![\"\u53cc\u4f20\u52a8\u6bd4\u8bbe\u8ba1_\u673a\u5668\u4eba\u7528\u8c10\u6ce2\u51cf\u901f\u5668\u96f6\u4ef6\u7cbe\u5bc6\u52a0\u5de5_\u8c10\u6ce2\u51cf\u901f\u5668\u521a\u8f6e\u52a0\u5de5\"](\"\/wp-content\/uploads\/2026\/08\/1786274487356_0.jpg\")
<\/p>\nTechnical Brief:<\/p>\n
This invention addresses the shortcomings of existing harmonic reducers, namely their fixed transmission ratio, which fails to meet the requirements of intelligent robots. It proposes, first, machining two rows of teeth with different numbers of teeth on the inner circumference of the rigid ring; second, employing a stepped structure design; and third, incorporating an annular groove design, thereby enabling the switching between two transmission ratios. During machining, extra tooth width is allowed for and V-shaped grooves are incorporated; this facilitates the removal of swarf whilst simultaneously enhancing lubrication, thereby ensuring the smooth installation and meshing of the flexible ring, thus meeting the robot\u2019s need for flexible, multi-ratio transmission.<\/p>\n
Keywords: machining of the rigid ring in harmonic reducers, dual-ratio design, annular groove structure<\/p>\n
With regard to robotics, specifically, the present invention relates to a method for machining the rigid wheel in a high-precision harmonic reducer for robots. This is the subject matter of the present invention.<\/p>\n
Background technology:<\/p>\n
Existing industrial robots are primarily categorised into two main types: Cartesian robots and articulated robots. Cartesian robots are mainly composed of linear motion units, drive motors, control systems and end-effectors. These robots can be conveniently and rapidly configured into different dimensional configurations to suit various applications. They are available in a wide range of forms, including wall-mounted, cantilevered, gantry-type and even inverted Cartesian robots, each offering various travel ranges and load-bearing capacities. Articulated robots primarily consist of rotational motion units and drive motors, as well as a control system and end-effector. Unlike Cartesian robots, articulated robots cannot be rapidly configured into different dimensions. For different applications, one must select articulated robots with fixed dimensions.<\/p>\n
Most articulated robots utilise harmonic reducers for their speed reduction mechanisms. This innovative type of mechanical transmission relies on the controllable elastic deformation of flexible gears to transmit motion and force. The basic components of this product comprise an elliptical wave generator, a thin-walled cylindrical component known as the flexible ring, and a component with high rigidity known as the rigid ring. When the wave generator begins to rotate, it forces the flexible ring to undergo elastic deformation, causing the teeth of the flexible ring to interact with those of the rigid ring, thereby achieving the purpose of power transmission. The flexible wheel in the gearboxes of existing intelligent industrial robots comprises only a single set of gears and meshes exclusively with the corresponding rigid wheel. During the transmission process, the transmission ratio of such a gearbox remains fixed. This makes it difficult to meet the transmission ratio requirements of intelligent robots, which presents certain challenges.<\/p>\n
Technology Enabling Elements:<\/p>\n
In response to the technical issues outlined above, the present invention provides a method for machining the fixed wheel of a high-precision harmonic reducer for robots, capable of achieving two different transmission ratios.<\/p>\n
The following technical solution is employed by the present invention: a method for machining the fixed wheel of a high-precision harmonic reducer for a robot; this method comprises the following steps: <\/p>\n
<\/p>\n
(1) Determine the tooth width and the root circle diameter for each of the two rows of teeth;<\/p>\n
(2) On one side of the inner circumference of the gear blank, a turning operation is carried out in accordance with the root circle diameter of the first row of teeth, thereby forming the first cylindrical surface; on this cylindrical surface, an axial length equal to the tooth width of the first row of teeth is left unmachined.<\/p>\n
(3) On the opposite side of the inner circumference of the Yu Gang blank, turn the surface to form a second cylindrical surface, in accordance with the root circle diameter of the second row of teeth, leaving a space on this cylindrical surface corresponding to the axial length of the tooth width of the second row of teeth.<\/p>\n
(4) Machine an annular groove at the junction of the first cylindrical surface and the second cylindrical surface;<\/p>\n
In the preferred embodiment, when machining the teeth, the feed is performed from the side furthest from the annular groove towards the side closest to it.<\/p>\n
Preferably, the first cylindrical surface and the second cylindrical surface are stepped.<\/p>\n
As a matter of preference, the diameter of the pitch circle of the row of teeth situated on the higher cylindrical surface should be smaller than that of the other row of teeth.<\/p>\n
Preferably, the two rows of teeth have an unequal number of teeth.<\/p>\n
Preferably, the steps between the two cylindrical surfaces are connected by an inclined surface.<\/p>\n
Preferably, the cross-section of the annular groove is V-shaped.<\/p>\n
![\"\u8c10\u6ce2\u51cf\u901f\u5668\u521a\u8f6e\u52a0\u5de5_\u673a\u5668\u4eba\u7528\u8c10\u6ce2\u51cf\u901f\u5668\u96f6\u4ef6\u7cbe\u5bc6\u52a0\u5de5_\u53cc\u4f20\u52a8\u6bd4\u8bbe\u8ba1\"](\"\/wp-content\/uploads\/2026\/08\/1786274487356_1.jpg\")
<\/p>\n
As the preferred option, a V-shaped annular groove, where the inclined surface on one side is defined as the said inclined surface, and the inclined surface on the other side extends from the base of the annular groove to the lower cylindrical surface.<\/p>\n
It can be seen from the technical solutions mentioned above that the present invention is capable of machining two rows of teeth with different numbers of teeth on the inner circumference of the rigid gear; these two rows of teeth can mesh with the corresponding teeth of the flexible gear. During the transmission process, any one of the tooth profiles may be selected for power transmission according to specific requirements. This makes it feasible to achieve the objective of transmitting two different transmission ratios, thereby meeting the transmission ratio requirements of the robot.<\/p>\n
practical way of doing sth.<\/p>\n
The present invention will be described in detail below. The examples provided here are illustrative embodiments of the present invention and are used to illustrate the invention; however, they are not intended to limit the scope of the invention.<\/p>\n
A method for machining the fixed gear of a high-precision harmonic reducer for robots, comprising the following steps:<\/p>\n
Firstly, the tooth width and root circle diameter of each of the two rows of teeth must be determined separately; this is the first step. Next, on the inner circumference of the rigid gear blank, turning is carried out in accordance with the root circle diameter of the first row of teeth to form the first cylindrical surface. An axial length corresponding to the tooth width of the first row of teeth is left on this cylindrical surface. Furthermore, an opening must be provided on one side of the rigid pulley in the axial direction. This opening is used to mount the flexible pulley and also facilitates machining. By the same token, on the opposite side of the inner circumference of the rigid pulley blank, turning is carried out in accordance with the root circle diameter of the second row of teeth, thereby producing the second cylindrical surface. On this second cylindrical surface, an axial length corresponding to the tooth width of the second row of teeth is reserved. Subsequently, machining is carried out at the junction of the first and second cylindrical surfaces to create an annular groove, the cross-section of which is V-shaped. On the one hand, during the machining of the teeth, the annular groove allows chips to flow into it, facilitating the machining process. On the other hand, when lubricating the two rows of teeth, the lubricating oil within the annular groove can trap some of the debris, thereby ensuring that the lubricating oil at the teeth remains relatively clean. Finally, in the reserved sections on the first and second cylindrical surfaces, the teeth are machined separately according to the specified tooth parameters. This enables two rows of teeth to be machined on a single rigid gear, allowing it to mesh with the corresponding flexible gear and thereby achieve the objective of transmission using two different transmission ratios.<\/p>\n
Preferably, when machining the teeth, the feed direction is from the side furthest from the annular groove towards the side closest to the annular groove, and the tooth groove of each tooth communicates with the annular groove, furthermore, the bottom of each tooth groove should be higher than, or flush with, the bottom of the annular groove; This allows chips generated during machining to flow into the annular V-groove, thereby facilitating the machining process; at the same time, when lubricating the two rows of teeth, the lubricating oil within the annular groove can trap some of the debris, thus ensuring that the lubricating oil at the teeth remains relatively clean; The annular V-groove allows swarf and debris to flow easily along the sloping groove walls to the bottom of the groove, thereby preventing swarf and debris from being ejected.<\/p>\n
In the present invention, the first cylindrical surface and the second cylindrical surface are stepped in shape; this not only facilitates machining but also ensures that the corresponding flexible ring can be smoothly fitted onto the inner ring of the rigid ring; During operation, the pitch circle diameter of the first row of teeth on the higher cylindrical surface is smaller than that of the second row of teeth; this ensures that the pitch circle diameter of one row of teeth on the flexible gear meshing with it is smaller than that of the other row of teeth; Consequently, during installation, the row of teeth on the flexible pulley with the smaller pitch circle diameter can pass through the second row of teeth on the rigid pulley\u2014which has the larger pitch circle diameter\u2014and thereby mesh with the first row of teeth on the rigid pulley, which has the smaller pitch circle diameter, ensuring smooth installation without any interference.<\/p>\n
It is preferable that the number of teeth between the two rows of teeth on the rigid pulley is not equal; similarly, the number of teeth on the flexible pulley need not be equal either. Furthermore, the ratio of the number of teeth between the two rows on the rigid pulley and the corresponding number on the flexible pulley should differ, thereby providing two distinct transmission ratios to meet the robot\u2019s transmission requirements; During the manufacturing process, the steps between the two cylindrical surfaces\u2014which appear stepped\u2014are connected by an inclined surface. This helps to minimise the scattering of swarf during machining. Specifically, the cross-section of the annular groove is V-shaped; one side of the annular groove with a V-shaped cross-section forms the inclined surface, whilst the other side extends from the base of the annular groove down to the lower cylindrical surface; this facilitates the flow of swarf and debris along the inclined groove walls into the groove base, providing a certain degree of cushioning.<\/p>\n
The technical solutions provided in the embodiments of the present invention have been described in detail above. In this document, the principles and modes of operation of the embodiments of the present invention have been explained using specific examples, The description of the above embodiments is intended solely to aid in understanding the principles of the embodiments of the present invention. Furthermore, for a person skilled in the art, there may be variations in the specific modes of implementation and scope of application based on the embodiments of the present invention. In summary, the content of this specification should not be construed as limiting the present invention.<\/p>","protected":false},"excerpt":{"rendered":"
Technical Overview: This invention addresses the issue with existing harmonic reducers, where the transmission ratio is fixed and cannot meet the requirements of intelligent robots. It proposes machining two rows of teeth with different numbers of teeth on the inner circumference of the rigid ring; through the use of a stepped structure and annular grooves, it enables switching between two transmission ratios.<\/p>","protected":false},"author":1,"featured_media":2478,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[26],"tags":[1676,1678,1679,1677,1675],"class_list":["post-2477","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-26","tag-1676","tag-1678","tag-1679","tag-1677","tag-1675"],"_links":{"self":[{"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/posts\/2477","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/comments?post=2477"}],"version-history":[{"count":0,"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/posts\/2477\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/media\/2478"}],"wp:attachment":[{"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/media?parent=2477"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/categories?post=2477"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cndlfh.com\/en\/wp-json\/wp\/v2\/tags?post=2477"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}