Harmonic reducer and robot

Abstract

The harmonic reducer comprises an input shaft and a flexible gear, the input shaft is provided with a hollow hole penetrating through the two axial ends of the input shaft, the input shaft and the flexible gear are sleeved, a gap is formed between the input shaft and the flexible gear, a first roller path is arranged on the outer side of the shaft wall of the input shaft, and a second roller path is arranged on the outer side of the shaft wall of the input shaft. A second roller path is arranged on the side, facing the input shaft, of the flexible gear, and balls are arranged between the first roller path and the second roller path. According to the harmonic reducer, the outer ring and the inner ring of the bearing located between the input shaft and the flexible gear in a traditional harmonic reducer are integrated with the flexible gear and the input shaft to replace the bearing, so that the bearing is compact in structure, and the diameter of a hollow hole of the input shaft can be designed to be larger on the premise that the outer diameter of the harmonic reducer is fixed; and application scenes of more cable penetration can be satisfied.

Description

technical field [0001] The invention belongs to the technical field of reducer manufacturing and design, and in particular relates to a harmonic reducer and a robot. Background technique [0002] The harmonic reducer has many advantages such as high transmission precision, large speed ratio, small size, simple structure and wide application. The reducer mainly consists of three basic components, rigid wheel, flexible wheel and wave generator. The working process is generally that the rigid spline is fixed, and when the wave generator rotates, the flexible spline is forced to produce elastic deformation, so that the teeth of the flexible spline and the rigid spline enter the meshing state, thereby realizing the transmission. [0003] The traditional harmonic reducer needs to assemble the bearing between the flexible wheel and the input shaft. The setting of the bearing forms a limit on the hollow hole diameter of the input shaft. Often small, the ratio of the hole diameter ...

AI Technical Summary

Problems solved by technology

[0004] Therefore, the present invention provides a harmonic reducer and a robot, which can overcome the disadvantages in the related art that the wave generator of the harmonic reducer has a smaller hollow hole diameter and cannot meet the routing requirements of a large number of cables.

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