WO2024124996A1 - Lightweight speed reducer and humanoid robot - Google Patents

Lightweight speed reducer and humanoid robot Download PDF

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Publication number
WO2024124996A1
WO2024124996A1 PCT/CN2023/117981 CN2023117981W WO2024124996A1 WO 2024124996 A1 WO2024124996 A1 WO 2024124996A1 CN 2023117981 W CN2023117981 W CN 2023117981W WO 2024124996 A1 WO2024124996 A1 WO 2024124996A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
shaft
harmonic steel
steel gear
shaft section
Prior art date
Application number
PCT/CN2023/117981
Other languages
French (fr)
Chinese (zh)
Inventor
金正已
胡牧原
张一雨
Original Assignee
柔昊精密科技(苏州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 柔昊精密科技(苏州)有限公司 filed Critical 柔昊精密科技(苏州)有限公司
Publication of WO2024124996A1 publication Critical patent/WO2024124996A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H1/321—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear the orbital gear being nutating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications
    • F16H2057/02073—Reduction gearboxes for industry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02091—Measures for reducing weight of gearbox

Definitions

  • the invention relates to a light speed reducer and a humanoid robot having the light speed reducer.
  • the reducer is a power transmission mechanism that uses a gear system to reduce the output speed and increase the output torque.
  • the second-stage cycloid pinwheel small tooth difference transmission in the RV reducer is a K-H-V gear transmission mechanism consisting of a 1-tooth difference internal gear pair composed of a short-spoke outer cycloid gear and a pin gear, an eccentric element (planet carrier) and an output mechanism.
  • the harmonic gear transmission mechanism is a modified small tooth difference planetary gear transmission composed of a wave generator, a flexible gear, and a rigid gear. There is a small tooth difference between the flexible gear and the rigid gear.
  • the flexible gear plays the role of a modified planetary gear in the mechanism through the elastic deformation.
  • the RV reducer has the problem of wear during the transmission process, resulting in transmission error, which is not conducive to output precision control and has high processing difficulty; while the transmission error and accuracy of the harmonic gear transmission mechanism need to be further improved.
  • both transmission mechanisms have the problem of complex speed ratio adjustment or a small adjustable speed ratio range. When assembled in the robot, they are subject to more restrictions and have less design freedom.
  • the object of the present invention is to provide a lightweight reducer with a compact structure and greater design freedom.
  • Another object of the present invention is to provide a humanoid robot that can easily realize multi-speed ratio transmission, has high torsional stiffness and high precision, and has greater freedom in motor installation.
  • a first aspect of the present invention provides a light reducer, comprising a first housing and an output flange, wherein the first housing is provided with a first internal tooth; the reducer further comprises:
  • a gear ring capable of elastic deformation, the gear ring having a first external tooth and a second internal tooth, the gear ring being disposed in the first housing and the first external tooth meshing with the first internal tooth;
  • a second harmonic steel gear having the same structure and specifications as the first harmonic steel gear
  • An eccentric shaft which is used to drive the first harmonic steel gear and the second harmonic steel gear to rotate, and a hollow cavity is provided on the eccentric shaft, and the hollow cavity axially penetrates the eccentric shaft and has two open ends;
  • the eccentric shaft has a first shaft section, a second shaft section and an input shaft section, the first shaft section, the second shaft section and the input shaft section are eccentrically arranged, the input shaft section has a first axis, the first shaft section has a second axis, and the third shaft section has a third axis, the first axis, the second axis and the third axis are parallel to each other, the second axis and the third axis are respectively located on the upper and lower sides of the first axis, and further, the first axis, the second axis and the third axis are located in the same plane and are equidistant from the first axis; the first harmonic steel gear is rotatably arranged on the first shaft section, and the second harmonic steel gear is rotatably arranged
  • a central gear which is arranged on the input shaft section and is used to input power to drive the eccentric shaft to rotate;
  • first harmonic steel gear and the second harmonic steel gear both have second external teeth that can mesh with the second internal teeth
  • first harmonic steel gear and the gear ring have a first meshing point
  • second harmonic steel gear and the gear ring have a second meshing point
  • first meshing point and the second meshing point are respectively located on the upper and lower sides of the gear ring
  • the output flange is rotatably disposed in the first housing, and the output flange is connected to the first harmonic steel gear and the second harmonic steel gear.
  • the light reducer further comprises a flexible shaft connector, which is used to connect to the output shaft of the motor via a flexible shaft, the flexible shaft connector is meshed with the central gear, and the flexible shaft connector has a flexible shaft interface into which the end of the flexible shaft can be inserted.
  • the light reducer further comprises a second housing, the second housing is fixedly connected to the first housing, the input shaft section passes through the second housing with a bearing arranged therebetween, and the flexible shaft connector is rotatably arranged on the second housing.
  • the flexible shaft connector is inserted into the second shell, a bearing is provided between the flexible shaft connector and the second shell, and the flexible shaft interface is provided at the end of the flexible shaft connector and exposed from the second shell.
  • the rotation axis centerline of the flexible shaft connector is parallel to and does not overlap with the axis centerline of the input shaft segment, and the flexible shaft connector is located outside the input shaft segment.
  • the flexible shaft interface has an interface groove, and the interface groove is non-circular (for example, square), so that the flexible shaft can drive the flexible shaft connecting piece to rotate.
  • the number of the second external teeth of the first harmonic rigid gear or the second harmonic rigid gear is smaller than the number of the second internal teeth of the ring gear.
  • the central gear is tightly sleeved on the input shaft segment; more preferably, the central gear is sleeved on the input shaft segment after being heat treated.
  • the light reducer further includes at least two needle roller bearings, and the two needle roller bearings are arranged on the inner wall of the hollow cavity at intervals.
  • a bearing is provided between the first harmonic steel gear and the first shaft segment, and a bearing is provided between the second harmonic steel gear and the second shaft segment.
  • the first meshing portion and the second meshing portion are respectively located on opposite sides of the gear ring.
  • the gear ring is a thin-walled elastic gear ring capable of producing slight elastic deformation.
  • the eccentric shaft further has a third shaft segment, the output flange is sleeved on the third shaft segment with a bearing arranged therebetween; and a bearing is arranged between the output flange and the first housing.
  • the light reducer also includes a motor end flange, the motor end flange and the output flange are arranged opposite to each other and connected to each other, and the first harmonic steel gear and the second harmonic steel gear are arranged between the motor end flange and the output flange.
  • the motor end flange is rotatably disposed in the first housing with a bearing disposed therebetween, and the eccentric shaft further has a fourth shaft segment, the motor end flange is sleeved on the fourth shaft segment with a bearing disposed therebetween.
  • first harmonic steel gear and the second harmonic steel gear respectively have a through hole
  • the output flange and the motor end flange are connected by bolts, and the bolts pass through the through holes of the first harmonic steel gear and the second harmonic steel gear, and the aperture of the through hole is larger than the outer diameter of the bolt.
  • a sealing ring is further provided between the output flange and the first housing, a sealing ring is provided between the second housing and the input shaft section, and a sealing ring is provided between the second housing and the flexible shaft connector.
  • the second aspect of the present invention provides a humanoid robot, including an elbow joint or a wrist joint, wherein the elbow joint or the wrist joint adopts the light reducer; the humanoid robot also includes a motor, which is connected to the soft shaft connecting part of the light reducer through a soft shaft, and the motor is arranged in the torso of the robot.
  • the present invention adopts the above solution, which has the following advantages compared with the prior art:
  • the first harmonic steel gear and the second harmonic steel gear in the light speed reducer of the present invention are respectively meshed at the positions on both sides of the axis of the gear ring, so that the light speed reducer has higher precision and stability and stronger load-bearing capacity; at the same time, multiple points of common meshing are generated to transmit torque, so that the torque transmission is very stable;
  • the light speed reducer in the present invention has the characteristics of high precision and high torsional stiffness and can be applied to working conditions of multiple speed ratios, with greater design freedom;
  • a hollow cavity is provided on the eccentric shaft, and the hollow cavity penetrates the eccentric shaft axially and has two open ends.
  • the hollow cavity can be used for wiring or for other components to pass through (such as for a flexible shaft to pass through); at the same time, the flexible shaft connector is non-coaxially arranged with the eccentric shaft, and the flexible shaft connector will not cause obstacles to the cables or components passing through the hollow cavity, which is conducive to making the entire light reducer compact and lightweight.
  • the light reducer in the present invention is more suitable for the field of robots with highly integrated structures, such as quadruped robots or collaborative robots (desktop small mechanical arms).
  • the use of a flexible shaft to input power can also well alleviate the impact caused by continuous vibration and occasional collisions, and improve the impact resistance of the overall structure;
  • the humanoid robot of the present invention has a lightweight reducer used in its elbow joint or wrist joint, which is lightweight and compact in structure, has the characteristics of high precision and high torsional stiffness, and can install the motor at a suitable position of the humanoid robot (such as a torso part with a larger space), and has good freedom of motor installation.
  • Fig. 1 is a front view of a light speed reducer according to an embodiment of the present invention, wherein the second housing and the flexible shaft connector are not shown.
  • FIG. 2 is a left side view of the light reducer shown in FIG. 1 , wherein the second housing and the flexible shaft connector are not shown.
  • FIG3 is a right side view of the light reducer shown in FIG1 , wherein the second housing and the flexible shaft connector are not shown.
  • Fig. 4 is a rotational sectional view taken along the line A-A in Fig. 3 .
  • FIG. 5 is a cross-sectional view of a light speed reducer including a second housing and a flexible shaft connector according to an embodiment of the present invention.
  • FIG. 6 is a partial enlarged view of point B in FIG. 5 .
  • FIG. 7 is a partial enlarged view of point C in FIG. 5 .
  • FIG. 8 is a partial enlarged view of point D in FIG. 5 .
  • FIG. 9 is a structural diagram of an output flange according to an embodiment of the present invention.
  • FIG. 10 is a left side view of the output flange shown in FIG. 9 .
  • Fig. 11 is a rotational sectional view taken along the E-E line in Fig. 10 .
  • FIG. 12 is a structural diagram of a motor end flange according to an embodiment of the present invention.
  • FIG. 13 is a left side view of the motor end flange shown in FIG. 12 .
  • FIG14 is a rotational sectional view taken along the F-F line in FIG13 .
  • FIG. 15 is a left side view of a first harmonic steel gear according to an embodiment of the present invention.
  • Fig. 16 is a rotational sectional view taken along the G-G line in Fig. 14 .
  • the present embodiment provides a light reducer for robot joints, which is specifically used as a knee joint or hip joint of the robot.
  • the light reducer includes a first housing 1, a gear ring 2, a first harmonic steel gear 3a, a second harmonic steel gear 3b, an eccentric shaft 4, an output flange 5 and a central gear 6.
  • the first housing 1 is hollow and has a circle of first internal teeth 11.
  • the gear ring 2 is a thin-walled elastic gear ring, whose radial width is less than 10% of its outer diameter, and is made of high-toughness alloy steel, which can produce a small amount of elastic deformation; the gear ring 2 has a first external tooth 21 and a second internal tooth 22, and the gear ring 2 is arranged in the first housing 1 and the first external tooth 21 is meshed with the first internal tooth 11.
  • the first harmonic steel gear 3a and the second harmonic steel gear 3b are arranged in parallel, and the second harmonic steel gear 3b is eccentrically arranged relative to the first harmonic steel gear 3a.
  • the eccentric shaft 4 is used to drive the first harmonic steel gear 3a and the second harmonic steel gear 3b to rotate.
  • the central gear 6 is used to input power to drive the eccentric shaft 4 to rotate.
  • the first housing 1 and the gear ring 2 are both hollow and open at both ends.
  • the two are coaxial, and the first housing 1 is sleeved on the gear ring 2 and the two are meshed with each other through the first internal teeth 11 and the first external teeth 21.
  • the first housing 1 and other components of the robot can be fixedly connected, for example, by fasteners, so as to achieve a fastened connection between the light reducer and other components of the robot.
  • the eccentric shaft 4 has a first shaft section 41, a second shaft section 42, a third shaft section 43, a fourth shaft section 44 and an input shaft section 45.
  • the input shaft section 45, the fourth shaft section 44, the first shaft section 41, the second shaft section 42 and the fourth shaft section 44 are arranged in sequence from right to left.
  • the third shaft section 43, the fourth shaft section 44 and the input shaft section 45 are coaxial, that is, the three have a common axis, which is recorded as the first axis.
  • the first shaft section 41 and the second shaft section 42 are respectively eccentrically arranged relative to the above-mentioned first axis, and the first shaft section 41 and the second shaft section 42 are relatively eccentrically arranged.
  • the axis of the first shaft section 41 is recorded as the second axis
  • the axis of the second shaft section 42 is recorded as the third axis.
  • the first axis, the second axis and the third axis are parallel to each other, and the second axis and the third axis are respectively located on opposite sides of the first axis. Further, the first axis, the second axis and the third axis are located in the same plane, and the second axis and the third axis are respectively located on opposite sides of the first axis.
  • the second axis and the first axis have a spacing d1
  • the third axis and the first axis have a spacing d2
  • the spacing d1 is equal to the spacing d2.
  • the first harmonic steel gear 3a is arranged on the first shaft section 41
  • the second harmonic steel gear 3b is arranged on the second shaft section 42
  • the output flange 5 is arranged on the third shaft section 43
  • the motor end flange 7 is arranged on the fourth shaft section 44
  • the central gear 6 is arranged on the input shaft section 45.
  • a bearing 8 is arranged between the first harmonic steel gear 3a and the first shaft section 41 of the eccentric shaft 4
  • a bearing 8 is arranged between the second harmonic steel gear 3b and the second shaft section 42
  • a bearing 8 is arranged between the output flange 5 and the third shaft section 43
  • a bearing 8 is arranged between the motor end flange 7 and the fourth shaft section 44.
  • the central gear 6 is tightly sleeved on the input shaft section 45, and when the central gear 6 rotates, it can drive the eccentric shaft 4 to rotate synchronously.
  • the specific assembly process of the central gear 6 and the input shaft section 45 is as follows: the central gear 6 is heated to expand due to heat, and then sleeved on the input shaft section 45, and after cooling, the central gear 6 is tightly sleeved on the input shaft section 45 of the eccentric shaft 4.
  • the temperature of the heating treatment is 80° C.
  • the time is 3 min to 5 min
  • the diameter of the center hole of the central gear 6 is 30 mm to 100 mm.
  • the first harmonic steel gear 3a and the second harmonic steel gear 3b are two gears with the same structure and specifications.
  • the two gears are eccentrically arranged on the eccentric shaft 4.
  • the first harmonic steel gear 3a and the second harmonic steel gear 3b both have second external teeth 31 that can mesh with the second internal teeth 22 of the ring gear 2.
  • Figures 14 and 15 schematically show the structure of the first harmonic steel gear 3a, and the structure of the second harmonic steel gear 3b is the same as that of the first harmonic steel gear 3a.
  • the first harmonic steel gear 3a and the second harmonic steel gear 3b are arranged side by side in the ring gear 2, and the first harmonic steel gear 3a is located on the right side, and the second harmonic steel gear 3b is located on the left side.
  • the first harmonic steel gear 3a has a first meshing portion with the ring gear 2
  • the second harmonic steel gear 3b has a second meshing portion with the ring gear 2.
  • the first meshing portion and the second meshing portion are respectively located on opposite sides of the ring gear 2, for example, the first meshing portion is located on the upper side of the ring gear 2, and the second meshing portion is located on the lower side of the ring gear 2.
  • the output flange 5 is rotatably disposed in the first housing 1, and the output flange 5 is connected to the first harmonic steel gear 3a and the second harmonic steel gear 3b. Specifically, the output flange 5 is rotatably disposed on the eccentric shaft 4 through a bearing 8. Further, the output flange 5 is located in the first housing 1, and as the first harmonic steel gear 3a and the second harmonic steel gear 3b rotate, the output flange 5 rotates relative to the first housing 1.
  • the light speed reducer further includes a motor end flange 7.
  • the motor end flange 7 and the output flange 5 are arranged opposite to each other and connected to each other, and the first harmonic steel gear 3a and the second harmonic steel gear 3b are arranged between the motor end flange 7 and the output flange 5.
  • the motor end flange 7 is rotatably arranged on the eccentric shaft 4 and is located in the first housing 1.
  • the first harmonic steel gear 3a and the second harmonic steel gear 3b are specifically connected to the output flange 5 by a plurality of bolts 101, so as to output the torque.
  • a plurality of first bolt holes 52 are provided on the output flange 5; referring to FIGS. 11 to 13, a plurality of second bolt holes 71 are provided on the motor end flange 7; referring to FIGS. 14 and 15, the first harmonic steel gear 3a and the second harmonic steel gear 3b respectively have through holes 32.
  • the bolt 101 passes through the first bolt hole 52 of the output flange 5, the through holes 32 of the second harmonic steel gear 3b and the first harmonic steel gear 3a, and the second bolt hole 71 of the motor end flange 7 in sequence, so as to connect the four. Furthermore, the aperture of the through hole 32 is larger than the outer diameter of the bolt 101, so as to allow the first harmonic steel gear 3a and the second harmonic steel gear 3b to rotate under the drive of the eccentric shaft 4.
  • the apertures of the first bolt hole 52 of the output flange 5, the second bolt hole 71 of the motor end flange 7, and the outer diameter of the bolt 101 match each other, so that they can fit tightly.
  • the bolt 101 may also be replaced by a pin.
  • the output flange 5 is fixedly connected to the motor end flange 7, and the first harmonic steel gear 3a and the second harmonic steel gear 3b are limited to prevent them from moving along the axial direction of the eccentric shaft 4. Specifically, the output flange 5 and the motor end flange 7 are connected by screws 102. Referring to Figures 8 to 10, the output flange 5 has a plurality of studs 53 extending to the right; referring to Figures 11 to 13, a plurality of second screw holes 72 are provided on the motor end flange 7; referring to Figures 14 and 15, the first harmonic steel gear 3a and the second harmonic steel gear 3b are respectively provided with first screw holes 33.
  • the screws 102 are inserted into the studs 53 of the output flange 5 after passing through the second screw holes 72 of the motor end flange 7, the first screw holes 33 of the first harmonic steel gear 3a and the second harmonic steel gear 3b in sequence, so as to connect the four.
  • the diameter of the first screw hole 33 of the first harmonic gear 3 a and the second harmonic gear 3 b is larger than that of the screw 102 , so as to allow the first harmonic gear 3 a and the second harmonic gear 3 b to rotate driven by the eccentric shaft 4 .
  • the gear ring 2 is initially in the shape of a circular ring; during operation, the central gear 6 rotates to drive the eccentric shaft 4 to rotate. Since the first harmonic steel gear 3a and the second harmonic steel gear 3b are respectively arranged on the eccentric shaft 4 through the first shaft section 41 and the second shaft section 42, when the eccentric shaft 4 rotates, the first harmonic steel gear 3a and the second harmonic steel gear 3b are driven to rotate, and the upper side and the lower side of the gear ring 2 are respectively squeezed outward, and slightly deformed outward in the up and down directions, and the left and right sides are deformed inward, so that there are more pairs of meshing teeth and a larger meshing inclusive angle; at the same time, due to the transmission with small tooth difference, the first harmonic steel gear 3a and the second harmonic steel gear 3b rotate at a reduced speed under the drive of the eccentric shaft 4 and the action of the gear ring 2, and the torque is transmitted to the output flange 5 through the bolt 101, driving the output flange 5 to rotate at a reduced speed.
  • an output end connection port 50 is arranged on the left end face of the output flange 5, and the output end connection port 50 is specifically a left and right extending blind hole.
  • the light reducer After being assembled into the industrial robot, the light reducer outputs torque to the driven object on the left side; during assembly, after the first shell 1 and the supporting component of the driven object (such as the shell) are assembled through fasteners, the right end of the driven object is automatically pressed into the output terminal connection port 50 of the output flange 5, so that the power input by the motor can be decelerated and transmitted to the driven object.
  • the first harmonic steel gear 3a and the second harmonic steel gear 3b are respectively meshed at the positions on both sides of the axis of the ring gear 2, so that the light reducer has high precision and stability and strong load-bearing capacity; at the same time, multiple points of common meshing are generated to transmit torque, so that the torque transmission is very smooth.
  • the light reducer in this embodiment has the characteristics of high precision and high torsional stiffness and can be applied to working conditions of multiple speed ratios, with a large degree of design freedom.
  • the positions of the first harmonic steel gear 3a and the second harmonic steel gear 3b on the gear ring 2 are staggered, and the outward extrusion force applied by the two on the gear ring 2 is asymmetric.
  • the gear ring 2 can be deformed, its own rigidity is large enough. Except for radial deformation, other dimensions will not be significantly deformed. The tooth shape can still be maintained during deformation.
  • the impact on the meshing state is limited to the meshing side (the meshing position of the gear ring 2 and the first harmonic steel gear 3a or the second harmonic steel gear 3b) where the tooth surface stress is large and the free side (the left or right side of the meshing side) where the tooth surface stress is small.
  • the second inner teeth 22 and the first outer teeth 21 of the gear ring 2 play a role similar to that of reinforcing ribs, ensuring the thickness of the gear ring 2, which can basically ensure that the gear ring 2 is stably deformed.
  • the uneven force on the ring gear 2 will lead to a torque, which makes the ring gear 2 have a certain deflection tendency.
  • the eccentricity and tooth shape can be controlled, and the meshing state of the inner and outer tooth surfaces of the ring gear 2 when unloaded can be controlled, so that there is enough friction between the ring gear 2 and the first harmonic steel gear 3a, the second harmonic steel gear 3b, and the first housing 1 to overcome the deflection torque.
  • a limiting mechanism can be designed on both sides of the ring gear 2 to prevent the ring gear 2 from deflecting and escaping (the bearings 8 on both sides of the ring gear 2 in this embodiment can play a limiting role), thereby ensuring the stable operation of the light reducer.
  • the light reducer also includes a flexible shaft connector 104, which is used to connect the output shaft of the motor through a flexible shaft.
  • the flexible shaft connector 104 is meshed with the central gear 6, and the flexible shaft connector 104 has a flexible shaft interface 104a for inserting the end of the flexible shaft.
  • the meshing line between the flexible shaft connector 104 and the central gear 6 is long, which can optimize the meshing state of the flexible shaft connector 104 and reduce the transmission noise between the two.
  • the light reducer also includes a second housing 103, the second housing 103 and the first housing 1 are fixedly connected (for example, connected by bolts), the input shaft section 45 of the eccentric shaft 4 passes through the second housing 103 and a bearing 8 and a sealing ring 9 are arranged between the two, and the flexible shaft connector 104 is rotatably arranged on the second housing 103.
  • the flexible shaft connector 104 extends in the left-right direction as a whole and is rotatably arranged in the second housing 103.
  • the rotation axis of the flexible shaft connector 104 extends in the left-right direction and is parallel to and does not overlap with the first axis of the input shaft segment 45.
  • the flexible shaft connector 104 is located on the outside of the input shaft segment 45 as a whole, as shown in the upper side of FIG5 .
  • the left end of the flexible shaft connector 104 has external teeth, which are meshed with the external teeth of the central gear 6; the flexible shaft interface 104a is located at the right end of the flexible shaft connector 104.
  • the flexible shaft interface 104a is specifically an interface groove, which is non-circular (for example, square), so that the flexible shaft can drive the flexible shaft connector 104 to rotate.
  • the right end of the interface groove is open for the flexible shaft to be inserted, and the left end is a cone with a gradually decreasing cross-sectional area.
  • the flexible shaft is specifically an elastically deformable flexible cable, and the motor can be flexibly installed in other parts of the robot (parts with larger space).
  • the flexible cable can bend and deform accordingly to adapt to the setting of the components, thereby having a larger degree of freedom for motor installation.
  • the method of using a flexible shaft to input power in this embodiment can also effectively alleviate the impact caused by continuous vibration and occasional collision, and improve the impact resistance of the overall structure.
  • a bearing 8 and a sealing ring 9 are arranged between the flexible shaft connector 104 and the second housing 103.
  • the hollow cavity 40 axially penetrates the eccentric shaft 4 and has open two ends.
  • the hollow cavity 40 can be used for wiring or for other components to pass through (such as for a flexible shaft to pass through).
  • the flexible shaft connector 104 is non-coaxially arranged with the eccentric shaft 4, and the flexible shaft connector 104 will not cause obstruction to the cables or components passing through the hollow cavity 40, which is conducive to making the entire light reducer structure compact and lightweight; therefore, the light reducer in the present embodiment is more suitable for the field of robots with highly integrated structures, such as quadruped robots or collaborative robots (small desktop robotic arms).
  • needle bearings 46 are provided on the inner walls at both ends of the hollow cavity 40, and components or cables passing through the hollow cavity 40 can be fixed on the needle bearings 46, thereby avoiding interference with the rotation of the eccentric shaft 4 and avoiding wear of the components or cables.
  • the light reducer of this embodiment has the characteristics of light weight, compact structure, and easy assembly, wherein the first housing 1 can be fixed, and the transmission components can be rotatably arranged in the first housing 1, especially the steps of assembling it into the industrial robot are relatively convenient and concise, the wiring is convenient, and the risk of the cable being scratched or worn is effectively reduced.
  • the meshing of the outer teeth of the ring gear 2 with the inner teeth of the first housing 1 will make the flexible deformation of the ring gear 2 controlled, and in this controlled deformation state, the inclusion angle between the inner teeth of the elastic ring gear 2 and the eccentric gear can reach 80°, achieving the purpose of high torsional stiffness; by adjusting the number of teeth of the central gear 6, multiple speed ratios under the same outer envelope size can be achieved; the light reducer has the characteristics of high precision and high torsional stiffness and can be applied to working conditions of multiple speed ratios, with a large degree of design freedom.
  • This embodiment also discloses a humanoid robot, whose joints adopt the above-mentioned light reducer.
  • the elbow joint or wrist joint of the humanoid robot adopts the above-mentioned light reducer.
  • the humanoid robot also includes a motor for inputting power to the light reducer, the motor is connected to the soft shaft connector 104 of the light reducer through a flexible shaft, and the motor is arranged in the torso of the robot.
  • the motor does not need to be arranged on the elbow joint or wrist joint, but can be arranged in the torso with a larger space, which is conducive to the miniaturization, lightness and compactness of the robot arm part.
  • plural refers to two or more than two, and other quantifiers are similar.
  • And/or describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone.
  • first, second, etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions “first”, “second”, etc. can be used interchangeably.
  • the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

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Abstract

Disclosed in the present invention are a lightweight speed reducer and a humanoid robot. The lightweight speed reducer comprises: a ring gear capable of elastically deforming, the ring gear being arranged in a first housing and meshed with the first housing; an eccentric shaft used for driving a first harmonic circular spline and a second harmonic circular spline to rotate, a hollow cavity being formed in the eccentric shaft, and the hollow cavity passing through the eccentric shaft in the axial direction and having two open ends; a central gear used for driving the eccentric shaft to rotate; a flexible shaft connecting member used for being connected to an output shaft of a motor by means of a flexible shaft, the flexible shaft connecting member being meshed with the central gear, and being provided with a flexible shaft connecting port allowing an end portion of the flexible shaft to be inserted in, wherein the first harmonic circular spline and the second harmonic circular spline are both provided with second external teeth which can be meshed with the ring gear; and an output flange rotatably arranged in the first housing, the output flange being connected to the first harmonic circular spline and the second harmonic circular spline. The lightweight speed reducer of the present invention is of a compact structure, and has high precision and stability, and high bearing capacity.

Description

一种轻型减速器及人形机器人Light speed reducer and humanoid robot 技术领域Technical Field
本发明涉及一种轻型减速器及具有其的人形机器人。The invention relates to a light speed reducer and a humanoid robot having the light speed reducer.
背景技术Background technique
减速器是一种动力传递机构，利用齿轮系达到降低输出转速，增大输出转矩的目的。当前市场上主流机器人关节精密减速器有两类：一种是RV减速器，另一种是谐波减速器。RV减速器中第二级摆线针轮少齿差传动是由短辐外摆线齿轮和针齿轮组成的1齿差内齿轮副、偏心元件(行星架)以及输出机构构成的K-H-V型齿轮传动机构。谐波齿轮传动机构是由波发生器、柔性齿轮、刚性齿轮组成的一种***少齿差行星齿轮传动机，柔性齿轮与刚性齿轮存在少齿差，通过柔性齿轮的弹性变形在机构中起到***行星轮的作用。然而，RV减速器存在传动过程中有磨损而导致传动误差、不利于输出精度控制以及加工难度较高的问题；而谐波齿轮传动机构的传动误差和精度有待进一步提高。此外，这两种传动机构都存在速比调节复杂或可调节的速比范围较小的问题，在装配至机器人中时受到的限制较多，设计自由度较小。The reducer is a power transmission mechanism that uses a gear system to reduce the output speed and increase the output torque. There are two types of mainstream robot joint precision reducers on the market: one is the RV reducer and the other is the harmonic reducer. The second-stage cycloid pinwheel small tooth difference transmission in the RV reducer is a K-H-V gear transmission mechanism consisting of a 1-tooth difference internal gear pair composed of a short-spoke outer cycloid gear and a pin gear, an eccentric element (planet carrier) and an output mechanism. The harmonic gear transmission mechanism is a modified small tooth difference planetary gear transmission composed of a wave generator, a flexible gear, and a rigid gear. There is a small tooth difference between the flexible gear and the rigid gear. The flexible gear plays the role of a modified planetary gear in the mechanism through the elastic deformation. However, the RV reducer has the problem of wear during the transmission process, resulting in transmission error, which is not conducive to output precision control and has high processing difficulty; while the transmission error and accuracy of the harmonic gear transmission mechanism need to be further improved. In addition, both transmission mechanisms have the problem of complex speed ratio adjustment or a small adjustable speed ratio range. When assembled in the robot, they are subject to more restrictions and have less design freedom.
发明内容Summary of the invention
针对上述问题，本发明的目的是提供一种轻型减速器，其结构紧凑具有较大的设计自由度。本发明的另一个目的是提供一种人形机器人，其能够易于实现多速比传动，具有高扭转刚度及高精度，电机安装自由度较大。In view of the above problems, the object of the present invention is to provide a lightweight reducer with a compact structure and greater design freedom. Another object of the present invention is to provide a humanoid robot that can easily realize multi-speed ratio transmission, has high torsional stiffness and high precision, and has greater freedom in motor installation.
本发明的第一个方面提供一种轻型减速器，包括第一壳体和输出法兰，所述第一壳体上设有第一内齿；所述减速器还包括：A first aspect of the present invention provides a light reducer, comprising a first housing and an output flange, wherein the first housing is provided with a first internal tooth; the reducer further comprises:
齿圈，其能够弹性变形，所述齿圈具有第一外齿和第二内齿，所述齿圈设置于所述第一壳体内且所述第一外齿和所述第一内齿啮合；A gear ring capable of elastic deformation, the gear ring having a first external tooth and a second internal tooth, the gear ring being disposed in the first housing and the first external tooth meshing with the first internal tooth;
第一谐波刚齿轮；First harmonic steel gear;
与所述第一谐波刚齿轮结构及规格相同的第二谐波刚齿轮；A second harmonic steel gear having the same structure and specifications as the first harmonic steel gear;
偏心轴，其用于带动所述第一谐波刚齿轮和所述第二谐波刚齿轮转动，所述偏心轴上开设有中空腔体，所述中空腔体沿轴向贯通所述偏心轴而具有开放的两端；所述偏心轴具有第一轴段、第二轴段和输入轴段，所述第一轴段、所述第二轴段以及所述输入轴段偏心设置，所述输入轴段具有第一轴心线，所述第一轴段具有第二轴心线，所述第三轴段具有第三轴心线，所述第一轴心线、所述第二轴心线及第三轴心线相互平行，所述第二轴心线和所述第三轴心线分别位于所述第一轴心线的上下两侧，更进一步地，第一轴心线、第二轴心线及第三轴心线三者位于同一平面中，且距离所述第一轴心线的距离相等；所述第一谐波刚齿轮转动设置于所述第一轴段上，所述第二谐波刚齿轮转动设置于所述第二轴段上；An eccentric shaft, which is used to drive the first harmonic steel gear and the second harmonic steel gear to rotate, and a hollow cavity is provided on the eccentric shaft, and the hollow cavity axially penetrates the eccentric shaft and has two open ends; the eccentric shaft has a first shaft section, a second shaft section and an input shaft section, the first shaft section, the second shaft section and the input shaft section are eccentrically arranged, the input shaft section has a first axis, the first shaft section has a second axis, and the third shaft section has a third axis, the first axis, the second axis and the third axis are parallel to each other, the second axis and the third axis are respectively located on the upper and lower sides of the first axis, and further, the first axis, the second axis and the third axis are located in the same plane and are equidistant from the first axis; the first harmonic steel gear is rotatably arranged on the first shaft section, and the second harmonic steel gear is rotatably arranged on the second shaft section;
中心齿轮，其设置于所述输入轴段上，用于输入动力而带动所述偏心轴转动；A central gear, which is arranged on the input shaft section and is used to input power to drive the eccentric shaft to rotate;
其中，所述第一谐波刚齿轮和所述第二谐波刚齿轮均具有能够和所述第二内齿相互啮合的第二外齿，所述第一谐波刚齿轮与所述齿圈具有第一啮合处，所述第二谐波刚齿轮与所述齿圈具有第二啮合处，所述第一啮合处和所述第二啮合处分别位于所述齿圈的上、下两侧；Wherein, the first harmonic steel gear and the second harmonic steel gear both have second external teeth that can mesh with the second internal teeth, the first harmonic steel gear and the gear ring have a first meshing point, the second harmonic steel gear and the gear ring have a second meshing point, and the first meshing point and the second meshing point are respectively located on the upper and lower sides of the gear ring;
所述输出法兰可转动地设置于所述第一壳体内，所述输出法兰和所述第一谐波刚齿轮及所述第二谐波刚齿轮连接。The output flange is rotatably disposed in the first housing, and the output flange is connected to the first harmonic steel gear and the second harmonic steel gear.
优选地，所述轻型减速器还包括软轴连接件，其用于通过软轴和电机的输出轴连接，所述软轴连接件和所述中心齿轮啮合，所述软轴连接件具有可供所述软轴的端部***的软轴接口。Preferably, the light reducer further comprises a flexible shaft connector, which is used to connect to the output shaft of the motor via a flexible shaft, the flexible shaft connector is meshed with the central gear, and the flexible shaft connector has a flexible shaft interface into which the end of the flexible shaft can be inserted.
优选地，所述轻型减速器还包括第二壳体，所述第二壳体和所述第一壳体固定连接，所述输入轴段穿过所述第二壳体且二者之间设置有轴承，所述软轴连接件可转动地设置于所述第二壳体上。Preferably, the light reducer further comprises a second housing, the second housing is fixedly connected to the first housing, the input shaft section passes through the second housing with a bearing arranged therebetween, and the flexible shaft connector is rotatably arranged on the second housing.
优选地，所述软轴连接件***所述第二壳体中，所述软轴连接件和所述第二壳体之间设置有轴承，所述软轴接口设置于所述软轴连接件的端部并自所述第二壳体中露出。Preferably, the flexible shaft connector is inserted into the second shell, a bearing is provided between the flexible shaft connector and the second shell, and the flexible shaft interface is provided at the end of the flexible shaft connector and exposed from the second shell.
优选地，所述软轴连接件的转动轴心线和所述输入轴段的轴心线平行且不重合，所述软轴连接件位于所述输入轴段的外侧。 Preferably, the rotation axis centerline of the flexible shaft connector is parallel to and does not overlap with the axis centerline of the input shaft segment, and the flexible shaft connector is located outside the input shaft segment.
优选地，所述软轴接口具有接口槽，所述接口槽为非圆形(例如方形)，从而软轴能够带动软轴连接件转动。Preferably, the flexible shaft interface has an interface groove, and the interface groove is non-circular (for example, square), so that the flexible shaft can drive the flexible shaft connecting piece to rotate.
优选地，所述第一谐波刚齿轮或所述第二谐波刚齿轮的第二外齿的数量小于所述齿圈的所述第二内齿的数量。Preferably, the number of the second external teeth of the first harmonic rigid gear or the second harmonic rigid gear is smaller than the number of the second internal teeth of the ring gear.
优选地，所述中心齿轮紧密套设在所述输入轴段上；更优选地，对所述中心齿轮加热处理后套于所述输入轴段上。Preferably, the central gear is tightly sleeved on the input shaft segment; more preferably, the central gear is sleeved on the input shaft segment after being heat treated.
优选地，所述轻型减速器还包括至少两个滚针轴承，两个所述滚针轴承间隔地设置于所述中空腔体的内壁上。Preferably, the light reducer further includes at least two needle roller bearings, and the two needle roller bearings are arranged on the inner wall of the hollow cavity at intervals.
优选地，所述第一谐波刚齿轮和所述第一轴段之间设置有轴承，所述第二谐波刚齿轮和所述第二轴段之间设置有轴承。Preferably, a bearing is provided between the first harmonic steel gear and the first shaft segment, and a bearing is provided between the second harmonic steel gear and the second shaft segment.
优选地，所述第一啮合部及所述第二啮合部分别位于所述齿圈的相对两侧。齿圈为薄壁弹性齿圈，能够产生微小的弹性变形。Preferably, the first meshing portion and the second meshing portion are respectively located on opposite sides of the gear ring. The gear ring is a thin-walled elastic gear ring capable of producing slight elastic deformation.
优选地，所述偏心轴还具有第三轴段，所述输出法兰套设于所述第三轴段上且二者之间设置有轴承；所述输出法兰和所述第一壳体之间设置有轴承。Preferably, the eccentric shaft further has a third shaft segment, the output flange is sleeved on the third shaft segment with a bearing arranged therebetween; and a bearing is arranged between the output flange and the first housing.
优选地，所述轻型减速器还包括电机端法兰，所述电机端法兰和所述输出法兰相对设置且相互连接，所述第一谐波刚齿轮和所述第二谐波刚齿轮设置于所述电机端法兰和所述输出法兰之间。Preferably, the light reducer also includes a motor end flange, the motor end flange and the output flange are arranged opposite to each other and connected to each other, and the first harmonic steel gear and the second harmonic steel gear are arranged between the motor end flange and the output flange.
更优选地，所述电机端法兰可转动地设置于所述第一壳体中且二者之间设置有轴承，所述偏心轴还具有第四轴段，所述电机端法兰套设于所述第四轴段上且二者之间设置有轴承。More preferably, the motor end flange is rotatably disposed in the first housing with a bearing disposed therebetween, and the eccentric shaft further has a fourth shaft segment, the motor end flange is sleeved on the fourth shaft segment with a bearing disposed therebetween.
进一步地，所述第一谐波刚齿轮和所述第二谐波刚齿轮分别具有通孔，所述输出法兰和所述电机端法兰通过螺栓连接，且所述螺栓穿过所述第一谐波刚齿轮和所述第二谐波刚齿轮的所述通孔，且所述通孔的孔径大于所述螺栓的外径。Furthermore, the first harmonic steel gear and the second harmonic steel gear respectively have a through hole, the output flange and the motor end flange are connected by bolts, and the bolts pass through the through holes of the first harmonic steel gear and the second harmonic steel gear, and the aperture of the through hole is larger than the outer diameter of the bolt.
优选地，所述输出法兰和所述第一壳体之间还设置有密封圈。所述第二壳体和所述输入轴段之间设置有密封圈。所述第二壳体和所述软轴连接件之间设置有密封圈。Preferably, a sealing ring is further provided between the output flange and the first housing, a sealing ring is provided between the second housing and the input shaft section, and a sealing ring is provided between the second housing and the flexible shaft connector.
本发明的第二个方面提供一种人形机器人，包括肘关节或腕关节，所述肘关节或腕关节采用所述的轻型减速器；所述人形机器人还包括电机，所述电机通过软轴和所述轻型减速器的软轴连接件连接，所述电机设置于所述机器人的躯干部位。The second aspect of the present invention provides a humanoid robot, including an elbow joint or a wrist joint, wherein the elbow joint or the wrist joint adopts the light reducer; the humanoid robot also includes a motor, which is connected to the soft shaft connecting part of the light reducer through a soft shaft, and the motor is arranged in the torso of the robot.
本发明采用以上方案，相比现有技术具有如下优点：The present invention adopts the above solution, which has the following advantages compared with the prior art:
1、本发明中轻型减速器中第一谐波刚齿轮和第二谐波刚齿轮分别啮合在齿圈上轴线两侧的位置，使轻型减速器具有较高的精度和稳定性，承载能力强；同时产生多点共同啮合来传递转矩，使转矩传递非常平稳；1. The first harmonic steel gear and the second harmonic steel gear in the light speed reducer of the present invention are respectively meshed at the positions on both sides of the axis of the gear ring, so that the light speed reducer has higher precision and stability and stronger load-bearing capacity; at the same time, multiple points of common meshing are generated to transmit torque, so that the torque transmission is very stable;
2、在啮合过程中，齿圈的第一外齿与第一壳体的第一内齿的啮合会使得齿圈的柔性变形是受控的，而且在这种受控的变形状态下，齿圈的第二内齿与第一谐波刚齿轮、第二谐波刚齿轮具有较大的啮合包容角，达到高扭转刚度的目的；通过调整中心齿轮的齿数对可实现同一外包络尺寸下的多种速比。因此，本发明中轻型减速器化具有高精度、高扭转刚度的特点且能够适用于多种速比的工况，具有较大的设计自由度；2. During the meshing process, the meshing of the first outer teeth of the gear ring and the first inner teeth of the first housing will make the flexible deformation of the gear ring controlled, and in this controlled deformation state, the second inner teeth of the gear ring and the first harmonic steel gear and the second harmonic steel gear have a larger meshing angle, so as to achieve high torsional stiffness; by adjusting the number of teeth of the central gear, multiple speed ratios under the same outer envelope size can be achieved. Therefore, the light speed reducer in the present invention has the characteristics of high precision and high torsional stiffness and can be applied to working conditions of multiple speed ratios, with greater design freedom;
3、本发明中偏心轴上开设有中空腔体，中空腔体沿轴向贯通偏心轴而具有开放的两端，该中空腔体可以用于布线或者供其他构件穿过(比如供软轴穿过)；同时软轴连接件与偏心轴非同轴设置，软轴连接件也就不会对穿过中空腔体的线缆或构件造成阻碍，利于使整个轻型减速器结构紧凑，使整个轻型减速器轻量化，本发明中的轻型减速器更适用于结构高度集成的机器人领域，如四足机器人或协作机器人(桌面小型机械手臂)中，采用软轴输入动力的方式还能很好的缓和连续振动和偶发性撞击所带来的冲击，改善整体结构的抗冲击性能；3. In the present invention, a hollow cavity is provided on the eccentric shaft, and the hollow cavity penetrates the eccentric shaft axially and has two open ends. The hollow cavity can be used for wiring or for other components to pass through (such as for a flexible shaft to pass through); at the same time, the flexible shaft connector is non-coaxially arranged with the eccentric shaft, and the flexible shaft connector will not cause obstacles to the cables or components passing through the hollow cavity, which is conducive to making the entire light reducer compact and lightweight. The light reducer in the present invention is more suitable for the field of robots with highly integrated structures, such as quadruped robots or collaborative robots (desktop small mechanical arms). The use of a flexible shaft to input power can also well alleviate the impact caused by continuous vibration and occasional collisions, and improve the impact resistance of the overall structure;
4、本发明的人形机器人，其肘关节或腕关节采用的轻型减速器轻量化且结构紧凑，具有高精度、高扭转刚度的特点，而且能够将电机安装到人形机器人的合适位置(例如空间较大的躯干部位)，具有较好的电机安装自由度。4. The humanoid robot of the present invention has a lightweight reducer used in its elbow joint or wrist joint, which is lightweight and compact in structure, has the characteristics of high precision and high torsional stiffness, and can install the motor at a suitable position of the humanoid robot (such as a torso part with a larger space), and has good freedom of motor installation.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.
图1为根据本发明实施例的一种轻型减速器的主视图，其中第二壳体和软轴连接件未示出。Fig. 1 is a front view of a light speed reducer according to an embodiment of the present invention, wherein the second housing and the flexible shaft connector are not shown.
图2为图1所示轻型减速器的左视图，其中第二壳体和软轴连接件未示出。FIG. 2 is a left side view of the light reducer shown in FIG. 1 , wherein the second housing and the flexible shaft connector are not shown.
图3为图1所示轻型减速器的右视图，其中第二壳体和软轴连接件未示出。FIG3 is a right side view of the light reducer shown in FIG1 , wherein the second housing and the flexible shaft connector are not shown.
图4为图3中A-A向的旋转剖视图。Fig. 4 is a rotational sectional view taken along the line A-A in Fig. 3 .
图5为根据本发明实施例的包含第二壳体和软轴连接件的轻型减速器的剖视图。5 is a cross-sectional view of a light speed reducer including a second housing and a flexible shaft connector according to an embodiment of the present invention.
图6为图5中B处的局部放大图。FIG. 6 is a partial enlarged view of point B in FIG. 5 .
图7为图5中C处的局部放大图。FIG. 7 is a partial enlarged view of point C in FIG. 5 .
图8为图5中D处的局部放大图。FIG. 8 is a partial enlarged view of point D in FIG. 5 .
图9为根据本发明实施例的输出法兰的结构图。FIG. 9 is a structural diagram of an output flange according to an embodiment of the present invention.
图10为图9所示输出法兰的左视图。FIG. 10 is a left side view of the output flange shown in FIG. 9 .
图11为图10中E-E向的旋转剖视图。Fig. 11 is a rotational sectional view taken along the E-E line in Fig. 10 .
图12为根据本发明实施例的电机端法兰的结构图。FIG. 12 is a structural diagram of a motor end flange according to an embodiment of the present invention.
图13为图12所示电机端法兰的左视图。FIG. 13 is a left side view of the motor end flange shown in FIG. 12 .
图14为图13中F-F向的旋转剖视图。FIG14 is a rotational sectional view taken along the F-F line in FIG13 .
图15为根据本发明实施例的第一谐波刚齿轮的左视图。FIG. 15 is a left side view of a first harmonic steel gear according to an embodiment of the present invention.
图16为图14中G-G向的旋转剖视图。Fig. 16 is a rotational sectional view taken along the G-G line in Fig. 14 .
附图标号：
1、第一壳体；11、第一内齿；
2、齿圈；21、第一外齿；22、第二内齿；
3a、第一谐波刚齿轮；3b、第二谐波刚齿轮；31、第二外齿；32、通
孔；33、第一螺钉孔；
4、偏心轴；40、中空腔体；41、第一轴段；42、第二轴段；43、第
三轴段；44、第四轴段；45、输入轴段；46、滚针轴承；
5、输出法兰；50、输出端连接口；51、端盖；52、第一螺栓孔；53、
螺柱；
6、中心齿轮；
7、电机端法兰；71、第二螺栓孔；72、第二螺钉孔；
8、轴承；
9、密封圈；
101、螺栓；102、螺钉；103、第二壳体；104、软轴连接件；104a、
软轴接口。Figure Number:
1. first housing; 11. first inner tooth;
2. gear ring; 21. first outer tooth; 22. second inner tooth;
3a, first harmonic steel gear; 3b, second harmonic steel gear; 31, second external tooth; 32, through hole; 33, first screw hole;
4. eccentric shaft; 40. hollow cavity; 41. first shaft section; 42. second shaft section; 43. third shaft section; 44. fourth shaft section; 45. input shaft section; 46. needle bearing;
5. Output flange; 50. Output terminal connection port; 51. End cover; 52. First bolt hole; 53.
studs;
6. Center gear;
7. Motor end flange; 71. Second bolt hole; 72. Second screw hole;
8. Bearings;
9. Sealing ring;
101, bolt; 102, screw; 103, second housing; 104, flexible shaft connector; 104a,
Flexible shaft interface.
具体实施方式Detailed ways
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征能更易于被本领域的技术人员理解。在此需要说明的是，对于这些实施方式的说明用于帮助理解本发明，但并不构成对本发明的限定。The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.
本实施例提供一种机器人关节用的轻型减速器，该轻型减速器具体用作机器人的膝关节或髋关节。参照图1至图15所示，该轻型减速器包括第一壳体1、齿圈2、第一谐波刚齿轮3a、第二谐波刚齿轮3b、偏心轴4、输出法兰5及中心齿轮6。第一壳体1中空设置并具有一圈第一内齿11。齿圈2为薄壁弹性齿圈，其沿径向的宽度小于其外径的10％，由高韧性合金钢制成，其能够产生微小量的弹性变形；齿圈2具有第一外齿21和第二内齿22，齿圈2设置于第一壳体1内且第一外齿21和第一内齿11啮合。第一谐波刚齿轮3a和第二谐波刚齿轮3b并列设置，且第二谐波刚齿轮3b相对第一谐波刚齿轮3a偏心设置。偏心轴4用于带动第一谐波刚齿轮3a和第二谐波刚齿轮3b转动。中心齿轮6用于输入动力而带动偏心轴4转动。The present embodiment provides a light reducer for robot joints, which is specifically used as a knee joint or hip joint of the robot. Referring to Figures 1 to 15, the light reducer includes a first housing 1, a gear ring 2, a first harmonic steel gear 3a, a second harmonic steel gear 3b, an eccentric shaft 4, an output flange 5 and a central gear 6. The first housing 1 is hollow and has a circle of first internal teeth 11. The gear ring 2 is a thin-walled elastic gear ring, whose radial width is less than 10% of its outer diameter, and is made of high-toughness alloy steel, which can produce a small amount of elastic deformation; the gear ring 2 has a first external tooth 21 and a second internal tooth 22, and the gear ring 2 is arranged in the first housing 1 and the first external tooth 21 is meshed with the first internal tooth 11. The first harmonic steel gear 3a and the second harmonic steel gear 3b are arranged in parallel, and the second harmonic steel gear 3b is eccentrically arranged relative to the first harmonic steel gear 3a. The eccentric shaft 4 is used to drive the first harmonic steel gear 3a and the second harmonic steel gear 3b to rotate. The central gear 6 is used to input power to drive the eccentric shaft 4 to rotate.
具体的，结合图1至图5所示，第一壳体1及齿圈2均为中空且两端开放的筒体状，二者共轴，且第一壳体1套设于齿圈2上且二者通过第一内齿11和第一外齿21相互啮合。其中，可以通过第一壳体1和机器人的其他部件固定连接，例如通过紧固件连接，以便实现轻型减速器和机器人的其他部件的紧固连接。结合图4和图7所示，偏心轴4具有第一轴段41、第二轴段42、第三轴段43、第四轴段44及输入轴段45。具体到本实施例中，输入轴段45、第四轴段44、第一轴段41、第二轴段42及第四轴段44自右至左依次设置。其中，第三轴段43、第四轴段44及输入轴段45共轴，即三者具有共同的轴心线，记为第一轴心线。第一轴段41和第二轴段42分别相对上述第一轴心线偏心设置，且第一轴段41和第二轴段42二者相对偏心设置。具体到本实施例，第一轴段41的轴心线记为第二轴心线，第二轴段42的轴心线记为第三轴心线，第一轴心线、第二轴心线及第三轴心线相互平行，第二轴心线和第三轴心线分别位于第一轴心线的相对两侧。进一步地，第一轴心线、第二轴心线及第三轴心线三者位于同一平面中，第二轴心线和第三轴心线分别位于第一轴心线的相对两侧，第二轴心线和第一轴心线具有间距d1，第三轴心线和第一轴心线具有间距d2，间距d1等于间距d2。Specifically, as shown in Figures 1 to 5, the first housing 1 and the gear ring 2 are both hollow and open at both ends. The two are coaxial, and the first housing 1 is sleeved on the gear ring 2 and the two are meshed with each other through the first internal teeth 11 and the first external teeth 21. Among them, the first housing 1 and other components of the robot can be fixedly connected, for example, by fasteners, so as to achieve a fastened connection between the light reducer and other components of the robot. As shown in Figures 4 and 7, the eccentric shaft 4 has a first shaft section 41, a second shaft section 42, a third shaft section 43, a fourth shaft section 44 and an input shaft section 45. Specifically in this embodiment, the input shaft section 45, the fourth shaft section 44, the first shaft section 41, the second shaft section 42 and the fourth shaft section 44 are arranged in sequence from right to left. Among them, the third shaft section 43, the fourth shaft section 44 and the input shaft section 45 are coaxial, that is, the three have a common axis, which is recorded as the first axis. The first shaft section 41 and the second shaft section 42 are respectively eccentrically arranged relative to the above-mentioned first axis, and the first shaft section 41 and the second shaft section 42 are relatively eccentrically arranged. Specifically in this embodiment, the axis of the first shaft section 41 is recorded as the second axis, and the axis of the second shaft section 42 is recorded as the third axis. The first axis, the second axis and the third axis are parallel to each other, and the second axis and the third axis are respectively located on opposite sides of the first axis. Further, the first axis, the second axis and the third axis are located in the same plane, and the second axis and the third axis are respectively located on opposite sides of the first axis. The second axis and the first axis have a spacing d1, and the third axis and the first axis have a spacing d2, and the spacing d1 is equal to the spacing d2.
结合图6和图7所示，第一谐波刚齿轮3a设置于第一轴段41上，第二谐波刚齿轮3b设置于第二轴段42上，输出法兰5设置于第三轴段43上，电机端法兰7设置于第四轴段44上，中心齿轮6设置于输入轴段45上。具体地，第一谐波刚齿轮3a和偏心轴4的第一轴段41之间设置轴承8，第二谐波刚齿轮3b和第二轴段42之间设置轴承8，输出法兰5和第三轴段43之间设置轴承8，电机端法兰7和第四轴段44之间设置轴承8。而中心齿轮6紧密套设在输入轴段45上，当中心齿轮6转动时，能够带动偏心轴4同步转动。中心齿轮6和输入轴段45的具体装配过程如下：对中心齿轮6加热处理后使其受热膨胀，然后套于输入轴段45上，冷却后中心齿轮6紧密套设在偏心轴4的输入轴段45上。加热处理的温度为80℃，时间为3min～5min，中心齿轮6的中孔孔径为30mm～100mm。As shown in FIG6 and FIG7, the first harmonic steel gear 3a is arranged on the first shaft section 41, the second harmonic steel gear 3b is arranged on the second shaft section 42, the output flange 5 is arranged on the third shaft section 43, the motor end flange 7 is arranged on the fourth shaft section 44, and the central gear 6 is arranged on the input shaft section 45. Specifically, a bearing 8 is arranged between the first harmonic steel gear 3a and the first shaft section 41 of the eccentric shaft 4, a bearing 8 is arranged between the second harmonic steel gear 3b and the second shaft section 42, a bearing 8 is arranged between the output flange 5 and the third shaft section 43, and a bearing 8 is arranged between the motor end flange 7 and the fourth shaft section 44. The central gear 6 is tightly sleeved on the input shaft section 45, and when the central gear 6 rotates, it can drive the eccentric shaft 4 to rotate synchronously. The specific assembly process of the central gear 6 and the input shaft section 45 is as follows: the central gear 6 is heated to expand due to heat, and then sleeved on the input shaft section 45, and after cooling, the central gear 6 is tightly sleeved on the input shaft section 45 of the eccentric shaft 4. The temperature of the heating treatment is 80° C., the time is 3 min to 5 min, and the diameter of the center hole of the central gear 6 is 30 mm to 100 mm.
结合图4至图7，第一谐波刚齿轮3a和第二谐波刚齿轮3b为两个结构及规格相同的齿轮，二者偏心设置于偏心轴4上，第一谐波刚齿轮3a和第二谐波刚齿轮3b均具有能够和齿圈2的第二内齿22相互啮合的第二外齿31。图14及图15示意性地示出了第一谐波刚齿轮3a的结构，第二谐波刚齿轮3b的结构与第一谐波刚齿轮3a相同。具体到本实施例中，第一谐波刚齿轮3a和第二谐波刚齿轮3b左右并列设置于齿圈2内，且第一谐波刚齿轮3a位于右侧，第二谐波刚齿轮3b位于左侧。第一谐波刚齿轮3a与齿圈2具有第一啮合处，第二谐波刚齿轮3b与齿圈2具有第二啮合处，第一啮合部及第二啮合部分别位于齿圈2的相对两侧，例如第一啮合处位于齿圈2上侧，第二啮合处位于齿圈2下侧。In conjunction with Figures 4 to 7, the first harmonic steel gear 3a and the second harmonic steel gear 3b are two gears with the same structure and specifications. The two gears are eccentrically arranged on the eccentric shaft 4. The first harmonic steel gear 3a and the second harmonic steel gear 3b both have second external teeth 31 that can mesh with the second internal teeth 22 of the ring gear 2. Figures 14 and 15 schematically show the structure of the first harmonic steel gear 3a, and the structure of the second harmonic steel gear 3b is the same as that of the first harmonic steel gear 3a. Specifically in this embodiment, the first harmonic steel gear 3a and the second harmonic steel gear 3b are arranged side by side in the ring gear 2, and the first harmonic steel gear 3a is located on the right side, and the second harmonic steel gear 3b is located on the left side. The first harmonic steel gear 3a has a first meshing portion with the ring gear 2, and the second harmonic steel gear 3b has a second meshing portion with the ring gear 2. The first meshing portion and the second meshing portion are respectively located on opposite sides of the ring gear 2, for example, the first meshing portion is located on the upper side of the ring gear 2, and the second meshing portion is located on the lower side of the ring gear 2.
结合图2及图8至图10所示，输出法兰5可转动地设置于第一壳体1内，输出法兰5和第一谐波刚齿轮3a及第二谐波刚齿轮3b连接。具体地，输出法兰5通过轴承8可转动地设置于偏心轴4上。进一步地，输出法兰5位于第一壳体1内，随着第一谐波刚齿轮3a及第二谐波刚齿轮3b转动，输出法兰5随之相对第一壳体1转动。As shown in FIG. 2 and FIG. 8 to FIG. 10 , the output flange 5 is rotatably disposed in the first housing 1, and the output flange 5 is connected to the first harmonic steel gear 3a and the second harmonic steel gear 3b. Specifically, the output flange 5 is rotatably disposed on the eccentric shaft 4 through a bearing 8. Further, the output flange 5 is located in the first housing 1, and as the first harmonic steel gear 3a and the second harmonic steel gear 3b rotate, the output flange 5 rotates relative to the first housing 1.
进一步地，参照图11至图13所示，该轻型减速器还包括电机端法兰7。电机端法兰7和输出法兰5相对设置且相互连接，第一谐波刚齿轮3a和第二谐波刚齿轮3b设置于电机端法兰7和输出法兰5之间。电机端法兰7可转动地设置于偏心轴4上并位于第一壳体1内。Further, referring to Figures 11 to 13, the light speed reducer further includes a motor end flange 7. The motor end flange 7 and the output flange 5 are arranged opposite to each other and connected to each other, and the first harmonic steel gear 3a and the second harmonic steel gear 3b are arranged between the motor end flange 7 and the output flange 5. The motor end flange 7 is rotatably arranged on the eccentric shaft 4 and is located in the first housing 1.
参照图4和图5所示，本实施例中，输出法兰5及电机端法兰7均大***于第一壳体1内，使得轻型减速器的结构进一步紧凑。具体地，输出法兰5通过轴承8连接于第一壳体1左侧部的内壁，电机端法兰7通过轴承8连接于第一壳体1右侧部的内壁。输出法兰5和第一壳体1之间还设置有密封圈9。该轻型减速器还包括端盖51，端盖51设置在输出法兰5和偏心轴4左端部之间的间隙中。As shown in Figures 4 and 5, in this embodiment, the output flange 5 and the motor end flange 7 are both substantially located in the first housing 1, making the structure of the light reducer more compact. Specifically, the output flange 5 is connected to the inner wall of the left side of the first housing 1 through the bearing 8, and the motor end flange 7 is connected to the inner wall of the right side of the first housing 1 through the bearing 8. A sealing ring 9 is also provided between the output flange 5 and the first housing 1. The light reducer also includes an end cover 51, which is provided in the gap between the output flange 5 and the left end of the eccentric shaft 4.
第一谐波刚齿轮3a和第二谐波刚齿轮3b具体通过多个螺栓101连接输出法兰5，从而将扭矩输出。参照图8至图10所示，输出法兰5上开设有多个第一螺栓孔52；参照图11至图13所示，电机端法兰7上开设有多个第二螺栓孔71；参照图14和图15所示，第一谐波刚齿轮3a和第二谐波刚齿轮3b分别具有通孔32。螺栓101依次穿过输出法兰5的第一螺栓孔52、第二谐波刚齿轮3b和第一谐波刚齿轮3a的通孔32及电机端法兰7的第二螺栓孔71，从而将四者连接。进一步地，通孔32的孔径大于螺栓101的外径，从而允许第一谐波刚齿轮3a及第二谐波刚齿轮3b在偏心轴4的带动下转动。输出法兰5的第一螺栓孔52、电机端法兰7的第二螺栓孔71的孔径和螺栓101的外径相互配合，从而可以紧密配合。当然，也可以将螺栓101替换为销钉。The first harmonic steel gear 3a and the second harmonic steel gear 3b are specifically connected to the output flange 5 by a plurality of bolts 101, so as to output the torque. Referring to FIGS. 8 to 10, a plurality of first bolt holes 52 are provided on the output flange 5; referring to FIGS. 11 to 13, a plurality of second bolt holes 71 are provided on the motor end flange 7; referring to FIGS. 14 and 15, the first harmonic steel gear 3a and the second harmonic steel gear 3b respectively have through holes 32. The bolt 101 passes through the first bolt hole 52 of the output flange 5, the through holes 32 of the second harmonic steel gear 3b and the first harmonic steel gear 3a, and the second bolt hole 71 of the motor end flange 7 in sequence, so as to connect the four. Furthermore, the aperture of the through hole 32 is larger than the outer diameter of the bolt 101, so as to allow the first harmonic steel gear 3a and the second harmonic steel gear 3b to rotate under the drive of the eccentric shaft 4. The apertures of the first bolt hole 52 of the output flange 5, the second bolt hole 71 of the motor end flange 7, and the outer diameter of the bolt 101 match each other, so that they can fit tightly. Of course, the bolt 101 may also be replaced by a pin.
输出法兰5和电机端法兰7固定连接，而对第一谐波刚齿轮3a和第二谐波刚齿轮3b进行限位，防止其产生沿偏心轴4的轴向的运动。具体地，输出法兰5和电机端法兰7通过螺钉102连接。参照图8至图10所示，输出法兰5具有多个向右延伸的螺柱53；参照图11至图13所示，电机端法兰7上开设有多个第二螺钉孔72；参照图14和图15所示，第一谐波刚齿轮3a和第二谐波刚齿轮3b上分别开设有第一螺钉孔33。螺钉102依次穿过电机端法兰7的第二螺钉孔72、第一谐波刚齿轮3a和第二谐波刚齿轮3b的第一螺钉孔33后***输出法兰5的螺柱53内，以将四者连接。其中，第一谐波刚齿轮3a和第二谐波刚齿轮3b的第一螺钉孔33的孔径大于螺钉102，以允许第一谐波刚齿轮3a及第二谐波刚齿轮3b在偏心轴4的带动下转动。The output flange 5 is fixedly connected to the motor end flange 7, and the first harmonic steel gear 3a and the second harmonic steel gear 3b are limited to prevent them from moving along the axial direction of the eccentric shaft 4. Specifically, the output flange 5 and the motor end flange 7 are connected by screws 102. Referring to Figures 8 to 10, the output flange 5 has a plurality of studs 53 extending to the right; referring to Figures 11 to 13, a plurality of second screw holes 72 are provided on the motor end flange 7; referring to Figures 14 and 15, the first harmonic steel gear 3a and the second harmonic steel gear 3b are respectively provided with first screw holes 33. The screws 102 are inserted into the studs 53 of the output flange 5 after passing through the second screw holes 72 of the motor end flange 7, the first screw holes 33 of the first harmonic steel gear 3a and the second harmonic steel gear 3b in sequence, so as to connect the four. The diameter of the first screw hole 33 of the first harmonic gear 3 a and the second harmonic gear 3 b is larger than that of the screw 102 , so as to allow the first harmonic gear 3 a and the second harmonic gear 3 b to rotate driven by the eccentric shaft 4 .
齿圈2初始时整体呈圆环形；在工作时，中心齿轮6旋转带动偏心轴4转动，由于偏心轴4上通过第一轴段41、第二轴段42分别设置第一谐波刚齿轮3a、第二谐波刚齿轮3b，当偏心轴4转动时会带动第一谐波刚齿轮3a和第二谐波刚齿轮3b进行转动，齿圈2的上侧部和下侧部分别被向外挤压，而在上下方向上略微向外变形，左右两侧部则向内变形，从而啮合的齿数对较多，具有较大的啮合包容角；同时由于少齿差传动，第一谐波刚齿轮3a和第二谐波刚齿轮3b在偏心轴4的驱动下以及齿圈2的作用下减速旋转，通过螺栓101将扭矩传递给输出法兰5，带动输出法兰5减速转动。参照图2、图4及图9至图10，输出法兰5的左端面上设置有输出端连接口50，输出端连接口50具体为左右延伸盲孔。在装配到工业机器人中后，轻型减速器向左侧的驱动对象输出扭矩；在装配时，第一壳体1和驱动对象的支撑部件(例如壳体)通过紧固件装配后，驱动对象的右端部自动被压入到输出法兰5的输出端连接口50中，即可将电机输入的动力减速后传递给驱动对象。The gear ring 2 is initially in the shape of a circular ring; during operation, the central gear 6 rotates to drive the eccentric shaft 4 to rotate. Since the first harmonic steel gear 3a and the second harmonic steel gear 3b are respectively arranged on the eccentric shaft 4 through the first shaft section 41 and the second shaft section 42, when the eccentric shaft 4 rotates, the first harmonic steel gear 3a and the second harmonic steel gear 3b are driven to rotate, and the upper side and the lower side of the gear ring 2 are respectively squeezed outward, and slightly deformed outward in the up and down directions, and the left and right sides are deformed inward, so that there are more pairs of meshing teeth and a larger meshing inclusive angle; at the same time, due to the transmission with small tooth difference, the first harmonic steel gear 3a and the second harmonic steel gear 3b rotate at a reduced speed under the drive of the eccentric shaft 4 and the action of the gear ring 2, and the torque is transmitted to the output flange 5 through the bolt 101, driving the output flange 5 to rotate at a reduced speed. Referring to Figures 2, 4 and 9 to 10, an output end connection port 50 is arranged on the left end face of the output flange 5, and the output end connection port 50 is specifically a left and right extending blind hole. After being assembled into the industrial robot, the light reducer outputs torque to the driven object on the left side; during assembly, after the first shell 1 and the supporting component of the driven object (such as the shell) are assembled through fasteners, the right end of the driven object is automatically pressed into the output terminal connection port 50 of the output flange 5, so that the power input by the motor can be decelerated and transmitted to the driven object.
本实施例中轻型减速器中第一谐波刚齿轮3a和第二谐波刚齿轮3b分别啮合在齿圈2上轴线两侧的位置，使轻型减速器具有较高的精度和稳定性，承载能力强；同时产生多点共同啮合来传递转矩，使转矩传递非常平稳。同时，在啮合过程中，齿圈2的第一外齿21与第一壳体1的第一内齿11的啮合会使得齿圈2的柔性变形是受控的，而且在这种受控的变形状态下，齿圈2的第二内齿22与第一谐波刚齿轮3a、第二谐波刚齿轮3b具有较大的啮合包容角，达到高扭转刚度的目的。通过调整中心齿轮6的齿数对可实现同一外包络尺寸下的多种速比。因此，本实施例中轻型减速器化具有高精度、高扭转刚度的特点且能够适用于多种速比的工况，具有较大的设计自由度。In the light reducer of this embodiment, the first harmonic steel gear 3a and the second harmonic steel gear 3b are respectively meshed at the positions on both sides of the axis of the ring gear 2, so that the light reducer has high precision and stability and strong load-bearing capacity; at the same time, multiple points of common meshing are generated to transmit torque, so that the torque transmission is very smooth. At the same time, during the meshing process, the meshing of the first external teeth 21 of the ring gear 2 and the first internal teeth 11 of the first housing 1 will make the flexible deformation of the ring gear 2 controlled, and in this controlled deformation state, the second internal teeth 22 of the ring gear 2 have a large meshing angle with the first harmonic steel gear 3a and the second harmonic steel gear 3b, so as to achieve the purpose of high torsional stiffness. By adjusting the number of teeth of the central gear 6, multiple speed ratios under the same outer envelope size can be achieved. Therefore, the light reducer in this embodiment has the characteristics of high precision and high torsional stiffness and can be applied to working conditions of multiple speed ratios, with a large degree of design freedom.
需要说明的是，第一谐波刚齿轮3a、第二谐波刚齿轮3b在齿圈2上的位置交错，二者对齿圈2施加的向外的挤压力是不对称的。虽然齿圈2能够发生形变，但是其自身刚度也是足够大的，除了发生径向变形外，其他维度不会发生显著变形，变形中仍能保持齿形构形，对啮合状态的影响仅限于啮合侧(齿圈2与第一谐波刚齿轮3a或第二谐波刚齿轮3b的啮合位置)的齿面应力大，自由侧(啮合侧的左侧或右侧)的齿面应力小。并且齿圈2的第二内齿22、第一外齿21起到了类似加强筋的作用，保证齿圈2厚度，基本可以保证齿圈2稳定发生变形。此外，齿圈2受力不均匀会导致存在一个扭矩，使得齿圈2存在一定的偏转趋势，在合理的设计中，可以控制偏心量、齿形，控制齿圈2内外齿面空载时的啮合状态，使得齿圈2和第一谐波刚齿轮3a、第二谐波刚齿轮3b、第一壳体1之间存在足够的摩擦力克服偏转扭矩。同时齿圈2两侧可以设计限位机构防止齿圈2偏转脱出(本实施例中齿圈2两侧的轴承8可以起到限位的作用)，进而可以保证轻型减速器稳定运转。It should be noted that the positions of the first harmonic steel gear 3a and the second harmonic steel gear 3b on the gear ring 2 are staggered, and the outward extrusion force applied by the two on the gear ring 2 is asymmetric. Although the gear ring 2 can be deformed, its own rigidity is large enough. Except for radial deformation, other dimensions will not be significantly deformed. The tooth shape can still be maintained during deformation. The impact on the meshing state is limited to the meshing side (the meshing position of the gear ring 2 and the first harmonic steel gear 3a or the second harmonic steel gear 3b) where the tooth surface stress is large and the free side (the left or right side of the meshing side) where the tooth surface stress is small. In addition, the second inner teeth 22 and the first outer teeth 21 of the gear ring 2 play a role similar to that of reinforcing ribs, ensuring the thickness of the gear ring 2, which can basically ensure that the gear ring 2 is stably deformed. In addition, the uneven force on the ring gear 2 will lead to a torque, which makes the ring gear 2 have a certain deflection tendency. In a reasonable design, the eccentricity and tooth shape can be controlled, and the meshing state of the inner and outer tooth surfaces of the ring gear 2 when unloaded can be controlled, so that there is enough friction between the ring gear 2 and the first harmonic steel gear 3a, the second harmonic steel gear 3b, and the first housing 1 to overcome the deflection torque. At the same time, a limiting mechanism can be designed on both sides of the ring gear 2 to prevent the ring gear 2 from deflecting and escaping (the bearings 8 on both sides of the ring gear 2 in this embodiment can play a limiting role), thereby ensuring the stable operation of the light reducer.
参照图5所示，该轻型减速器还包括软轴连接件104，软轴连接件104用于通过软轴和电机的输出轴连接。软轴连接件104和中心齿轮6啮合，软轴连接件104具有可供软轴的端部***的软轴接口104a。软轴连接件104与中心齿轮6的啮合线较长，可以优化软轴连接件104的啮合状态，减小二者之间的传动噪声。进一步地，该轻型减速器还包括第二壳体103，第二壳体103和第一壳体1固定连接(例如通过螺栓紧固连接)，偏心轴4的输入轴段45穿过第二壳体103且二者之间设置有轴承8和密封圈9，软轴连接件104可转动地设置于所述第二壳体103上。结合图8所示，软轴连接件104整体沿左右方向延伸，并可转动地穿设于第二壳体103内，软轴连接件104的转动轴心线沿左右方向延伸并和输入轴段45的第一轴心线平行且不重合，软轴连接件104整***于输入轴段45的外侧，如图5所示的上侧。软轴连接件104的左端部具有外齿，该外齿和中心齿轮6的外齿相互啮合；软轴接口104a则位于软轴连接件104的右端部。具体到本实施例中，软轴接口104a具体为接口槽，接口槽为非圆形(例如方形)，从而软轴能够带动软轴连接件104转动。接口槽的右端开放以供软轴***，左端部的呈截面积逐渐减小的锥形。软轴具体为可弹性变形的柔性线缆，电机可以灵活地安装在机器人的其他部分(空间较大的部位)，柔性线缆能够适应部件的设置而相应弯折变形，从而具有较大的电机安装自由度。同时相比于选择刚性轴传输动力的方式，本实施例中采用软轴输入动力的方式还能很好的缓和连续振动和偶发性撞击所带来的冲击，改善整体结构的抗冲击性能。软轴连接件104和第二壳体103之间设置轴承8和密封圈9。As shown in Figure 5, the light reducer also includes a flexible shaft connector 104, which is used to connect the output shaft of the motor through a flexible shaft. The flexible shaft connector 104 is meshed with the central gear 6, and the flexible shaft connector 104 has a flexible shaft interface 104a for inserting the end of the flexible shaft. The meshing line between the flexible shaft connector 104 and the central gear 6 is long, which can optimize the meshing state of the flexible shaft connector 104 and reduce the transmission noise between the two. Further, the light reducer also includes a second housing 103, the second housing 103 and the first housing 1 are fixedly connected (for example, connected by bolts), the input shaft section 45 of the eccentric shaft 4 passes through the second housing 103 and a bearing 8 and a sealing ring 9 are arranged between the two, and the flexible shaft connector 104 is rotatably arranged on the second housing 103. As shown in FIG8 , the flexible shaft connector 104 extends in the left-right direction as a whole and is rotatably arranged in the second housing 103. The rotation axis of the flexible shaft connector 104 extends in the left-right direction and is parallel to and does not overlap with the first axis of the input shaft segment 45. The flexible shaft connector 104 is located on the outside of the input shaft segment 45 as a whole, as shown in the upper side of FIG5 . The left end of the flexible shaft connector 104 has external teeth, which are meshed with the external teeth of the central gear 6; the flexible shaft interface 104a is located at the right end of the flexible shaft connector 104. Specifically in this embodiment, the flexible shaft interface 104a is specifically an interface groove, which is non-circular (for example, square), so that the flexible shaft can drive the flexible shaft connector 104 to rotate. The right end of the interface groove is open for the flexible shaft to be inserted, and the left end is a cone with a gradually decreasing cross-sectional area. The flexible shaft is specifically an elastically deformable flexible cable, and the motor can be flexibly installed in other parts of the robot (parts with larger space). The flexible cable can bend and deform accordingly to adapt to the setting of the components, thereby having a larger degree of freedom for motor installation. At the same time, compared with the method of selecting a rigid shaft to transmit power, the method of using a flexible shaft to input power in this embodiment can also effectively alleviate the impact caused by continuous vibration and occasional collision, and improve the impact resistance of the overall structure. A bearing 8 and a sealing ring 9 are arranged between the flexible shaft connector 104 and the second housing 103.
由于本实施例中偏心轴4上开设有中空腔体40，中空腔体40沿轴向贯通偏心轴4而具有开放的两端，该中空腔体40可以用于布线或者供其他构件穿过(比如供软轴穿过)，同时软轴连接件104与偏心轴4非同轴设置，软轴连接件104也就不会对穿过中空腔体40的线缆或构件造成阻碍，利于使整个轻型减速器结构紧凑，使整个轻型减速器轻量化；从而，本实施例中的轻型减速器更适用于结构高度集成的机器人领域，如四足机器人或协作机器人(桌面小型机械手臂)中。Since a hollow cavity 40 is provided on the eccentric shaft 4 in the present embodiment, the hollow cavity 40 axially penetrates the eccentric shaft 4 and has open two ends. The hollow cavity 40 can be used for wiring or for other components to pass through (such as for a flexible shaft to pass through). At the same time, the flexible shaft connector 104 is non-coaxially arranged with the eccentric shaft 4, and the flexible shaft connector 104 will not cause obstruction to the cables or components passing through the hollow cavity 40, which is conducive to making the entire light reducer structure compact and lightweight; therefore, the light reducer in the present embodiment is more suitable for the field of robots with highly integrated structures, such as quadruped robots or collaborative robots (small desktop robotic arms).
更进一步的，中空腔体40两端的内壁上均设置滚针轴承46，可将穿过中空腔体40的部件或线缆固定在滚针轴承46上，从而避免对偏心轴4的转动产生干涉，也避免构件或者线缆发生磨损。Furthermore, needle bearings 46 are provided on the inner walls at both ends of the hollow cavity 40, and components or cables passing through the hollow cavity 40 can be fixed on the needle bearings 46, thereby avoiding interference with the rotation of the eccentric shaft 4 and avoiding wear of the components or cables.
本实施例的轻型减速器具有轻量化、结构紧凑的特点，且装配方便，其中第一壳体1可固定不动，而传动部件均可转动地设置在第一壳体1中，特别是装配到工业机器人中的步骤较为方便简洁，布线方便，有效减小线缆被刮擦或磨损的风险。同时，在齿轮啮合过程中，齿圈2的外齿与第一壳体1的内齿的啮合会使得齿圈2的柔性变形是受控的，而且在这种受控的变形状态下，弹性齿圈2内齿与偏心齿轮的包容角可达到80°，达到高扭转刚度的目的；通过调整中心齿轮6的齿数对可实现同一外包络尺寸下的多种速比；该轻型减速器化具有高精度、高扭转刚度的特点且能够适用于多种速比的工况，具有较大的设计自由度。The light reducer of this embodiment has the characteristics of light weight, compact structure, and easy assembly, wherein the first housing 1 can be fixed, and the transmission components can be rotatably arranged in the first housing 1, especially the steps of assembling it into the industrial robot are relatively convenient and concise, the wiring is convenient, and the risk of the cable being scratched or worn is effectively reduced. At the same time, during the gear meshing process, the meshing of the outer teeth of the ring gear 2 with the inner teeth of the first housing 1 will make the flexible deformation of the ring gear 2 controlled, and in this controlled deformation state, the inclusion angle between the inner teeth of the elastic ring gear 2 and the eccentric gear can reach 80°, achieving the purpose of high torsional stiffness; by adjusting the number of teeth of the central gear 6, multiple speed ratios under the same outer envelope size can be achieved; the light reducer has the characteristics of high precision and high torsional stiffness and can be applied to working conditions of multiple speed ratios, with a large degree of design freedom.
本实施例还公开一种人形机器人，其关节采用上述的轻型减速器。具体地，该人形机器人的肘关节或腕关节采用上述的轻型减速器。该人形机器人还包括为轻型减速器输入动力的电机，电机通过软轴和轻型减速器的软轴连接件104连接，电机设置于机器人的躯干部位。也就是说，电机可以不必设置在肘关节或腕关节上，而是设置在空间较大的躯干部位上，这利于机器人手臂部分的小型化、轻型化及紧凑性。 This embodiment also discloses a humanoid robot, whose joints adopt the above-mentioned light reducer. Specifically, the elbow joint or wrist joint of the humanoid robot adopts the above-mentioned light reducer. The humanoid robot also includes a motor for inputting power to the light reducer, the motor is connected to the soft shaft connector 104 of the light reducer through a flexible shaft, and the motor is arranged in the torso of the robot. In other words, the motor does not need to be arranged on the elbow joint or wrist joint, but can be arranged in the torso with a larger space, which is conducive to the miniaturization, lightness and compactness of the robot arm part.
如本说明书和权利要求书中所示，术语“包括”与“包含”仅提示包括已明确标识的步骤和元素，而这些步骤和元素不构成一个排它性的罗列，方法或者设备也可能包含其他的步骤或元素。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的组合。As shown in this specification and claims, the terms "comprises" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements. The term "and/or" as used herein includes any combination of one or more of the relevant listed items.
需要说明的是，如无特殊说明，当某一特征被称为“固定”、“连接”在另一个特征，它可以直接固定、连接在另一个特征上，也可以间接地固定、连接在另一个特征上。此外，本发明中所使用的上、下、左、右等描述仅仅是相对于附图中本发明各组成部分的相互位置关系来说的，可参考附图5。It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the accompanying drawings, and reference may be made to FIG5.
进一步可以理解的是，本公开中“多个”是指两个或两个以上，其它量词与之类似。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。It is further understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And/or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone.
进一步可以理解的是，术语“第一”、“第二”等用于描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开，并不表示特定的顺序或者重要程度。实际上，“第一”、“第二”等表述完全可以互换使用。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。It is further understood that the terms "first", "second", etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions "first", "second", etc. can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.
上述实施例只为说明本发明的技术构思及特点，是一种优选的实施例，其目的在于熟悉此项技术的人士能够了解本发明的内容并据以实施，并不能以此限定本发明的保护范围。凡根据本发明的原理所作的等效变换或修饰，都应涵盖在本发明的保护范围之内。 The above embodiment is only for illustrating the technical concept and features of the present invention, and is a preferred embodiment. Its purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

  1. [根据细则26改正 26.10.2023]
    一种轻型减速器，包括第一壳体和输出法兰，其特征在于，所述第一壳体上设有第一内齿；所述减速器还包括：    [Corrected 26.10.2023 in accordance with Rule 26]
    A light reducer comprises a first housing and an output flange, wherein the first housing is provided with a first internal tooth; the reducer further comprises:
    齿圈，其能够弹性变形，所述齿圈具有第一外齿和第二内齿，所述齿圈设置于所述第一壳体内且所述第一外齿和所述第一内齿啮合；A gear ring capable of elastic deformation, the gear ring having a first external tooth and a second internal tooth, the gear ring being disposed in the first housing and the first external tooth meshing with the first internal tooth;
    第一谐波刚齿轮；First harmonic steel gear;
    第二谐波刚齿轮，其与所述第一谐波刚齿轮结构及规格相同；A second harmonic steel gear, which has the same structure and specifications as the first harmonic steel gear;
    偏心轴，其用于带动所述第一谐波刚齿轮和所述第二谐波刚齿轮转动，所述偏心轴上开设有中空腔体，所述中空腔体沿轴向贯通所述偏心轴而具有开放的两端；所述偏心轴具有第一轴段、第二轴段和输入轴段，所述第一轴段、所述第二轴段以及所述输入轴段偏心设置，所述输入轴段具有第一轴心线，所述第一轴段具有第二轴心线，所述第三轴段具有第三轴心线，所述第一轴心线、所述第二轴心线及第三轴心线相互平行，所述第二轴心线和所述第三轴心线分别位于所述第一轴心线的上下两侧，且距离所述第一轴心线的距离相等；所述第一谐波刚齿轮转动设置于所述第一轴段上，所述第二谐波刚齿轮转动设置于所述第二轴段上；An eccentric shaft, which is used to drive the first harmonic steel gear and the second harmonic steel gear to rotate, and a hollow cavity is provided on the eccentric shaft, and the hollow cavity axially penetrates the eccentric shaft and has two open ends; the eccentric shaft has a first shaft section, a second shaft section and an input shaft section, the first shaft section, the second shaft section and the input shaft section are eccentrically arranged, the input shaft section has a first axis line, the first shaft section has a second axis line, and the third shaft section has a third axis line, the first axis line, the second axis line and the third axis line are parallel to each other, the second axis line and the third axis line are respectively located on the upper and lower sides of the first axis line, and are equidistant from the first axis line; the first harmonic steel gear is rotatably arranged on the first shaft section, and the second harmonic steel gear is rotatably arranged on the second shaft section;
    中心齿轮，其设置于所述输入轴段上，用于输入动力而带动所述偏心轴转动；A central gear, which is arranged on the input shaft section and is used to input power to drive the eccentric shaft to rotate;
    其中，所述第一谐波刚齿轮和所述第二谐波刚齿轮均具有能够和所述第二内齿相互啮合的第二外齿，所述第一谐波刚齿轮与所述齿圈具有第一啮合处，所述第二谐波刚齿轮与所述齿圈具有第二啮合处，所述第一啮合处和所述第二啮合处分别位于所述齿圈的上、下两侧；Wherein, the first harmonic steel gear and the second harmonic steel gear both have second external teeth that can mesh with the second internal teeth, the first harmonic steel gear and the gear ring have a first meshing point, the second harmonic steel gear and the gear ring have a second meshing point, and the first meshing point and the second meshing point are respectively located on the upper and lower sides of the gear ring;
    所述输出法兰可转动地设置于所述第一壳体内，所述输出法兰和所述第一谐波刚齿轮及所述第二谐波刚齿轮连接。The output flange is rotatably disposed in the first housing, and the output flange is connected to the first harmonic steel gear and the second harmonic steel gear.
  2. 根据权利要求1所述的轻型减速器，其特征在于，所述轻型减速器还包括软轴连接件，其用于通过软轴和电机的输出轴连接，所述软轴连接件和所述中心齿轮啮合，所述软轴连接件具有可供所述软轴的端部***的软轴接口。The light reducer according to claim 1 is characterized in that the light reducer also includes a flexible shaft connector, which is used to connect to the output shaft of the motor through a flexible shaft, the flexible shaft connector is meshed with the central gear, and the flexible shaft connector has a flexible shaft interface for inserting the end of the flexible shaft.
  3. 根据权利要求2所述的轻型减速器，其特征在于，所述轻型减速器还包括第二壳体，所述第二壳体和所述第一壳体固定连接，所述输入轴段穿过所述第二壳体且二者之间设置有轴承，所述软轴连接件可转动地设置于所述第二壳体上。The light reducer according to claim 2 is characterized in that the light reducer also includes a second shell, the second shell is fixedly connected to the first shell, the input shaft section passes through the second shell and a bearing is arranged between the two, and the flexible shaft connecting piece is rotatably arranged on the second shell.
  4. 根据权利要求3所述的轻型减速器，其特征在于，所述软轴连接件***所述第二壳体中，所述软轴连接件和所述第二壳体之间设置有轴承，所述软轴接口设置于所述软轴连接件的端部并自所述第二壳体中露出。The light reducer according to claim 3 is characterized in that the flexible shaft connector is inserted into the second shell, a bearing is arranged between the flexible shaft connector and the second shell, and the flexible shaft interface is arranged at the end of the flexible shaft connector and exposed from the second shell.
  5. 根据权利要求2至4任一项所述的轻型减速器，其特征在于，所述软轴连接件的转动轴心线和所述输入轴段的轴心线平行且不重合，所述软轴连接件位于所述输入轴段的外侧。The light reducer according to any one of claims 2 to 4 is characterized in that the rotation axis centerline of the flexible shaft connector and the axis centerline of the input shaft segment are parallel and do not overlap, and the flexible shaft connector is located on the outside of the input shaft segment.
  6. 根据权利要求1所述的轻型减速器，其特征在于，所述中心齿轮紧密套设在所述输入轴段上，对所述中心齿轮加热处理后套于所述输入轴段上。The light-duty reducer according to claim 1 is characterized in that the central gear is tightly sleeved on the input shaft segment, and the central gear is sleeved on the input shaft segment after being heated.
  7. 根据权利要求1所述的轻型减速器，其特征在于，所述轻型减速器还包括至少两个滚针轴承，两个所述滚针轴承间隔地设置于所述中空腔体的内壁上。The light reducer according to claim 1 is characterized in that the light reducer also includes at least two needle roller bearings, and the two needle roller bearings are arranged on the inner wall of the hollow cavity at intervals.
  8. 根据权利要求1所述的轻型减速器，其特征在于，所述偏心轴还具有第三轴段，所述输出法兰套设于所述第三轴段上且二者之间设置有轴承；所述输出法兰和所述第一壳体之间设置有轴承；和/或，所述轻型减速器还包括电机端法兰，所述电机端法兰和所述输出法兰相对设置且相互连接，所述第一谐波刚齿轮和所述第二谐波刚齿轮设置于所述电机端法兰和所述输出法兰之间，所述电机端法兰可转动地设置于所述第一壳体中且二者之间设置有轴承，所述偏心轴还具有第四轴段，所述电机端法兰套设于所述第四轴段上且二者之间设置有轴承。The light reducer according to claim 1 is characterized in that the eccentric shaft also has a third shaft section, the output flange is sleeved on the third shaft section and a bearing is arranged between the two; a bearing is arranged between the output flange and the first housing; and/or the light reducer also includes a motor end flange, the motor end flange and the output flange are arranged opposite to each other and connected to each other, the first harmonic steel gear and the second harmonic steel gear are arranged between the motor end flange and the output flange, the motor end flange is rotatably arranged in the first housing and a bearing is arranged between the two, and the eccentric shaft also has a fourth shaft section, the motor end flange is sleeved on the fourth shaft section and a bearing is arranged between the two.
  9. 根据权利要求8所述的轻型减速器，其特征在于，所述第一谐波刚齿轮和所述第二谐波刚齿轮分别具有通孔，所述输出法兰和所述电机端法兰通过螺栓连接，且所述螺栓穿过所述第一谐波刚齿轮和所述第二谐波刚齿轮的所述通孔，且所述通孔的孔径大于所述螺栓的外径。The light reducer according to claim 8 is characterized in that the first harmonic steel gear and the second harmonic steel gear respectively have through holes, the output flange and the motor end flange are connected by bolts, and the bolts pass through the through holes of the first harmonic steel gear and the second harmonic steel gear, and the aperture of the through hole is larger than the outer diameter of the bolt.
  10. 一种人形机器人，包括肘关节或腕关节，其特征在于，所述肘关节或腕关节采用如权利要求1至9任一项所述的轻型减速器；所述人形机器人还包括电机，所述电机通过软轴和所述轻型减速器的软轴连接件连接，所述电机设置于所述机器人的躯干部位。A humanoid robot, including an elbow joint or a wrist joint, characterized in that the elbow joint or the wrist joint adopts the light reducer as described in any one of claims 1 to 9; the humanoid robot also includes a motor, which is connected to the soft shaft connecting part of the light reducer through a soft shaft, and the motor is arranged in the torso of the robot.
PCT/CN2023/117981 2022-12-15 2023-09-11 Lightweight speed reducer and humanoid robot WO2024124996A1 (en)

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CN202211614617.3A CN115929869A (en) 2022-12-15 2022-12-15 Light-duty reduction gear and anthropomorphic robot
CN202211614617.3 2022-12-15
CN202310813912.X 2023-07-05
CN202310813912.XA CN116717575A (en) 2022-12-15 2023-07-05 Light speed reducer and humanoid robot

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CN115929869A (en) * 2022-12-15 2023-04-07 柔昊精密科技(苏州)有限公司 Light-duty reduction gear and anthropomorphic robot

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CN115929869A (en) * 2022-12-15 2023-04-07 柔昊精密科技(苏州)有限公司 Light-duty reduction gear and anthropomorphic robot

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CN101334093A (en) * 2007-06-26 2008-12-31 镱晴精密齿轮厂股份有限公司 Retarding mechanism
JP2017214947A (en) * 2016-05-30 2017-12-07 日本電産シンポ株式会社 Gear reducer
CN106763526A (en) * 2016-12-07 2017-05-31 长兴柔昊精密科技有限公司 Robot precision joint speed reducer
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CN116717575A (en) * 2022-12-15 2023-09-08 柔昊精密科技(苏州)有限公司 Light speed reducer and humanoid robot

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