CN220622645U - Harmonic speed reducer - Google Patents

Abstract

The utility model discloses a harmonic speed reducer, and relates to the technical field of harmonic speed reducers. The surface hardness of the first nitriding layer arranged on the surface of the flexible gear is 550HV to 750HV, so that the flexible gear has better wear resistance, the wear resistance of the first tooth part and the first inner hole is better, the wear amount when the first tooth part and the second tooth part of the rigid gear are meshed is reduced, and the service life of the flexible gear is prolonged. The surface hardness of the first nitriding layer of the rigid wheel is 450-650 HV, so that the rigid wheel has certain strength and wear resistance. The hardness of the first nitriding layer is larger than that of the second nitriding layer, so that the abrasion condition of the flexible gear can be effectively improved, the service life of the flexible gear is prolonged, and the replacement frequency is reduced; the cost of changing the rigid gear is lower than the cost of changing the flexible gear, so that the use cost of the harmonic reducer can be reduced.

Description

Harmonic speed reducer

Technical Field

The utility model relates to the technical field of harmonic reducers, in particular to a harmonic reducer.

Background

The harmonic reducer has the advantages of compact structure, small volume, large transmission ratio and bearing capacity, high transmission precision and the like, and is widely applied to the industries of robots, automation and the like. The harmonic speed reducer comprises three basic components of a wave generator, a flexible gear and a rigid gear. The tooth parts of the flexible gear are meshed with the tooth parts of the rigid gear, and the inner hole of the flexible gear is matched with the outer ring of the wave generator. In the working engineering of the harmonic speed reducer, the flexible gear is repeatedly deformed under the action of alternating stress, and is easy to wear and lose efficacy. And because the flexible gear is big, machining efficiency is low in the processing degree of difficulty, therefore manufacturing cost is higher for rigid gear and ripples generator, need change new flexible gear after the flexible gear inefficacy, and frequent change flexible gear can lead to the use cost increase of harmonic reducer.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides the harmonic reducer, and the surface hardness of the flexible gear is larger than that of the rigid gear, so that the condition of large abrasion of the flexible gear can be improved, the cost for replacing the rigid gear is lower than that for replacing the flexible gear, and the use cost of the harmonic reducer can be reduced.

According to the present utility model, a harmonic reducer includes: the flexible gear comprises a cylinder part and a partition part, wherein a first tooth part is arranged on the outer side wall of one end of the cylinder part, a first inner hole is arranged on the cylinder part, and the partition part is connected to the other end of the cylinder part and is arranged around the cylinder part; a wave generator mounted to the first bore; the rigid wheel is provided with a second inner hole, and the side wall of the second inner hole is provided with a second tooth part meshed with the first tooth part; the surface of the flexible gear is provided with a first nitriding layer, the surface hardness of the first nitriding layer is 550HV to 750HV, the surface of the rigid gear is provided with a second nitriding layer, the surface hardness of the second nitriding layer is 450HV to 650HV, and the hardness of the first nitriding layer is larger than that of the second nitriding layer.

The harmonic reducer provided by the embodiment of the utility model has at least the following beneficial effects:

the first tooth part of the outer side wall of the flexible gear cylinder part is meshed with the second tooth part of the inner side wall of the rigid gear, and the wave generator is arranged in the first inner hole of the flexible gear, and can drive the flexible gear to deform repeatedly when rotating, so that the first tooth part is meshed with the second tooth parts at different positions, and the flexible gear and the rigid gear are driven to rotate relatively. The surface hardness of the first nitriding layer arranged on the surface of the flexible gear is 550HV to 750HV, so that the flexible gear has better wear resistance, the wear resistance of the first tooth part and the first inner hole is better, the wear amount when the first tooth part and the second tooth part of the rigid gear are meshed is reduced, and the service life of the flexible gear is prolonged. The surface hardness of the first nitriding layer of the rigid wheel is 450-650 HV, so that the rigid wheel has certain strength and wear resistance. Meanwhile, as the hardness of the first nitriding layer is larger than that of the second nitriding layer, the situation that the abrasion loss of the flexible gear is large can be effectively improved, the service life of the flexible gear is prolonged, and the replacement frequency is reduced; the cost of changing the rigid gear is lower than the cost of changing the flexible gear, so that the use cost of the harmonic reducer can be reduced.

According to some embodiments of the utility model, the spacer comprises a thin wall portion having a thickness t and a hardness of 450HV to 550HV at 0.15t from the thin wall portion surface.

According to some embodiments of the utility model, the hardness at 0.15t from the surface of the thin-walled portion is 50HV to 100HV greater than the hardness of the base material of the thin-walled portion.

According to some embodiments of the utility model, the spacer comprises a thin wall portion having a thickness t and a hardness of 350HV to 450HV at 0.35t from the thin wall portion surface.

According to some embodiments of the utility model, the spacer includes a thin-walled portion having a thickness t, and a boundary between the nitriding layer of the thin-walled portion and the base material is located at a distance of 0.2t to 0.35t from a surface of the thin-walled portion.

According to some embodiments of the utility model, the outer surface of the second nitrided layer is further provided with a white bright layer, the hardness of which is greater than the hardness of the second nitrided layer.

According to some embodiments of the utility model, the thickness of the white light layer is less than 0.03mm.

According to some embodiments of the utility model, the wave generator comprises a cam and a flexible bearing, wherein the flexible bearing is sleeved on the peripheral wall of the cam and is in interference fit with the cam.

According to some embodiments of the utility model, the harmonic reducer further comprises a crossed roller bearing, an inner ring and an outer ring of which are respectively connected with the rigid gear and the flexible gear.

According to some embodiments of the utility model, the surface residual stress of the flexspline is a compressive stress, and an absolute value of the compressive stress is greater than or equal to 400MPa.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic diagram of a harmonic reducer according to an embodiment of the present utility model;

FIG. 2 is an exploded view of a harmonic reducer according to an embodiment of the present utility model;

FIG. 3 is a schematic structural diagram of a flexible gear according to an embodiment of the present utility model;

FIG. 4 is an enlarged cross-sectional view taken at A-A of FIG. 3;

FIG. 5 is an enlarged view at B in FIG. 4;

FIG. 6 is an enlarged view at C in FIG. 4;

FIG. 7 is a schematic view of a part of a rigid wheel according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of hardness of a flexspline at different end surface depths according to an embodiment of the present utility model;

FIG. 9 is a schematic diagram of hardness of a rigid wheel at different face depths according to an embodiment of the present utility model;

FIG. 10 is a flow chart of a method of machining a harmonic reducer according to an embodiment of the utility model;

FIG. 11 is a flow chart of a method of machining a harmonic reducer according to an embodiment of the utility model;

fig. 12 is a flowchart of a processing method of a harmonic reducer according to an embodiment of the present utility model.

Reference numerals:

a harmonic speed reducer 1000;

a flexspline 100; a cylindrical portion 110; a first tooth portion 111; a first bore 112; a partition 120; a thin wall portion 121; a first substrate 130; a first nitrided layer 140; a first white bright layer 150; a flange 160;

a wave generator 200; a cam 210; a flexible bearing 220;

rigid wheel 300; a second bore 310; a second tooth 320; a second substrate 330; a second nitrided layer 340; a second white light layer 350;

cross roller bearing 400.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The harmonic reducer has the advantages of compact structure, small volume, large transmission ratio and bearing capacity, high transmission precision and the like, and is widely applied to the industries of robots, automation and the like. The harmonic speed reducer comprises three basic components of a wave generator, a flexible gear and a rigid gear. The tooth parts of the flexible gear are meshed with the tooth parts of the rigid gear, and the inner hole of the flexible gear is matched with the outer ring of the wave generator. In the working process of the harmonic speed reducer, the flexible gear needs to be repeatedly deformed, and axial and circumferential relative movement exists between an inner hole of the flexible gear and an outer ring of the flexible bearing. The tooth root fatigue strength of the first tooth part of the flexible gear and the abrasion of the first tooth part and the inner hole of the flexible gear have direct influence on the performance of the harmonic reducer. And because the flexible gear is big, machining efficiency is low in the processing degree of difficulty, consequently manufacturing cost is high, need change new flexible gear after the flexible gear inefficacy, frequent change flexible gear can lead to the use cost increase of harmonic reducer.

In view of the above, the present utility model provides a harmonic speed reducer, in which the surface hardness of a flexspline is greater than that of a rigid spline, so that the problem of large abrasion loss of the flexspline can be improved, and the cost of replacing the rigid spline is lower than that of replacing the flexspline, thereby reducing the use cost of the harmonic speed reducer.

The following description is made with reference to the accompanying drawings:

referring to fig. 1 and 2, in the embodiment of the present utility model, the harmonic reducer 1000 includes a barrel 110 and a partition 120, one end of the barrel 110 is provided with a first tooth 111, the first tooth 111 is disposed around an outer sidewall of the barrel 110, the barrel 110 is provided with a first inner hole 112, and the partition 120 is connected to an end of the barrel 110 away from the first tooth 111 and disposed around the barrel 110. For example, referring to fig. 3 and 4, the partition 120 may be formed by bending one end of the partition 120 in a direction away from the first inner hole 112, and the end of the partition 120 away from the barrel 110 is connected to the flange 160. The wave generator 200 is installed in the first inner hole 112 to deform the flexspline 100 into an elliptical shape. The rigid gear 300 is provided with a second inner hole 310, the side wall of the second inner hole 310 is provided with a second tooth part 320, and the second tooth part 320 is meshed with the first tooth part 111. Referring to fig. 5 and 7, the flexspline 100 may be nitrided such that the surface of the flexspline 100 is formed with a first nitrided layer 140, and the surface hardness of the first nitrided layer 140 is 550HV to 750HV, for example, 600HV, 650HV, 700HV. The rigid wheel 300 may also be subjected to nitriding treatment so that the surface of the rigid wheel 300 is formed with a second nitrided layer 340, the surface hardness of the second nitrided layer 340 is 450HV to 650HV, for example, 500HV, 550HV, 600HV, and the hardness of the first nitrided layer 140 is greater than that of the second nitrided layer 340.

It can be appreciated that, with the above scheme, the first tooth portion 111 of the flexspline 100 is engaged with the second tooth portion 320 of the inner sidewall of the rigid gear 300, and the wave generator 200 is installed in the first inner hole 112 of the flexspline 100, and when the wave generator 200 rotates, it drives the flexspline 100 to deform repeatedly, so that the first tooth portion 111 is engaged with the second tooth portion 320 at a different position, thereby driving the flexspline 100 and the rigid gear 300 to rotate relatively. The surface hardness of the first nitriding layer 140 arranged on the surface of the flexible gear 100 is 550-750 HV, so that the surface hardness of the flexible gear 100 can be improved, the flexible gear 100 has better wear resistance, the wear resistance of the first tooth part 111 and the first inner hole 112 is better, the wear amount when meshed with the second tooth part 320 of the rigid gear 300 is reduced, and the service life of the flexible gear 100 is prolonged. The surface hardness of the first nitriding layer 140 of the rigid wheel 300 is 450-650 HV, so that the rigid wheel 300 has certain strength and wear resistance. Meanwhile, as the hardness of the first nitriding layer 140 is greater than that of the second nitriding layer 340, the abrasion condition of the flexible gear 100 can be effectively improved, the service life of the flexible gear 100 is prolonged, and the replacement frequency is reduced; the cost of replacing the rigid gear 300 is lower than the cost of replacing the flexgear 100, and thus the use cost of the harmonic reducer 1000 can be reduced.

Referring to fig. 6, in the embodiment of the present utility model, the spacer 120 includes a thin portion 121, and the thin portion 121 is a partial area where a distance between an inner side profile and an outer side profile of the spacer 120 is the smallest, so that the flexspline 100 can deform at the thin portion 121, which is beneficial to motion transmission. Wherein the thickness t of the thin portion 121 is defined, and the hardness at 0.15t from the surface of the thin portion 121 is 450HV to 550HV, for example, 500HV may be used. The thin portion 121 may be nitrided to form the first nitrided layer 140 on the surface thereof. When the thin portion 121 was nitrided on only one side, the measurement was started with the surface on the side having the nitrided layer at 0.15t from the surface of the thin portion 121; when nitriding both sides of the thin-walled portion 121, measurement is started on one side surface thereof. It can be understood that the hardness of the thin portion 121 at 0.15t from the surface of the thin portion 121 is 450HV to 550HV, so that when the thin portion 121 has a certain hardness, the strength and toughness of the thin portion 121 can be further improved, and the overall performance of the flexspline 100 can be further improved.

Referring to fig. 6 and 8, the ordinate in fig. 8 indicates hardness, and the abscissa indicates different depths of the thin-walled portion 121. The hardness at 0.35t from the surface of the thin-walled portion 121 is 350HV to 450HV, which may be 400HV, for example. That is, the hardness of the thin portion 121 is different at different positions, for example, the hardness of the thin portion 121 gradually decreases from the outer surface to the inner portion. It can be appreciated that the hardness gradually decreases from outside to inside, so that the flexible gear 100 can more uniformly share the load during operation, and can help to disperse stress concentration caused by driving force and load force. At the same time, the flexibility and elasticity of the flexspline 100 may be improved, with the spacer 120 being more easily bent and deformed to accommodate different operating conditions and varying loads.

Referring to fig. 9, the abscissa in fig. 9 represents the depth from the surface of the rigid wheel 300, and the ordinate represents the hardness of the rigid wheel 300. In the embodiment of the present utility model, the surface hardness of the rigid wheel 300 may also be gradually reduced from outside to inside, so that higher bearing capacity can be achieved. The high surface hardness of the rigid wheel 300 may bear greater loads, while the lower internal hardness may provide better toughness, enhancing the load carrying capacity and impact resistance of the rigid wheel 300.

Referring to fig. 6, in the embodiment of the present utility model, the thin-walled portion 121 includes the first base material 130 and the first nitrided layer 140, the first nitrided layer 140 is located on the outer surface of the first base material 130, and the hardness at 0.15t from the surface of the thin-walled portion 121 is 50HV to 100HV greater than the hardness of the first base material 130, so that the hardness and the overall strength of the thin-walled portion 121 can be improved, and the fatigue resistance of the thin-walled portion 121 can be increased. Wherein, the surface of the first nitriding layer 140 may further form the first white bright layer 150 by nitriding, thereby improving the abrasion resistance of the flexspline 100.

With continued reference to fig. 6, in the embodiment of the present utility model, the boundary between the first nitrided layer 140 and the first base material 130 is located at 0.2t to 0.35t from the surface of the thin wall portion 121, and thus the first nitrided layer 140 is molded on the surface of the first base material 130, for example, the thickness of the first nitrided layer 140 may be 0.1mm. Assuming that the distance from the boundary between the first nitriding layer 140 and the first base material 130 to the surface of the thin-walled portion 121 is less than 0.2t, the improvement of the overall performance of the thin-walled portion 121 is not remarkable, and it is difficult to achieve the effects of improving the hardness, toughness, and the like. Assuming that the distance from the boundary between the first nitrided layer 140 and the first base material 130 to the surface of the thin wall portion 121 is greater than 0.35t, since nitriding is a heat treatment, in order to achieve this condition, the thin wall portion 121 needs to be in a high temperature state for a long time, and while the energy consumption and cost are increased, the thin wall portion 121 is also easily deformed, affecting the overall life of the flexspline 100. Therefore, the thickness of the first nitriding layer 140 is reasonably designed, the cost can be controlled in a reasonable range, the surface hardness of the thin-walled portion 121 can be improved, and the overall performance of the flexspline 100 can be improved.

In the embodiment of the present utility model, the surface residual stress of the flexspline 100 is a compressive stress, and the absolute value of the compressive stress is 400MPa or more, for example, the absolute value of the compressive stress may be 400MPa, 500MPa, 600MPa, or the like. The fatigue life of the flexible gear 100 can be prolonged, the formation and propagation rate of cracks are reduced, the occurrence of fatigue damage is delayed, meanwhile, the plastic deformation characteristic of the flexible gear 100 is improved, and the precision, stability and service life of the flexible gear 100 are maintained.

Referring to fig. 7, in the embodiment of the present utility model, the rigid wheel 300 includes a second base material 330, a second nitriding layer 340 is formed on the outer surface of the second base material 330, and a second white bright layer 350 is provided on the outer surface of the second nitriding layer 340, and the hardness of the second white bright layer 350 is greater than that of the second nitriding layer 340. The second white bright layer 350 refers to a compound layer composed of a ζ phase, a ε phase, a γ phase, or one or both phases of the surface layer of the nitrided workpiece, and is also referred to as a compound layer or a compound layer. The second white and bright layer 350 has high hardness, so that the wear resistance of the rigid wheel 300 can be improved, the overall performance of the rigid wheel 300 can be further improved, and the service life of the rigid wheel 300 can be prolonged.

In the embodiment of the utility model, the thickness of the second white bright layer 350 is smaller than 0.03mm, so that the processing difficulty can be reduced, the cost can be saved, the stress concentration caused by the excessively thick second white bright layer 350 can be improved, the heat conduction performance can be influenced, and the like. For example, when the second white bright layer 350 is too thick and the difference in thermal expansion coefficient from the first substrate 130 is large, temperature variation may cause internal stress to accumulate, and stress concentration points may cause peeling, cracking or deformation of the coating, thereby reducing the reliability and durability of the rigid wheel 300. An excessively thick second white bright layer 350 may hinder heat conduction and dissipation, resulting in overheating of the rigid wheel 300. Therefore, properly designing the thickness of the second white bright layer 350 can improve the performance of the rigid wheel 300, reduce the occurrence of stress concentration, reduce the heat conduction performance, and the like.

Referring to fig. 2, in the embodiment of the present utility model, the wave generator 200 includes a cam 210 and a flexible bearing 220, and the flexible bearing 220 is sleeved on the outer circumferential wall of the cam 210 and is in interference fit with the cam 210, so as to reduce the fit clearance between the flexible bearing 220 and the cam 210, improve transmission accuracy, reduce friction and wear, reduce energy loss, and reduce deformation and vibration.

Referring to fig. 1 and 2, in the embodiment of the present utility model, the harmonic reducer 1000 further includes a crossed roller bearing 400, wherein an inner ring of the crossed roller bearing 400 is connected with the rigid gear 300, an outer ring of the crossed roller bearing 400 is connected with the flexible gear 100, and the crossed roller bearing 400 plays a role in transmitting force and carrying load. For example, the flange 160 of the flexspline 100 is fixedly connected with the outer ring of the crossed roller bearing 400, and the flexspline 100 can rotate to drive the outer ring of the crossed roller bearing 400 to rotate, thereby completing power output. Therefore, the crossed roller bearing 400 also has a positioning function, and can effectively reduce the situations of deflection, dislocation and the like of the flexible gear 100.

Referring to fig. 10, a method for processing a harmonic reducer 1000 according to an embodiment of the present utility model includes the steps of:

step S901: and processing the alloy structural steel base material to prepare a flexible gear semi-finished product. It is understood that the semi-finished flexspline is formed by blanking, forging, stamping, spinning, finish turning, hobbing and other processing steps of the alloy structural steel substrate.

Step S902: and processing the spheroidal graphite cast iron base material to prepare a semi-finished product of the rigid wheel. It is understood that the semi-finished product of the rigid wheel is formed by processing an alloy structural steel base material through the steps of blanking, turning, milling, grinding and the like.

Step S903: and carrying out low-temperature nitriding treatment on the flexible gear semi-finished product. It will be appreciated that deformation is likely to occur due to the thinner wall thickness of the flexspline 100. The nitriding temperature of the conventional nitriding process is generally higher than 500 ℃, and at this temperature, the deformation amount of the flexspline 100 increases, affecting the accuracy of the flexspline 100. Therefore, the surface hardness of the flexspline 100 can be increased by low temperature nitriding. Wherein the nitriding temperature of the low-temperature nitriding is controlled to be between 350 ℃ and 450 ℃, for example 350 ℃, 380 ℃, 400 ℃ and 450 ℃. Thereby reducing the deformation of the flexible gear 100 and ensuring the overall performance of the harmonic reducer 1000.

Step S904: and carrying out low-temperature nitriding treatment on the semi-finished product of the rigid wheel. The nitriding temperature of the low-temperature nitriding of the rigid wheel 300 can be controlled between 350 ℃ and 450 ℃, such as 350 ℃, 380 ℃, 400 ℃ and 450 ℃. By means of low temperature nitriding, the risk of deformation of the rigid wheel 300 can be reduced, the surface quality can be protected, and the toughness of the material can be improved. For example, at low temperature nitriding, the material has a lower coefficient of thermal expansion due to the lower temperature, thereby reducing the risk of deformation and stress accumulation of the material that may occur during nitriding. The problems of surface oxidation, burning loss, discoloration and the like caused by the excessively high temperature can be effectively avoided, thereby protecting the surface quality of the rigid wheel 300. Meanwhile, the bonding between the low temperature nitrided diffusion layer and the base material is better, so that the overall toughness and the spalling resistance of the rigid wheel 300 can be improved.

The semi-finished product of the flexspline 100 after the low-temperature nitriding treatment can be manufactured into a finished product of the flexspline 100, the surface hardness of the flexspline 100 is 550-750 HV, the semi-finished product of the rigid spline 300 after the low-temperature nitriding treatment can be manufactured into a finished product of the rigid spline 300, the surface hardness of the rigid spline 300 is 450-650 HV, and the surface hardness of the flexspline 100 is greater than that of the rigid spline 300. By making the surface hardness of the flexspline 100 greater than that of the rigid spline 300, it is possible to improve the situation where the amount of wear of the flexspline 100 is large, and the cost of replacing the rigid spline 300 is lower than the cost of replacing the flexspline 100, so that the use cost of the harmonic reducer 1000 can be reduced.

Referring to fig. 11, in the embodiment of the utility model, the processing method of the harmonic reducer 1000 further includes the following steps:

step S1001: and carrying out shot blasting treatment on the flexible gear semi-finished product. Wherein this step is located after step S903. It can be appreciated that the shot blasting can increase the surface residual stress of the flexspline 100, improve the fatigue strength of the flexspline 100, enhance the fatigue strength of the tooth root and the sidewall of the flexspline 100, and improve the running stability of the flexspline 100, and further improve the running stability of the harmonic reducer 1000.

Referring to fig. 12, in an embodiment of the present utility model, a flexspline semi-finished product has an external tooth portion and an internal hole, and step S1001 includes: and (3) shot blasting the part of the flexible gear semi-finished product except the outer tooth part and the part of the inner side wall of the inner hole corresponding to the outer tooth part. It will be appreciated that the shot peening process is not suitable for application to the external tooth portion and the side wall of the internal bore corresponding external tooth portion, as it causes plastic deformation and partial surface compression of the surface material, so as not to affect the accuracy of the external tooth portion. The external tooth portion is finally machined into the first tooth portion 111 of the flexspline 100, and the internal hole is finally machined into the first internal hole 112 of the flexspline 100.

An industrial robot according to an embodiment of the present utility model includes the harmonic reducer 1000 of the above embodiment, and the industrial robot may be a transfer robot, a welding robot, an assembly robot, a processing robot, a painting robot, a cleaning robot, a cooperative robot, or the like. The harmonic speed reducer 1000 is generally disposed at a rotational joint of the industrial robot, and the harmonic speed reducer 1000 achieves precise position and speed control of the industrial robot joint by reducing an input speed and transmitting the reduced input speed to an output shaft. The harmonic speed reducer 1000 can convert the motor output of high speed and low torque into the output of low speed and high torque, thereby meeting the motion requirement of the robot. The harmonic reducer 1000 also has extremely high transmission accuracy and repeatability, and accurate motion control can be generally achieved. It is critical to the positioning and movement accuracy of industrial robots, especially in applications requiring a high degree of accuracy, such as assembly, welding, precision machining, etc. Compared with other transmission devices, the harmonic speed reducer 1000 has compact structure and small volume, and can realize high torque output and simultaneously keep smaller weight. This is particularly important for industrial robots, which enable highly flexible movements in a limited space.

The processing method of the harmonic speed reducer 1000 adopts all the technical schemes of the above embodiments, so that the processing method at least has all the beneficial effects brought by the technical schemes of the above embodiments, and the description is omitted here.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, but the present utility model is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present utility model.

Claims (10)

1. The harmonic speed reducer, its characterized in that includes:

the flexible gear comprises a cylinder part and a partition part, wherein a first tooth part is arranged on the outer side wall of one end of the cylinder part, a first inner hole is arranged on the cylinder part, and the partition part is connected to the other end of the cylinder part and is arranged around the cylinder part;

a wave generator mounted to the first bore;

the rigid wheel is provided with a second inner hole, and the side wall of the second inner hole is provided with a second tooth part meshed with the first tooth part;

the surface of the flexible gear is provided with a first nitriding layer, the surface hardness of the first nitriding layer is 550HV to 750HV, the surface of the rigid gear is provided with a second nitriding layer, the surface hardness of the second nitriding layer is 450HV to 650HV, and the hardness of the first nitriding layer is larger than that of the second nitriding layer.

2. The harmonic reducer of claim 1, wherein: the partition portion includes a thin wall portion having a thickness t and a hardness of 450HV to 550HV at 0.15t from a surface of the thin wall portion.

3. The harmonic reducer of claim 2, wherein: the hardness at 0.15t from the surface of the thin wall portion is 50HV to 100HV greater than the hardness of the base material of the thin wall portion.

4. The harmonic reducer of claim 1, wherein: the partition portion includes a thin wall portion having a thickness t and a hardness of 350HV to 450HV at 0.35t from a surface of the thin wall portion.

5. The harmonic reducer of claim 1, wherein: the partition part comprises a thin-wall part, the thickness of the thin-wall part is t, and the boundary part of the nitriding layer of the thin-wall part and the base material is positioned at a position which is 0.2t to 0.35t away from the surface of the thin-wall part.

6. The harmonic reducer of claim 1, wherein: the outer surface of the second nitriding layer is also provided with a white bright layer, and the hardness of the white bright layer is larger than that of the second nitriding layer.

7. The harmonic reducer of claim 6, wherein: the thickness of the white bright layer is smaller than 0.03mm.

8. The harmonic reducer of claim 1, wherein: the wave generator comprises a cam and a flexible bearing, wherein the flexible bearing is sleeved on the peripheral wall of the cam and is in interference fit with the cam.

9. The harmonic reducer of claim 1, wherein: the harmonic speed reducer further comprises a crossed roller bearing, and an inner ring and an outer ring of the crossed roller bearing are respectively connected with the rigid gear and the flexible gear.

10. The harmonic reducer of claim 1, wherein: the surface residual stress of the flexible gear is compressive stress, and the absolute value of the compressive stress is more than or equal to 400MPa.