom surface; 38b, corner; 94b, connecting part; 101b, pipe body; 94, the shell of the motor 9; 93, the accommodating space; 95, the elastic member; 27b, the third step; 25b, the elliptical disc; 26b, the flexible bearing; 73b, the accommodating groove;

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

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

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

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

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

100h, harmonic reducer device; 30h, first stop structure; 91h, enclosure; 23h, first step; 95h, elastic member; 9h, motor; 92h, stator; 94h, rotor; 93h, accommodation space; 96h, convex hull; 97h, cavity; 204h, joint; 21h, sleeve; 2041, motor end encoder; 205h, brake; 209h, housing of brake 205h; 40h, second stop structure; 2042, servo drive Power board; 209h, brake fixing seat; 80h, output shaft; 2043, load end encoder; 2044, servo driver control board; 2045, cable fixing plate; 9h, motor;

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

100k, harmonic reducer device; 30k, first stop structure; 91b, enclosure; 90k, end cover; 910k, protruding ring; 9k, motor; 92k, stator; 91k, rotor; 98k, accommodation space ;920k, retaining ring; 23k, first step; 21k, sleeve; 80k, output shaft; 40k, second stop structure; 40k, seal; 34k, ring groove; 24k, second step; 10k, flex spline ; 12k, the bottom of the cup; 101k, another bearing; 22k, the main body of the wave generator.

100n, harmonic reducer device; 205n, brake; 9n, motor; 101n, another bearing; 206n, installation piece; 207n, plate body; 208n, limit ring; 21n, sleeve; 211n, fixed sleeve; 212n, The third step; 94n, the motor casing; 209n, the brake fixing seat; 93n, the accommodation space.

2003, installation seat; 2004, installation cavity; 202a, first arm body; 202b, second arm body; 2021a, first shell; 2022a, second shell; 2005, cavity; 70, output bearing; 202c, 202d, The third arm body; 2006, 2006b, the second mounting seat; 204a, the first joint; 204b, 204d, the second joint; 2007, the first shell; 2008, the second shell; 2009, the installation gap; 2010, 2012 , 2013, fixing piece; 204c, third joint; 2011, third mounting seat; 2021b, first shell; 2022b, second shell; 2023b, connection shell; 2024b, first opening; 2025b, second opening mouth.

Embodiment of this application

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

In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than Nothing to indicate or imply that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In addition, in this application, in each technical solution in the claims, if "second" appears first in the solution, it does not mean that "first" must appear in the technical solution. "First" and "second" are only used for descriptive purposes. Elements with the same name are distinguished by "first" and "second", for example, the first step, the second step, and the "first" here " and "Second" are just to distinguish the structure of steps.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

With people's enthusiasm for robots, there is a higher requirement for the miniaturization of robots. The miniaturization is mainly reflected in the joints. Smaller harmonic reducers are a hot spot in the market. However, in the past many years, there is still no more compact of products. Please refer to Fig. 2 again, the application of the cup-shaped flexspline 10a in the harmonic reducer achieves the purpose of reducing the size of the harmonic reducer, and at the same time, the sleeve of the wave generator 20a The inner end and the outer end of the cylinder 21a corresponding to the roller 22a are respectively provided with a first positioning bearing 30a and a second positioning bearing 40a to realize the positioning of the sleeve 21a in both directions in the axial direction. 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 direction of the harmonic reducer to be more miniaturized, the research and development personnel have already developed a fixed thinking , will not change the structural scheme of the cup-shaped flexspline 10a, the sleeve 21a, the first locating bearing 30a and the second locating bearing 40a shown in Fig. 2, but strive towards other directions, for example:

1. To improve the first end cover 50a, whether it is possible to make innovations in the size of the first end cover 50a;

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

3. To improve the flexspline 10a, whether it is possible to make innovations in the size of the flexspline 10a;

4. To improve the roller bearing 70a, whether it is possible to make innovations in the size of the roller bearing 70a, and so on.

However, after many years of hard work by R&D personnel in the industry, no good results have been obtained. Specifically, for the first point, in addition to meeting 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 must also reserve a 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 through the change of the meshing position of the rigid wheel 60a and the flexible wheel 10a, at a certain speed ratio After being determined, the parameters of the meshing teeth of the flexspline 10a and the rigid spline 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 flexspline 10a and the It is relatively difficult to achieve the purpose of reducing the size of the radial dimension of the rigid spline 60a. In addition, the power transmission is realized through the meshing of the flexible spline 10a and the rigid spline 60a. The structural strength of the flexible spline 10a and the rigid spline 60a must meet the standard. Therefore, it is also difficult to break through the axial dimensions of the flexible spline 10a and the rigid spline 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 substantive breakthrough in making a fuss about the size of the bearing 70a.

So for many years, there has not been a more miniaturized product on the market. However, the applicant spent a huge amount of research and development costs to carry out research on this technology, breaking the original structure of the cup-shaped flexspline 10a, the sleeve 21a, the first locating bearing 30a and the second locating bearing 40a (as shown in Figure 2 As shown), a brand-new structure scheme is proposed innovatively, so that the harmonic reducer 100a can be further miniaturized on the basis of the relatively small scheme. The miniaturization of the harmonic speed reducer 100a makes the joints using the harmonic speed reducer 100a more miniaturized, and at the same time, the robot using this joint is also more miniaturized.

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

3 and 4, the embodiment of the present application provides a robot 200, which includes a base 203, and a mechanical arm 201 connected to the base 203, the mechanical arm 201 includes at least two arms 202 and connected to the arm 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 . Fig. 5 and Fig. 6 show the harmonic reducer device 100b provided by the first embodiment of the present application.

The harmonic reducer device 100b includes a cup-shaped flexspline 10b, a rigid spline 60b meshing with the flexspline 10b, and a wave generator 20b. The wave generator 20b includes a sleeve 21b for power input and a wave generator which is arranged on the sleeve 21b and makes the flexspline 10b radially deform under the rotation of the sleeve 21b to change the meshing position of the flexspline 10b and the rigid spline 60b Body 22b.

The harmonic reducer device 100b also includes an end cover 90b and an output bearing 70b that are oppositely arranged. The harmonic reducer device 100b further includes a first stop structure 30b and a second stop structure 40b that stop the sleeve 21b. The first stop structure 30b adopts a non-bearing structure and is sheathed on the sleeve 21b.

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

The harmonic reducer device 100b in this embodiment breaks through the convention, the first stop structure 30b does not use a bearing structure, but uses a first stop structure 30b with a smaller axial dimension than conventional bearings that provide an axial limit function Instead of conventional bearings, an innovative breakthrough has been made in reducing the axial size. Due to the existing bearings, balls need to be added between the inner ring and the outer ring. In order to allow the balls to 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 this application, the use of bearings is directly broken through the routine abandonment, and replaced by the first stop structure 30b whose axial dimension is smaller than that of conventional bearings. Under the condition that the radial dimension of the rigid wheel 60b remains unchanged, directly by changing the harmonic reducer The axial dimension of the device 100b meets the demand for 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 harmonic reducer device 100b provided by the embodiment of the present application and the harmonic reducer 100a in FIG. Under the radial dimension L of the rigid wheel 60b, the axial dimension is significantly reduced. Specifically, the line W can be used as a reference in the figure, and the element that acts as a limit function on the left side of the first stop structure 30b can be used as a starting point ( For Fig. 2, take the fixed plate 52a as the starting point, and for Fig. 7, take the left side of the enclosure 91b itself as the starting point), and take the cup bottom 12b of the flexible spline 10b as the end point, measure the distance between the two , A1 is obviously smaller than A2, and the harmonic reducer device 100b provided by the embodiment of the present application has a significantly smaller axial dimension than the harmonic reducer 100a shown in FIG. 2 . In this embodiment, it is specifically reduced by 5mm-13mm. Preferably, the reduction is 8mm-10mm.

Please refer to FIG. 5 and FIG. 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 stop structure 30b and the second stop structure 40b stop the sleeve 21b in both directions in the axial direction.

The outer annular surface of the sleeve 21b is formed with a first step 23b. A surrounding plate 91b is formed on the outer surface of the end cover 90b. The first stop structure 30b is disposed between the first step 23b and the surrounding plate 91b. The first stop structure 30b restricts its bidirectional movement in the axial direction of the sleeve 21b through the first step 23b and the surrounding plate 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 formation of 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, the "right side" mentioned here refers to the side of the first stopper structure 30b that is close to the main body 22b of the wave generator.

In this embodiment, the first stopper structure 30b includes a stopper 31b that is sheathed on the sleeve 21b and rotates with the rotation of the sleeve 21b, and a seal 32b that rotates relative to the stopper 31b. 32b is fixedly connected to the end cover 90b, the stopper 31b abuts against the first step 23b, and the sealing member 32b abuts against the surrounding plate 91b. By replacing the bearing structure with two relatively rotating stoppers 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.

The rotational pair between the stopper 31b and the seal 32b forms a portion overlapping 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 closer to the wave generator main body 22b.

Projections of the sealing member 32b and the stopper 31b in a direction parallel to the axis of the sleeve 21b at least partially overlap. The overlapping part forms the rotation pair of the first stopper structure 30b.

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 sealing part 32b is fixedly connected with the end cover 90b, so that the stopper 31b can be used as a rotor, and the sealing part 32b can be used as a stator.

In this embodiment, the first stopper structure 30b is composed of a stopper 31b and a sealing member 32b, and the first stopper structure 30b is only composed of two parts, which is one less than conventional bearings in terms of the number of parts. Generally speaking, a conventional bearing includes an inner ring, an outer ring, and a ball disposed between the inner ring and the outer ring, and has three parts, while the first stop structure 30b in the present application has only two parts, that is, the stopper 31b and Seal 32b. The present application has made a great breakthrough in terms of the material cost reduction brought about by the reduction of parts.

In this embodiment, the axial dimension of the first stop structure 30b is smaller than the difference between the inner diameter and the outer diameter of the first stop structure 30b. The harmonic reducer device 100b in this embodiment breaks through the convention. The first stop structure 30b does not use a bearing structure, but uses the first stop structure 30b whose axial dimension is smaller than the difference between the inner diameter and the outer diameter to replace the conventional bearing. An innovative breakthrough has been made in the reduction of the axial dimension. Due to the existing bearings, balls need to be added between the inner ring and the outer ring. In order to allow the balls to 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. Usually The axial dimension of the inner ring or outer ring is equal to the difference between the inner diameter and outer diameter of the bearing or the axial dimension of the inner ring or outer ring is greater than the difference between the inner diameter and outer diameter of the bearing. The difference between the inner diameter and outer diameter of the bearing mentioned here is The difference refers to the difference in diameter or radius between the inner and outer rings. However, in this application, the use of bearings is directly broken through the conventional abandonment, and a structure whose axial dimension is smaller than the difference between the inner diameter and the outer diameter is replaced. When the radial dimension of the rigid wheel 60b remains unchanged, directly by changing the harmonic reducer The axial dimension of the device 100b meets the demand for 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 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 an annular groove 34b and a protruding ring 35b inserted into the annular groove 34b, one of the stopper 31b and the sealing member 32b defines the annular groove 34b, and the stopper 31b and The other one of the two seals 32b protrudes from a protruding ring 35b. The cooperation between the ring groove 34b and the protruding ring 35b not only does not hinder the relative rotation between the stopper 31b and the seal 32b, but also provides a sealing function for the rotation pair between the stopper 31b and the seal 32b. The specific sealing effect is realized by the labyrinth matching surface of the annular groove 34b and the protruding ring 35b.

Please refer to FIG. 8 and FIG. 9 at the same time. In this embodiment, there are at least three mating surfaces between the annular groove 34b and the protruding 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. With such a setting, even if the lubricating oil wants to flow out, it must pass through two groove wall surfaces 36b, a groove bottom surface 37b and two corners 38b. Such a long path will eventually prevent the lubricating oil from flowing out, achieving the purpose of sealing and preventing leakage .

The axial dimension between the stopper 31b and the sealing member 32b is further reduced through the cooperative arrangement of the ring groove 34b and the protruding ring 35b. At the same time, through the cooperation of the ring groove 34b and the protruding 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 annular groove 34b and the protruding ring 35b are provided in pairs, and may be provided as one pair, or may be provided as two pairs, or may be provided as other numbers such as three or more pairs. The logarithm of the specific setting needs to be based on the radial dimension difference between the end cap 90b and the sleeve 21b and the thickness of the protruding ring 35b. The radial dimension difference between the end cap 90b and the sleeve 21b here refers to the The radial distance between the cover 90b and the sleeve 21b is specifically the radial distance between the main body 92b of the end cover 90b and the sleeve 21b. In this embodiment, two pairs of ring grooves 34b and protruding rings 35b are provided.

At least one of the stopper 31b and the seal 32b has a sheet shape. The flake shape mentioned here means that the axial dimension is smaller than the difference between the inner diameter and the outer diameter. In this embodiment, both the stopper 31b and the seal 32b are 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 sealing member 32b may be selected to be arranged in a sheet 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 surface of the main body 92b mentioned here refers to the end surface 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 surrounding plate 91b is connected to the outer edge of the main body 92b and is integrated with the main body 92b. That is to say, the shroud 91b does not exist as a separate part, but is integrated with the main body 92b of the end cover 90b. Such arrangement can reduce the number of parts and reduce the shroud 91b as a separate part. The additional processing cost also reduces the processing and assembly process of the shroud 91b as a separate component, and saves the cost of the harmonic reducer device 100b to a certain extent. Please refer to Fig. 2 again, the parts that play the role of the enclosure 91b are the fixed plate 52a outside the first end cover 50a, and this fixed plate 52a exists as a separate component in Fig. 2, virtually adding zero The number of parts also needs to increase the inventory space, increase the types of inventory control of parts, and also increase the processing and assembly processes. Of course, it also increases the cost.

In this embodiment, the flexspline 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 extending inwardly from one end edge of the ring portion 11b. The cup bottom 12b defines a through hole (not shown) for the output shaft 80b to pass through. The outer ring surface of the ring portion 11b is provided with an external gear (not marked) for meshing with an internal gear (not marked) of the rigid wheel 60b. The ring part 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 spline 60b is ring-shaped, and an internal gear is formed on its inner side and meshed with the flexible spline 10b. The flexible spline 10b is disposed in the inner cavity of the rigid spline 60b.

In this embodiment, the second stop structure 40b stops at the stop bearing 40b, and the power output end of the wave generator 20b at least partially overlaps with the projection of the stop bearing 40b on the axis of the sleeve 21b. In this way, the overall axial dimension of the stop bearing 40b and the power output end of the wave generator 20b is reduced, please refer to FIG. 2 again, the power output of the wave generator 20a in the harmonic reducer 100a shown in FIG. 2 The end does not overlap at all with the projection of the second locating bearing 40a on the axis of the sleeve 21a. In this application, 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 size in the axis direction of the sleeve 21b is smaller. The consistent design scheme in the industry in the harmonic reducer is as shown in Fig. 2, the two

stop bearings

30a, 40a are arranged on the opposite sides of the power output end of the wave generator 20a, and there is no overlap, while the present application Breaking the routine, creatively improve 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 The at least partial overlap further reduces the axial size of the harmonic reducer device 100b, making a further contribution to the miniaturization of the harmonic reducer device 100b.

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

Preferably, the projection 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.

Under the guidance of the idea of making the power output end of the wave generator 20b overlap with the projection of the stop bearing 40b on the axis of the sleeve 21b, the R&D personnel continue to research and test, and make prototypes, test, and test 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 0.5-0.9" can not only make a larger axial dimension Contribution, and product reliability 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 against the second step 24b, and the other side indirectly abuts against the cup bottom 12b of the flexspline 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 further 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 never think of placing the stop bearing 40b between the sleeve 21b and the output shaft 80b, and this The application proposes a brand-new design idea, directly setting the stop bearing 40b between the sleeve 21b and the output shaft 80b, and at the same time extending the stop bearing 40b under the power output end of the wave generator 20b, the stop bearing 40b Between the power output end of the wave generator 20b is a sleeve 21b. The sleeve 21b and the output shaft 80b radially limit the stop bearing 40b, and no other additional limiting structures are required.

The harmonic reducer device 100b further includes a washer 81b disposed between the cup bottom 12b of the flexspline 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 directions in the axial direction, and the sleeve 21b and the output shaft 80b limit the stop bearing 40b in the radial direction. Upwards are limited.

The washer 81b is in the shape of a sheet, and there is no overlap between the washer 81b and the stop bearing 40b in the axial direction of the sleeve 21b, and the washer 81b and the stop 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 connection portion 82a and an axial ring portion 83a, and radially restricts the stop bearing 40b through the radial connection portion 82a. In this application, the washer 81b It only needs to be in a simple sheet shape, and does not need the radial connecting portion 82a, so the structure is simpler and the assembly is also easy.

A mounting portion 82b protrudes from the outer ring surface of the output shaft 80b, 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 flexspline 10b. In the axial direction of the sleeve 21b, the stop bearing 40b, the washer 81b, the cup bottom 12b of the flexspline 10b, the mounting part 82b and the inner ring 72b of the output bearing 70b are closely arranged in sequence, and no other parts are arranged in the middle. The inner ring 72b of the output bearing 70b defines an accommodating groove 73b inside, and the mounting portion 82b is installed in the accommodating groove 73b.

The harmonic reducer device 100b further 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 outside of the output bearing 70b referred to here refers to the side of the output bearing 70b away from the rigid wheel 60b.

The other end cover 93b and the output shaft 80b are two independent components. A wire harness structure 1b is provided between one side of the other end cover 93b and the output shaft 80b. Setting the other end cover 93b and the output shaft 80b as two independent parts 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 Figure 2 on the one hand, and at the same time The cost is reduced. On the other hand, the wire harness structure 1b can also be provided between the other end cover 93b and the end of the output shaft 80b, which can kill two birds with one stone.

The other end cover 93b protrudes from a side close to the output bearing 70b with a connecting portion 94b protruding into the inner ring 72b of the output bearing 70b and close to the end of the output shaft 80b. In this embodiment, the wire harness structure 1b includes a tube body 101b connected to the connecting portion 94b and an elastic stretchable portion 102b sheathed on the outside of the tube body 101b. The pipe body 101b is used for the cables 103b to pass through. One end of the tube body 101b extends into the output shaft 80b, and the other end is connected to the connecting portion 94b. The telescoping portion 102b is located between the tube body 101b and the connecting 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 main body 22b includes a rotating arm formed on the sleeve 21b and rollers mounted on opposite ends of the rotating arm; or, the wave generator main body 22b includes a cam and a connection formed on the sleeve 21b Flexible bearing 26b on the cam.

In this embodiment, the output bearing 70b is a bearing with its own oil seal 95b. It is not necessary to install an oil seal 95a inside the second end cover 93a as shown in FIG. The set oil seal 95a needs to be customized, and the cost will be relatively high.

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

1. The rigid wheel 60a and the flexible wheel 10a of the harmonic reducer 100a shown in Figure 2 need to be customized, while the harmonic reducer device 100b of this application only needs to use the standard parts of the rigid wheel 60b and the flexible wheel 10b to meet the design Requirements, reducing customization costs;

2. The roller bearing 70a of the harmonic reducer 100a shown in Figure 2 uses a bearing without an oil seal, and the oil seal is customized between the right end cover 93a and the roller bearing 70a, while this application uses an automatic The output bearing 70b with 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 Yes, the number of parts is virtually increased, the inventory space needs to be increased, the inventory control types of parts are increased, and the processing and assembly processes are also increased. Of course, the cost is also increased. In this application, the enclosure 91b is connected to The outer edge of the main body 92b is not integral with the main body 92b. The shroud 91b does not exist as a separate part, but is integrated with the main body 92b of the end cover 90b. Such arrangement can reduce the number of parts and reduce the additional processing cost of the shroud 91b as a separate part , which also reduces the processing and assembly procedures for the coaming plate 91b as a separate component, saving the cost of the harmonic reducer device 100b to a certain extent;

4. In the harmonic reducer 100a shown in Figure 2, the output shaft 80a is integrated with the right end cover 93a, the entire part is very large in size, and the right end cover 93a is almost perpendicular to the output shaft 80a. Difficulty increases processing cost virtually, and this application, output shaft 80b and another end cover 93b separate, during processing, output shaft 80b and another end cover 93b process separately, although there is increase in the quantity of processing parts, but actually quite Compared with the increase in processing cost brought about 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 driving motor 9 is arranged on one side of the harmonic speed reducer device 100b. The joint 204 also includes another bearing 101 sleeved on the sleeve 21b, and the driving motor 9 includes a rotor 91 sleeved on the sleeve 21b and a stator 92 matched with the rotor 91 . Another bearing 101 is located on the side of the rotor away from the wave generator 20b. Another 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 part 206 sleeved on the sleeve 21b. The mounting part 206 is located on a side of the motor 9 away from the end cover 90 b, and is used for limiting 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 board body 207 and a limiting ring 208 connected to one side of the board body 207 . The limiting ring 208 and the sleeve 21 b radially limit the other bearing 101 . The outer annular surface of the sleeve 21b is formed with a third step 27b. The third step 27 b and the plate body 207 axially limit the other bearing 101 . The limiting ring 208 protrudes into the accommodating space 93 . An elastic member 95 is disposed between the other bearing 101 and the plate body 207 to play a role of shock absorption.

The joint 204 also includes a stopper 205 mounted on the sleeve 21b. The stopper 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 part 2 b of the mounting part 206 is sandwiched between the casing 94 of the motor 9 and the housing 209 of the brake 205 to realize the fixing of the mounting part 206 .

The mounting part 206 utilizes the original gap between the existing motor and the brake to realize the installation of another bearing 101. By extending the limit ring 208 into the accommodation space 93 of the motor 9, the outer peripheral part 2b of the mounting part 206 is The casing 94 of the motor 9 is connected to the housing 209 of the brake 205 in a misaligned manner, which does not increase the axial size of the entire joint.

To sum up, the harmonic reducer device 100b is reduced in the axial dimension. 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 application of the harmonic The joint 204 of the wave decelerator device 100b will also be more miniaturized. Furthermore, the robot arm 201 to which such miniaturized joints are applied will also be further miniaturized. The robot 200 using such a robot arm is also more miniaturized.

Please refer to Fig. 10 and Fig. 11 at the same time, the harmonic reducer device 100c provided in the second embodiment of the present application is roughly the same as the harmonic reducer device 100b provided in the first embodiment, the difference lies in:

The first stopper structure 30c includes a stopper 31c sleeved on the sleeve 21c and rotates with the rotation of the sleeve 21c and a seal 32c connected to the stopper 31c; the inner surface of one end of the stopper 31c is against the Abutting against the first step 23c, one end of the sealing member 32c abuts against the surrounding plate 91c, thereby realizing the position limitation of the first stop structure 30c between the first step 23c and the surrounding plate 91c. The inner side mentioned here 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 one end of the stopper 31c mentioned here refers to the end close to the sleeve 21c, and the one end of the sealing member 32c refers to the end close to the shroud 91c and away from the sleeve 21c.

The first stopper structure 30c is generally in the shape of a sheet. 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 together with the stopper 31c following the sleeve 21c. A rotating pair is formed between the sealing member 32c and the shroud 91c. When the sleeve 21c rotates, the outer edge of one end of the sealing member 32c contacts the shroud 91c to form a rotating pair. The outer edge of one end of the seal 32c is always in contact with the shroud 91c when the seal 32c rotates, and a sealing structure is formed at the contact between the seal 32c and the shroud 91c.

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

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

The stopper 31c is a rigid member, and the sealing member 32c is a flexible member. When the first stopper structure 30c rotates with the sleeve 21c, the contact portion 321c is always in tight contact with the surrounding plate 91c, which not only achieves the function of position limiting, but also plays the role of sealing.

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 application is roughly the same as the harmonic reducer device 100b provided by the first embodiment, the difference lies in:

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

In the third embodiment, the first stop structure 30d is directly formed on the surrounding plate 91d. The first step is no longer needed to limit the position. The first stop structure 30d includes a connecting ring 92d connected to the side of the surrounding plate 91d close to the sleeve 21d, and the connecting ring 92d is in surface contact with the outer ring 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 formed by opening a ring groove 34d on the contact surface between the connecting ring 92d and the sleeve 21d. The ring 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. With such a setting, even if the lubricating oil wants to flow out, it must pass through two groove wall surfaces 36d, a groove bottom surface 37d and two corners 38d. Such a long path will eventually prevent the lubricating oil from flowing out, achieving the purpose of sealing and preventing leakage .

Multiple ring grooves 34d can be provided, for example, 1, 2, 3, etc. In the case of reducing the axial size, the number of ring grooves 34d can be set 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 cancelled, and the size of the first stop structure 30d in the axial direction is smaller than that of the harmonic reducer shown in FIG. 2 100a is the sum of the axial dimensions of the fixing plate 52a and the first positioning bearing 30a.

In this embodiment, the connection 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 harmonic reducer device 100d provided in the third embodiment of the present application and the harmonic reducer 100a in FIG. 2 in terms of axial dimensions. 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 left side of the first stop structure 30d can be used as a limit function based on the line W in the figure. The element is the starting point (for Fig. 2, the fixed plate 52a is the starting point; for Fig. 14, the left side of the first stop structure 30d itself is the starting point), and the cup bottom 12d of the flexspline is the end point, measure The distance between the two, A1 is obviously smaller than A2, and the harmonic reducer device 100d provided by the embodiment of the present application has a significantly smaller axial dimension than the harmonic reducer 100a shown in FIG. 2 . In this embodiment, it is specifically reduced by 5mm-13mm. Preferably, the reduction is 8mm-10mm.

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

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

Please refer to Fig. 15, the harmonic reducer device 100e provided by the fourth embodiment of the present application is substantially the same as the harmonic reducer device 100b provided by the first embodiment, the difference lies in:

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 flexspline 10e is directly fixed with the inner ring 72e of the output bearing 70e. No mounting portion 82b is provided between the cup bottom 12e of the flexspline 10e and the inner ring 72e of the output bearing 70e. The cup bottom 12e of the flexspline 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 realized by fixing the other end cover 93e to the inner ring 72e of the output bearing 70e.

Please refer to Fig. 16, the harmonic reducer device 100f provided by the fifth embodiment of the present application is substantially the same as the harmonic reducer device 100c provided by the second embodiment, and the difference is the harmonic reducer device 100c provided by the fourth embodiment of the present application. The difference between the reducer device 100e and the harmonic reducer device 100b provided in the first embodiment is the same, that is, the other end cover 93f is integrated with the output shaft 80f. No mounting portion is 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 flexspline 10f is directly fixed with the inner ring 72f of the output bearing 70f. There is no installation part between the cup bottom 12f of the flexspline 10f and the inner ring 72f of the output bearing 70f. The cup bottom 12f of the flexspline 10f is in direct contact with the inner ring 72f of the output bearing 70f. The fixing of the output shaft 80f and the inner ring 72f of the output bearing 70f is realized by the fixing of the other end cover 93f and the inner ring 72f of the output bearing 70f.

Please refer to Fig. 17, the harmonic reducer device 100g provided by the sixth embodiment of the present application is substantially the same as the harmonic reducer device 100d provided by the third embodiment, and the difference is the harmonic reducer device 100d provided by the fourth embodiment of the present application. The difference between the reducer device 100e and the harmonic reducer device 100b provided in the first embodiment is the same, that is, the other end cover 93g is integrated with the output shaft 80g. No mounting portion is provided on the output shaft 80g, and the inner ring 72g of the output bearing 70g does not need to be provided with an accommodating groove. The cup bottom 12g of the flexspline 10g is directly fixed with the inner ring 72g of the output bearing 70g. No mounting portion is provided between the cup bottom 12g of the flexspline 10g and the inner ring 72g of the output bearing 70g. The cup bottom 12g of the flexspline 10g is in direct contact with the inner ring 72g of the output bearing 70g. The fixing of the output shaft 80g and the inner ring 72g of the output bearing 70g is realized by fixing the other end cover 93g and the inner ring 72g of the output bearing 70g.

In the first to sixth embodiments above, there are at least two places that contribute to reducing the axial size of the harmonic reducer device, specifically:

1. The first stop structure does not adopt the bearing structure, but adopts the

first stop structure

30b, 30c, 30d described in the above embodiment, and the structural design of the

first stop structure

30b, 30c, 30d makes its axial direction The size is smaller than the axial size of conventional bearings.

2. The power output end of the wave generator at least partially overlaps with the projection of the second stop structure on the axis of the sleeve.

It can be understood that in other embodiments, the harmonic reducer device considers improving the second point, while not making too much improvement on the first point, and also adopts the bearing structure. Specifically, reference may be made to the seventh embodiment, the eighth embodiment, and the ninth embodiment in the following description.

Please refer to Fig. 18, the harmonic reducer device 100h provided by the seventh embodiment of the present application is substantially the same as the harmonic reducer device 100b provided by the first embodiment, the difference is:

Unlike the first embodiment, there is no need to arrange another bearing 101 between the brake 205 and the motor 9, and of course there is no need to arrange the mounting part 206, but the first stop structure 30h adopts a bearing structure. Specifically, a stopper bearing 30h is provided between the shroud 91h and the first step 23h. Due to the existence of another bearing 101 and the installation part 206, the installation part 206 will occupy the axial length space, resulting in that the axial length of the harmonic reducer device cannot be further reduced in terms of the installation of the other bearing 101. In the seventh embodiment, the other bearing 101 and the mounting part 206 are omitted to further reduce the axial length of the harmonic reducer device.

In the seventh embodiment, the first stop structure 30h adopts a bearing structure, and plays a supporting role together with the second stop structure, so that the other bearing 101 and the mounting part 206 can be eliminated.

Please refer to Fig. 21, Fig. 21 is a comparison diagram of the harmonic speed reducer device 100b provided by the first embodiment of the present application and the harmonic speed reducer device 100h of the seventh embodiment shown in Fig. 18 in the axial dimension. There are three lines, the first line is line E, and line E refers to the common starting line on the rightmost side of the two harmonic

speed reducer devices

100b, 100h, and the second line is line F, which is the harmonic speed reduction of the first embodiment The line where the rightmost end surface of the brake 205 of the harmonic reducer device 100b is located, and the third line is line G, which is the line where the rightmost end surface of the brake 205 of the harmonic reducer device 100h of the seventh embodiment is located. The vertical distance from line E to line F is represented by B1, and the vertical distance from line E to line G is represented by B2. B1 is obviously larger than B2. It can be seen that the harmonic speed reducer device 100h provided by the seventh embodiment is larger than the first The harmonic reducer device 100b of the embodiment has a significantly reduced axial dimension. In the seventh embodiment, it is specifically reduced by 5mm-7mm. Preferably, the reduction is 6mm-7mm.

Furthermore, an elastic member 95h is provided between the stop bearing 30h and the surrounding plate 91h to play a role of shock absorption. One end of the elastic member 95h abuts against the shroud 91h, and the other end abuts against the stop bearing 30h. The elastic member 95h is interposed between the surrounding plate 91h and the first stop structure 30h. Specifically, the inner ring of the stopper bearing 30h fits on the outer peripheral surface of the sleeve and rotates together with the sleeve. The other end of the elastic member 95h abuts against the outer ring of the stopper bearing 30h. In this embodiment, the elastic member 95h is a wave spring. In other embodiments, the elastic member 95h may be of other structures, for example, reeds, elastic washers and the like.

Further, the shroud 91h extends into the accommodating space 93h formed between the stator 92h and the rotor 94h of the motor 9h. To further reduce the axial dimension. The shroud 91h extends into the accommodating space 93h, so that the end cover forms a convex hull 96h protruding toward the accommodating space 93h, and the corresponding convex hull 96h of the end cover forms a cavity 97h in it, the stop bearing 30h and the elastic member 95h Located within this cavity 97h. The stopper bearing 30h and the elastic member 95h are interposed between the shroud 91h and the first step 23h.

Please refer to Fig. 19, the harmonic reducer device 100i provided by the eighth embodiment of the present application is substantially the same as the harmonic reducer device 100h provided by the seventh embodiment, the difference lies in:

The other end cover 93i is integral with the output shaft 80i. No mounting portion is provided on the output shaft 80i, and the inner ring 72i of the output bearing 70i does not need to be provided with an accommodating groove. The cup bottom 12i of the flexspline 10i is directly fixed with the inner ring 72i of the output bearing 70i. No mounting portion is provided between the cup bottom 12i of the flexspline 10i and the inner ring 72i of the output bearing 70i. The cup bottom 12i of the flexspline 10i is in direct contact with the inner race 72i of the output bearing 70i. The fixing of the output shaft 80i to the inner ring 72i of the output bearing 70i is realized by fixing the other end cover 93i to the inner ring 72i of the output bearing 70i.

Please refer to FIG. 20 , the harmonic reducer device 100k provided by the ninth embodiment of the present application is substantially the same as the harmonic reducer device 100b provided by the first embodiment, except that:

The first stopper structure 30k adopts a bearing structure, without the shroud 91b of the first embodiment; the end cover 90k extends into the accommodating space 98k formed between the stator 92k and the rotor 91k of the motor 9k through a protruding ring portion 910k Inside.

The first stop structure 30k is located within the protruding ring portion 910k. A retaining ring 920k is provided between the first stop structure 30k and the rotor 91k of the motor 9k. The first stop structure 30k is located between the first step 23k and the retaining ring 920k on the axial upper limit of the sleeve 21k. The radial upper limit of the first stop structure 30k of the sleeve 21k is located between the protruding ring portion 910k and the output shaft 80k.

The first stop structure 30k protrudes between the stator 92k and the rotor 91k. The second stop structure 40k replaces the bearing with a seal 40k. The seal 40k is interposed between the inner annular surface of the sleeve 21k and the output shaft 80k. The seal 40k is in surface contact with the output shaft 80k. A sealing structure is formed at the contact surface. The sealing structure includes at least one annular groove 34k opened on the contact surface of the sealing member 40k. In this embodiment, there are multiple annular grooves 34k, forming a labyrinth-like sealing structure on the contact surface.

One side of the seal 40k abuts against the second step 24k, and the other side indirectly or directly abuts against the cup bottom 12k of the flexspline 10k. A gasket (not shown) may be provided between the sealing member 40k and the cup bottom 12k of the flexspline 10k, so that the other side of the sealing member 40k abuts against the cup bottom 12k of the flexspline 10k through the gasket.

Both the first stop structure 30k and the other bearing 101k are located on the same side of the wave generator body 22k.

In the ninth embodiment, the output shaft 80k is set separately from the other end cover 93k, as shown in the first embodiment, in other embodiments, the output shaft 80k and the other end cover 93k can be integrated, as in the fourth embodiment shown.

Please refer to Fig. 22, the harmonic reducer device 100n provided by the tenth embodiment of the present application is substantially the same as the harmonic reducer device 100h provided by the seventh embodiment, the difference is that it is reserved between the brake 205n and the motor 9n Another bearing 101n and mounting piece 206n. The structure of the mounting part 206n may be the same as the structure of the mounting part of the harmonic speed reducer device provided in the first embodiment, which will not be repeated here. The structure of the mounting part 206n can also be slightly changed. Referring to Figure 22 for details, the mounting part 206n includes a plate body 207n and a limit ring 208n connected to one side of the plate body 207n, and a fixed sleeve 211n is set on the outer side of the sleeve 21n. The limiting ring 208n and the fixing sleeve 211n radially limit the other bearing 101n. A third step 212n is formed on the outer ring surface of the fixing sleeve 211n, and the third step 212n and the plate body 207n axially limit the other bearing 101n. The outer peripheral edge of the mounting part 206n is fixed on the shell of the whole joint. Specifically, the outer peripheral edge of the mounting part 206n is sandwiched between the motor housing 94n and the brake fixing base 209n. The other bearing 101n is at least partially located in the accommodating space 93n.

Please refer to Fig. 23 and Fig. 24. Fig. 23 is a three-dimensional structure diagram of a joint 204h of a robot provided by an embodiment of the present application, on which the harmonic reducer device 100h of the seventh embodiment is applied. Compared with the joint 204 using the harmonic reducer device of the first embodiment, in addition to the difference in the structure of the harmonic reducer device, it also has the following differences (hereinafter referred to as the description of the differences):

The joint 204h also includes a motor-end encoder 2041 . The motor end encoder 2041 is sheathed on the sleeve 21h, a part of the motor end encoder 2041 is located inside the housing 209h of the brake 205h, and the other part is located outside the housing 209h of the brake 205h. The motor end encoder 2041 does not occupy the axial space of the joint 204h. The sleeve 21h is an independent whole, extending from the second stop structure 40h to the encoder 2041 at the motor end, and beyond the encoder 2041 at the motor end. The sleeve 21h is an independent integral part, which is easier to install and can reduce the number of parts. The structure of the whole harmonic speed reducer device 100h is very simple. Of course, the structure of the entire joint 204h is also simple.

The joint 204h also includes a servo driver power board 2042, which is supported on the housing 209h of the brake 205h (the housing 209h can also be called the brake fixing seat 209h, which is used to fix the seat of the brake 205h). There is a space between 2042 and the brake fixing seat 209h, so as to avoid various components located on the power board 2042 of the servo driver. The output shaft 80h passes through the servo drive power board 2042 .

The joint 204h also includes a load end encoder 2043 . The load end encoder 2043 is sheathed on the output shaft 80h, and is located between the servo drive power board 2042 and the output shaft 80h. The load end encoder 2043 does not occupy the axial space of the joint 204h.

The joint 204h also includes a servo driver control board 2044 supported on the servo driver power board 2042 . The servo drive control board 2044 is spaced apart from the servo drive power board 2042 .

The joint 204h also includes a cable fixing plate 2045 through which the cables pass through the output shaft 80h and are fixed by the cable fixing plate 2045 . The cable fixing plate 2045 is fixed at intervals outside the servo drive control board 2044 . The cable fixing plate 2045, the servo drive power plate 2042 and the servo drive control plate 2044 are arranged at intervals.

In the extending direction of the sleeve 21h, the brake fixing seat 209h, the servo driver power board 2042 and the servo driver control board 2044 are sequentially arranged at intervals.

The above "difference description" is also applicable to the joints or robots provided with the harmonic reducer devices provided in the first to sixth and eighth to tenth embodiments.

It is necessary to add some detailed instructions (hereinafter referred to as supplementary instructions), as follows:

The first stop structure 30h and the second stop structure 40h are located on opposite sides of the sleeve 21h, specifically, the first stop structure 30h is located outside the sleeve 21h, and the second stop structure 40h is located on the outside of the sleeve 21h. Inside and between the sleeve 21h and the output shaft 80h.

The sleeve 21h is a separate part. A first stop structure 30h, a second stop structure 40h, and a motor 9h are arranged on the extension length of the sleeve 21h. Further, a brake 205h and an encoder 2041 at the motor end are arranged on the extension length of the sleeve 21h.

The joint 204h is used as an independent module, which provides a simple and convenient design idea for the installation and structural layout of the entire robotic arm. In addition, the size of the joint of the present application is reduced in axial dimension compared with the joint of the harmonic reducer using the cup-type flexspline, so that the joint as an independent module has greater advantages, short and compact, The market is highly competitive. It also provides more space for the housing design of the robot arm.

It can be understood that the above supplementary descriptions are also applicable to the joints or robots provided with the harmonic reducer devices provided in the first to sixth and eighth to tenth embodiments.

Please refer to Fig. 25, the joint 204h is an independent module with a smaller axial dimension. When it is installed in the entire outer shell 2001 of the robot, the outer shell 2001 can make a smooth transition at the joint turning point 2002, and this smooth transition will not make the The whole robot looks very thick or bulky in the corner 2002. Of course, the smooth transition structure of the outer casing 2001 is also applicable to any embodiment.

Please refer to FIG. 26 to FIG. 31 , the joints in the above embodiments exist as independent modules, and each joint is independently installed on the mechanical arm. In the conventional technology, before the servo driver power board, the servo driver control board, the motor end encoder and the load end encoder are installed on the joint, other structures must be integrated with a larger manipulator shell to form a non-detachable whole. During installation, it is not only heavy, but also if the joints are damaged, for example, the brake, motor or bearings are damaged, there is no way to remove the damaged parts for separate maintenance, only to replace the whole non-detachable whole, which not only causes This reduces the waste of cost, and it is also difficult to disassemble the whole on the mechanical arm due to its bulkiness. However, in this application, the joint is installed and disassembled as a whole. Due to the reduction of the axial size of the joint, the joint itself is short, compact, light and easy to handle, which makes installation or disassembly convenient, and also makes the entire mechanical arm or robot appear It is very lightweight and miniaturized, which has laid a solid technical foundation for the miniaturization application of robots.

In this embodiment, the mechanical arm 201 further includes at least two arms 202, the joint 204 is connected between the arms 202, and one of the two arms 202 is 202 includes a mounting seat 2003, the inner ring of the output bearing 70 of the joint 204 is directly or indirectly fixed on the mounting seat 2003, the two arms 202 are connected and enclosed to form a mounting cavity 2004, and the joint 204 is used as a The whole independent module is placed in the installation cavity 2004 .

In some embodiments, one of the arm bodies 202 is defined as the first arm body 202a, another arm body 202 is defined as the second arm body 202b, and the first arm body 202a and the second arm body 202b each includes a first shell 2021a and a second shell 2022a covering the first shell 2021a, the first shell 2021a of the first arm 202a is provided with the mounting seat 2003, and the second arm 202b The first shell 2021a of the first arm 202a is connected with the first shell 2021a of the first arm 202a to form a cavity 2005, and the second shell 2022a of the second arm 202b is connected with the second arm The first shell 2021a of the body 202b is closed so that the first shell 2021a, the second shell 2022a and the mounting seat 2003 of the second arm body 202b jointly form the mounting cavity 2004 .

The embodiment of the present application also provides a method for installing the above-mentioned robotic arm 201, which includes the following steps:

S1. Assembling the joint 204, the assembled joint 204 is used as a whole independent module;

S2. Install the joint 204, and install the joint 204 integrally on the mounting seat 2003 of the first shell 2021a of the first arm body 202a, wherein the output bearing 70 of the joint 204 The inner ring is directly or indirectly fixed on the mounting seat 2003;

S3. Install the first shell 2021a of the second arm body 202b, and connect the first shell 2021a of the second arm body 202b with the first shell 2021a of the first arm body 202a. forming the cavity 2005, the joint 204 is accommodated in the cavity 2005;

S4. Cover the second shell 2022a of the second arm 202b, and dock the second shell 2022a of the second arm 202b with the first shell 2021a of the second arm 202b The cover also encloses the joint 204 in the installation cavity 2004 .

The mechanical arm 201 includes a third arm body 202c, the third arm body 202c includes a second mount 2006, and the third arm body 202c also includes a first shell 2021a and a first shell covering the first shell 2021a. Two shells 2022a, the first shell 2021a of the third arm body 202c is provided with the second mounting seat 2006, the joint is defined as the first joint 204a, and the other assembled joint is defined as the second joint 204b, the installation method of the mechanical arm 201 further includes the following steps:

S5. Install the second joint 204b, the second joint 204b is integrally installed on the second mounting seat 2006 of the first shell 2021a of the third arm body 202c, wherein the second joint 204b The inner ring of the output bearing 70 is directly or indirectly fixed on the second installation seat 2006, and the installation directions of the second joint 204b and the first joint 204a form a preset angle;

S6. Install the first shell 2021a of the first arm 202a, and dock the first shell 2021a of the third arm 202c with the first shell 2021a of the first arm 202a forming the cavity 2005, the second joint 204b is housed in the cavity 2005;

S7. Cover the second shell 2022a of the first arm 202a, and dock the second shell 2022a of the first arm 202a with the first shell 2021a of the first arm 202a The cover also encloses the second joint 204b in the installation cavity 2004 .

The first shell 2021a of the first arm 202a includes the mounting base 2003, a first tube shell 2007 formed on one side of the mounting base 2003, and a second shell 2007 formed on the other side of the mounting base 2003. The tube shell 2008, the first tube shell 2007 and the second tube shell 2008 form a preset angle, and the second tube shell 2008 is provided with an installation gap at the turning extension of the installation base 2003 at a preset angle 2009 , the installation notch 2009 communicates with the installation cavity 2004 .

In the step of installing the first joint 204a, the fixing member 2010 protrudes from the installation notch 2009 and passes through the installation seat 2003 to be directly or indirectly locked into the output bearing 70 of the first joint 204a In the step of installing the second joint 204b, the second joint 204b protrudes from the installation notch 2009 and is directly or indirectly fixed with the second mounting seat 2006, and the extension of the fixing member 2010 The insertion direction is different from the insertion direction of the second joint 204b. In the step of covering the second shell 2022a of the first arm body 202a, the steps specifically include:

The second shell 2022a of the first arm 202a covers the installation notch 2009 to cover the second joint 204b and the fixing member 2010 .

In one embodiment, the installation method of the second joint 204b on the second mounting base 2006 is substantially the same as the installation manner of the first joint 204a on the mounting base 2003, which will not be repeated here.

In one embodiment, the installation directions of the second joint 204b and the first joint 204a form a predetermined included angle, and the predetermined included angle may be 90 degrees.

The adjacent and vertical installation of the above two joints 204 is applicable to any right-angle connection in the mechanical arm 201. The only difference is that the structure of the first shell and the second shell of the arm body is slightly different, but the overall inventive concept are interlinked. For example, to continue to install the third joint 204c in the third arm body 202c, it is necessary to provide another arm body with a third mounting seat 2011, and the third joint 204c is opened between the first shell 2021a and the second shell 2022a of the third arm body 202c The window opened at the time extends into the cavity, and then the fixing member 2012 is used to lock into the third joint 204c from the outside of the third mounting seat 2011.

The above description is the installation method of two vertical joints, and the following steps are for the installation method of two parallel joints, following the above step S4.

The mechanical arm 201 includes a third arm body 202d, the second arm body 202b includes a second mount 2006b, and the third arm body 202d includes a first shell 2021a and a second shell covering the first shell 2021a. The shell 2022a, the first shell 2021a of the second arm body 202b is provided with the second mounting seat 2006b, the joint is defined as the first joint 204a, and the other assembled joint is defined as the second joint 204d , the installation method of the mechanical arm 201 also includes the following steps:

S5', install the second joint 204d, the second joint 204d is integrally installed on the second mounting seat 2006b of the first shell 2021a of the second arm body 202b, wherein the second joint The output bearing 70d of 204d is directly or indirectly fixed on the second mounting seat 2006b, and the installation directions of the second joint 204d and the first joint 204a are parallel;

S6', install the first shell 2021a of the third arm 202d, and dock the first shell 2021a of the third arm 202d with the first shell 2021a of the second arm 202b The cavity 2005 is formed, and the second joint 204d is accommodated in the cavity 2005;

S7', cover the second shell 2022a of the third arm 202d, connect the second shell 2022a of the third arm 202d with the first shell 2021a of the third arm 202d The docking cover encloses the second joint 204d in the installation cavity 2004 .

In one embodiment, the first shell 2021a of the second arm body 202b includes a first tube shell 2021b, a second tube shell 2022b parallel to the first tube shell 2021b, and a second tube shell 2022b connected to the first tube shell 2021b. The connection shell 2023b between the shell 2021b and the second tube shell 2022b, the second mount 2006b is disposed in the second tube shell 2022b, the first tube shell 2021b is formed with a first opening 2024b, The first opening 2024b communicates with the installation cavity 2004 of the first joint 204a, and during the step of installing the first joint 204a, the output bearing of the first joint 204a faces the installation cavity 2004 and protruding from the first opening 2024b into and close to the mounting base 2003 .

The second shell 2022b is formed with a second opening 2025b, and the second opening 2025b is located on one side of the second installation seat 2006b, and the second opening 2025b is connected to all the joints 204d of the second joint 204d. In the step of installing the second joint 204d, the output bearing of the second joint 204d faces into the installation cavity 2004 of the second joint 204d and extends from the second opening 2025b Into and close to the second mounting seat 2006b, the fixing member 2013 is directly or indirectly locked into the output bearing of the second joint 204d from the other side of the second mounting seat 2006b.

The installation method of the mechanical arm 201 also includes steps:

S8', install the second shell 2022a of the second arm body 202b, connect the second shell 2022a of the second arm body 202b with the first tube shell 2021b of the second arm body 202b , the connection shell 2023b and the second tube shell 2022b are docked, the second shell 2022a of the second arm body 202b covers the first opening 2024b, and is mounted on the second mounting base The fixing part 2013 on 2006b.

An embodiment of the present application further provides a method for installing a robot, and the method for installing a robot includes the above-mentioned method for installing a robot arm.

In the above installation method, the joints are assembled in advance and enter the installation process as an independent module, which makes the installation of the entire mechanical arm or robot more convenient. Similarly, disassembly is also convenient. The disassembly process is just the opposite of the installation process. I won't go into details here.

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

Claims

A harmonic reducer device, characterized in that: the harmonic reducer device includes a cup-shaped flex spline, a rigid spline meshed with the flex spline, and a wave generator, and the wave generator includes a power input The sleeve and the wave generator main body which is arranged on the sleeve and makes the flexible spline radially deform under the rotation of the sleeve to change the meshing position of the flexible spline and the rigid spline, the The harmonic reducer device also includes an end cover and an output bearing oppositely arranged. The harmonic reducer device also includes a first stop structure and a second stop structure that stop the sleeve. The wave generator The power output end of the device at least partially overlaps with the projection of the second stop structure on the axis of the sleeve.
The harmonic reducer device according to claim 1, characterized in that: 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 0.1- 1.
The harmonic reducer device according to claim 1, characterized in that: 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 0.5- 0.9.
The harmonic reducer device according to claim 1, wherein the second stop structure is a stop bearing.
The harmonic reducer device according to claim 1, characterized in that: the harmonic reducer device further includes an output shaft fixedly connected to the inner ring of the output bearing, and the second stop structure is located at the between the output shaft and the sleeve.
The harmonic speed reducer device according to claim 1, wherein the first stop structure adopts a non-bearing structure and is sheathed on the sleeve.
The harmonic reducer device according to claim 1, wherein a gap is formed between the sleeve and the end cover, and the first stop structure seals the gap.
The harmonic reducer device according to claim 1, characterized in that: 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.
The harmonic reducer device according to claim 1, characterized in that: the first stop structure and the second stop structure stop the sleeve in both axial directions.
The harmonic reducer device according to claim 1, characterized in that: the outer ring surface of the sleeve is formed with a first step, the outer surface of the end cover is formed with a shroud, and the first stop structure It is arranged between the first step and the surrounding board.
The harmonic reducer device according to claim 10, characterized in that: the first stopper structure includes a stopper sleeved on the sleeve and rotates with the rotation of the sleeve and a relative A seal that rotates on the stopper, the seal is fixedly connected to the end cover, the stopper is against the first step, and the seal is against the coaming plate .
The harmonic reducer device according to claim 11, wherein a sealing structure is formed between the stopper and the sealing member, and the sealing structure includes an annular groove and a protrusion inserted into the annular groove. 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 the protrusion ring.
The harmonic speed reducer device according to claim 11, wherein at least one of the stopper and the sealing member is in the shape of a sheet.
The harmonic reducer device according to claim 10, characterized in that: the first stopper structure includes a stopper and a connecting member sleeved on the sleeve and rotated with the rotation of the sleeve A seal on the stopper; the inner side of one end of the stopper is against the first step, and the outer side of one end of the seal is against the coaming plate.
The harmonic reducer device according to claim 14, characterized in that: when the seal rotates, the seal is always in contact with the shroud, and between the seal and the shroud The contacts form a sealed structure.
The harmonic reducer device according to claim 14, wherein the stopper comprises a U-shaped fixing part in cross section, and the side of the fixing part close to the main body of the wave generator deviates from the The extension part extending in the direction of the sleeve and the inclined part extending from the side edge of the extension part away from the sleeve away from the direction of the sleeve and obliquely extending towards the enclosure plate, the sealing member includes The stop part in the fixing part and the contact part obliquely extending from the side of the stop part away from the sleeve and close to the enclosure plate towards the enclosure plate, the contact portion is in contact with the enclosure plate.
The harmonic reducer device according to claim 1, wherein a shroud is formed on the outer surface of the end cover, and the first stop structure includes a A connecting ring on one side, a sealing structure is formed between the connecting ring and the outer ring surface of the sleeve.
The harmonic reducer device according to claim 17, wherein the connection ring is in surface contact with the outer ring surface of the sleeve, and the sealing structure is between the connection ring and the sleeve At least one annular groove opened on the contact surface between them.
The harmonic reducer device according to claim 1, wherein the first stop structure adopts a bearing structure and is sheathed on the outside of the sleeve.
The harmonic reducer device according to claim 1, wherein the first stop structure adopts a bearing structure, and an elastic member is arranged between the end cover and the first stop structure.
The harmonic reducer device according to claim 20, wherein a shroud is formed on the outer surface of the end cover, and the elastic member is interposed between the shroud and the first stop structure .
The harmonic reducer device according to claim 21, characterized in that: the inner ring of the first stop structure is sleeved on the outer peripheral surface of the sleeve and rotates together with the sleeve; the elastic member One end of the elastic member abuts against the enclosure plate, and the other end of the elastic member abuts against the outer ring of the first stop structure.
The harmonic reducer device according to claim 10, characterized in that: the end cover includes a main body, the rigid wheel is fixed between the inner end surface of the main body and the outer ring of the output bearing, and the surrounding plate connected to the outer edge of the main body and integral with the main body.
The harmonic reducer device according to claim 5, characterized in that: the outer ring surface of the output shaft is protrudingly provided with a mounting part, and the mounting part is fixed to the output bearing together with the cup bottom of the flexible spline the inner circle.
The harmonic reducer device according to claim 4, characterized in that: the inner ring surface of the sleeve is provided with a second step; one side of the stopper bearing abuts against the second step, and the other One side indirectly abuts against the cup bottom of the flexible spline, and the outer ring of the stop bearing abuts against the second step.
The harmonic reducer device according to any one of claims 1-4, 6-25, characterized in that: the harmonic reducer device also includes an output shaft fixedly connected to the inner ring of the output bearing and a The other end cover outside the output bearing is connected to the inner ring of the output bearing.
The harmonic reducer device according to claim 26, characterized in that: the other end cover and the output shaft are two independent parts, and a harness is arranged between the other end cover and the output shaft structure.
The harmonic reducer device according to any one of claims 1-25, characterized in that: the output bearing is a bearing with its own oil seal.
The harmonic reducer device according to any one of claims 1-25, characterized in that: the main body of the wave generator includes a rotating arm formed on the sleeve and two ends installed on the opposite ends of the rotating arm. roller; or, the wave generator body includes a cam formed on the sleeve and a flexible bearing connected to the cam; or, the wave generator body includes an elliptical disk formed on the sleeve And a flexible bearing connected to the elliptical disc.
A joint, characterized in that the joint comprises the harmonic reducer device according to any one of claims 1-29 and a drive motor for power input to the sleeve.
The joint according to claim 30, characterized in that: the joint further includes another bearing sleeved on the sleeve and a mounting piece for limiting the other bearing, the stator of the motor is connected to the An accommodating space is formed between the rotors, and the other bearing is located in the accommodating space.
The joint according to claim 31, characterized in that: the mounting part 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 other The bearing is radially limited, and the outer ring surface of the sleeve is formed with a third step, and the third step and the plate body axially limit the other bearing.
The joint according to claim 31, characterized in that: the mounting part includes a plate body and a limit ring connected to one side of the plate body, a fixed sleeve is set on the outer side of the sleeve, and the limit ring The position ring and the fixed sleeve radially limit the other bearing, and the outer ring surface of the fixed sleeve is formed with a third step, and the third step and the plate body perform a radial limit on the other bearing. Axial limit.
The joint according to any one of claims 30-33, characterized in that: the joint also includes a brake installed on the sleeve, a brake fixing seat for fixing the brake, a servo drive power board and a servo drive control plate; in the extending direction of the sleeve, the brake fixing seat, the servo drive power plate and the servo drive control plate are sequentially arranged at intervals.
The joint according to claim 34, characterized in that: the joint further comprises a motor end encoder sleeved on the sleeve and a load end encoder sleeved on the output shaft, the motor end encoder And the load end encoder does not occupy the axial space of the joint.
A mechanical arm, characterized in that the mechanical arm comprises the joint according to any one of claims 30-35.
A robot, characterized in that the robot comprises the mechanical arm as claimed in claim 36.
The robot according to claim 37, characterized in that: the robot comprises an outer shell, and the outer shell forms a smooth transition structure at the corner of the joint.
A joint, characterized in that: the joint includes a harmonic reducer device, the harmonic reducer device includes a cup-shaped flexible spline, a rigid spline meshed with the flexible spline, and a wave generator, the wave The generator includes a sleeve for power input and a wave generator main body arranged on the sleeve, and the harmonic reducer device also includes an opposite end cover and an output bearing, and the harmonic reducer device also includes A first stop structure and a second stop structure that stop the sleeve, the power output end of the wave generator and the projection of the second stop structure on the axis of the sleeve are at least partially Overlapping, the joint also includes a drive motor for power input to the sleeve.
The joint according to claim 39, characterized in that: the joint further includes another bearing sleeved on the sleeve and a mounting part for limiting the other bearing, the stator of the motor is connected to the An accommodating space is formed between the rotors, and the other bearing is at least partially located in the accommodating space.
The joint according to claim 40, characterized in that: the mounting part 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 other The bearing is radially limited, and the outer ring surface of the sleeve is formed with a third step, and the third step and the plate body axially limit the other bearing.
The joint according to claim 40, characterized in that: the mounting part includes a plate body and a limit ring connected to one side of the plate body, a fixed sleeve is set on the outer side of the sleeve, and the limit ring The position ring and the fixed sleeve radially limit the other bearing, and the outer ring surface of the fixed sleeve is formed with a third step, and the third step and the plate body perform a radial limit on the other bearing. Axial limit.
The joint according to claim 39, characterized in that: the joint also includes a brake mounted on the sleeve, a brake fixing seat for fixing the brake, a servo driver power board and a servo driver control board; In the extending direction of the sleeve, the brake fixing seat, the servo driver power board and the servo driver control board are sequentially arranged at intervals.
The joint according to claim 39, wherein the harmonic reducer device further includes an output shaft fixedly connected to the inner ring of the output bearing, and the joint also includes a The encoder at the motor end and the encoder at the load end are sheathed on the output shaft, and the encoder at the motor end and the encoder at the load end do not occupy the axial space of the joint.
The joint according to any one of claims 39-44, characterized in that: 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 0.1 -1.
The joint according to any one of claims 39-44, characterized in that: 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 0.5 -0.9.
The joint according to any one of claims 39-44, characterized in that the second stop structure is a stop bearing.
The joint according to claim 39, characterized in that: the harmonic reducer device further includes an output shaft fixedly connected to the inner ring of the output bearing, and the second stop structure is located between the output shaft and the between the sleeves.
The joint according to any one of claims 39-44, wherein the first stop structure adopts a bearing structure and is sheathed on the outside of the sleeve.
The joint according to claim 39, wherein a gap is formed between the sleeve and the end cap, and the first stop structure seals the gap.
The joint according to any one of claims 39-44, characterized in that: 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.
The joint according to any one of claims 39-44, characterized in that: the first stop structure and the second stop structure stop the sleeve in both directions in the axial direction.
The joint according to any one of claims 39-44, characterized in that: the outer ring surface of the sleeve is formed with a first step, the outer surface of the end cap is formed with a shroud, and the first stop The structure is arranged between the first step and the surrounding board.
The joint according to claim 39, characterized in that: the first stop structure adopts a bearing structure, and an elastic member is arranged between the end cover and the first stop structure.
The joint according to claim 54, characterized in that: a shroud is formed on the outer surface of the end cap, and the elastic member is interposed between the shroud and the first stop structure.
The joint according to claim 55, characterized in that: the inner ring of the first stop structure fits on the outer peripheral surface of the sleeve and rotates together with the sleeve; one end of the elastic member abuts against On the shroud, the other end of the elastic member abuts against the outer ring of the first stop structure.
The joint according to claim 39, wherein the end cover includes a main body, the rigid wheel is fixed between the inner end surface of the main body and the outer ring of the output bearing, and the outer surface of the end cover forms There is a shroud attached to the outer end edge of the body and is integral with the body.
The joint according to claim 39, wherein the harmonic reducer device further includes an output shaft fixedly connected to the inner ring of the output bearing, and the outer ring surface of the output shaft is protrudingly provided with a mounting part, The installation part is fixed to the inner ring of the output bearing together with the cup bottom of the flexspline.
The joint according to any one of claims 39-44, characterized in that: the inner ring surface of the sleeve is provided with a second step; one side of the second stop structure abuts against the second step The other side indirectly abuts against the cup bottom of the flexible spline, and the outer ring of the second stopper structure abuts against the second step.
A mechanical arm, characterized in that the mechanical arm includes the joint according to any one of claims 39-59, and the joint exists as an independent module.
The mechanical arm according to claim 60, characterized in that: the mechanical arm further comprises at least two arm bodies, the joint is connected between the arm bodies, and one of the two arm bodies is The arm body includes a mounting seat, the inner ring of the output bearing of the joint is directly or indirectly fixed on the mounting seat, the two arm bodies are connected and enclosed to form a mounting cavity, and the joint is installed as a whole independent module in the installation cavity.
The mechanical arm according to claim 61, wherein one of the arms is defined as a first arm, and the other arm is defined as a second arm, and the first arm and the second arm are Both arms include a first shell and a second shell covering the first shell, the first shell of the first arm is provided with the mounting seat, and the first shell of the second arm is The shell is connected with the first shell of the first arm to form a cavity, and the second shell of the second arm is covered with the first shell of the second arm, so that The first shell, the second shell and the mounting base of the second arm jointly form the mounting cavity.
A robot, characterized in that the robot comprises the mechanical arm according to any one of claims 60-62.
A method for installing a mechanical arm, characterized in that: the mechanical arm is the mechanical arm according to claim 63, and the method for installing the mechanical arm comprises the following steps:

Assembling the joints, the assembled joints are used as a whole independent module;

To install the joint, the joint is integrally installed on the mounting seat of the first shell of the first arm body, wherein the inner ring of the output bearing of the joint is directly or indirectly fixed to the on the mount;

Installing the first shell of the second arm body, docking the first shell of the second arm body with the first shell of the first arm body to form the cavity, the the joint is accommodated in the cavity;

Covering the second shell of the second arm body, docking the second shell of the second arm body with the first shell of the second arm body and enclosing the joint in inside the installation cavity.
The method for installing a robot arm according to claim 64, wherein the robot arm includes a third arm body, the third arm body includes a second mount, and the third arm body includes a first shell and a The second shell covering the first shell, the first shell of the third arm is provided with the second mounting seat, the joint is defined as the first joint, and another assembled joint is defined For the second joint, the installation method of the mechanical arm also includes the following steps:

Install the second joint, the second joint is integrally installed on the second mounting seat of the first shell of the third arm body, wherein the inner ring of the output bearing of the joint is directly or Indirectly fixed on the second mounting seat, the installation direction of the second joint and the first joint form a preset angle;

installing the first shell of the first arm, docking the first shell of the third arm with the first shell of the first arm to form the cavity, the the second joint is accommodated in the cavity;

Cover the second shell of the first arm body, dock the second shell of the first arm body with the first shell of the first arm body and cover the second joint Enclosed in the installation cavity.
The installation method of the mechanical arm according to claim 65, characterized in that: the first shell of the first arm body comprises the mounting seat, a first tube shell formed on one side of the mounting seat and a first shell formed on one side of the mounting seat. The second tube shell on the other side of the mounting base, the first tube shell and the second tube shell form a preset angle, and the second tube shell is turned by the mounting base at a preset angle An installation notch is opened at the extension, and the installation notch communicates with the installation cavity.
The installation method of the mechanical arm according to claim 66, characterized in that: in the step of installing the first joint, the fixing member extends from the installation notch and passes through the installation base to be directly or indirectly locked into the installation The inner ring of the output bearing of the first joint, in the step of installing the second joint, the second joint protrudes through the installation notch and is directly or indirectly fixed with the second mounting seat, The extending direction of the fixing member is different from that of the second joint, and the step of covering the second shell of the first arm body specifically includes the steps of:

The second shell of the first arm body covers the installation notch to cover the second joint and the fixing member.
The method for installing a robot arm according to claim 64, wherein the robot arm includes a third arm body, the second arm body includes a second mount, and the third arm body includes a first shell and a The second shell covering the first shell, the first shell of the second arm is provided with the second mounting seat, the joint is defined as the first joint, and another assembled joint is defined For the second joint, the installation method of the mechanical arm also includes the following steps:

Install the second joint, the second joint is integrally installed on the second mounting seat of the first shell of the second arm body, wherein the output bearing of the second joint is directly or indirectly fixed on the second mounting seat, the installation directions of the second joint and the first joint are parallel;

Installing the first shell of the third arm, docking the first shell of the third arm with the first shell of the second arm to form the cavity, the the second joint is accommodated in the cavity;

Cover the second shell of the third arm, dock the second shell of the third arm with the first shell of the third arm and cover the second joint Enclosed in the installation cavity.
The installation method of the mechanical arm according to claim 68, characterized in that: the first shell of the second arm body includes a first tube shell, a second tube shell parallel to the first tube shell, and a connecting The connection shell between the first shell and the second shell, the second installation seat is arranged in the second shell, the first shell is formed with a first opening, so The first opening communicates with the installation cavity of the first joint, and during the step of installing the first joint, the output bearing of the first joint faces into the installation cavity and is guided by the first joint The opening protrudes into and is adjacent to the mount.
The installation method of the mechanical arm according to claim 69, characterized in that: the second tube shell is formed with a second opening, the second opening is located on one side of the second mounting seat, the first The two openings communicate with the installation cavity of the second joint, and during the step of installing the second joint, the output bearing of the second joint faces into the installation cavity of the second joint and is guided by the The second opening protrudes into and is close to the second mounting seat, and the fixing member is directly or indirectly locked into the output bearing of the second joint from the other side of the second mounting seat.
The method for installing a mechanical arm according to claim 70, further comprising the steps of:

Install the second shell of the second arm body, connect the second shell of the second arm body with the first tube shell of the second arm body, the connecting shell and the first tube shell of the second arm body The two tube shells are butted together, and the second shell of the second arm body covers the first opening and covers the fixing part installed on the second mounting seat.
A method for installing a robot, characterized in that the method for installing a robot includes the method for installing a mechanical arm according to any one of claims 64-71.