Harmonic drive with compact structure made by plastic material

A motorized harmonic drive comprising:

• an outer shell;
• a circular spline, rigid, internally toothed;
• a flex spline, flexible and elastically deformable, in the form of a belt, externally toothed, meshed and configured to cooperate with said circular spline to transmit motion in the motorized harmonic drive;
• a wave generator configured to rotate around a longitudinal axis of the motorized harmonic drive;
• and
• an electric motor, for driving rotation of said wave generator around the longitudinal axis of the motorized harmonic drive,
• wherein the circular spline, the flex spline, and the wave generator are housed in the outer shell;
• wherein the wave generator is configured to engage directly, in diametrically opposite areas of the wave generator, an internal surface of the flex spline to elastically deform the flex spline and press an external toothing of the flex spline against an internal toothing of the circular spline, when the wave generator rotates around the longitudinal axis of the motorized harmonic drive;
• wherein said circular spline is a double circular spline and comprises a first circular spline fixed to the outer shell and a second circular spline configured to be connected to an external entity, and each of said first circular spline and said second circular spline having a respective internal toothing;
• wherein said second circular spline is configured to rotate around said longitudinal axis at a reduced angular speed with respect to the rotation, controlled by said electric motor, of said wave generator;
• wherein the internal toothing of the first circular spline, fixed to the outer shell, has a number of teeth equal to that of the external toothing of the flex spline, and the internal toothing of the second circular spline, configured to be connected to the external entity, has a number of teeth that is two greater than the number of teeth of the internal toothing of the first circular spline;
• wherein the external toothing of the flex spline is meshed half with the internal toothing of the first circular spline and half with the internal toothing of the second circular spline;
• wherein the wave generator comprises at least a first rotating bearing and at least a second rotating bearing arranged in diametrically opposite areas of the wave generator, the first rotating and second rotating bearings, when the wave generator rotates around the longitudinal axis of the motorized harmonic drive, engage an internal surface of the flex spline to elastically deform the flex spline and press a first half of the external toothing of the flex spline against the internal toothing of the first circular spline and press a second half of the external toothing of the flex spline against the internal toothing of the second circular spline;
• whereby, in the operation of the motorized harmonic drive, when the wave generator rotates around said longitudinal axis, an angular phase shift between the first and the second circular splines of the circular spline, due to the difference between the number of the teeth of the two internal toothings of the first circular spline and of the second circular spline, causes an elastic deformation of the flex spline, engaging with the first circular spline under the pressure exerted by the wave generator on the internal surface of the flex spline, and forces the second circular spline to align with the first circular spline in at least two meshing areas, diametrically opposite each other, between the flex spline and the second circular spline;
• wherein the wave generator has a first double row of rotating bearings and a second double row of rotating bearings, arranged in diametrically opposite areas of the wave generator, including respectively said at least one first rotating bearing and said at least one second rotating bearing;
• wherein the first double row and the second double row of rotating bearings engage the internal surface of the flex spline to elastically deform the flex spline and press the first half of the external toothing of the flex spline against the internal toothing of the first circular spline and the second half of the external toothing of the flex spline against the internal toothing of the second circular spline;
• wherein the second circular spline has a cylindrical body which extends axially in a cylindrical cavity of the wave generator and the wave generator is rotatably mounted on said cylindrical body of the second circular spline with interposition of at least two ball bearings arranged at a first end and a second end of the cylindrical body;
• wherein the flex spline is housed in an annular space formed by the first circular spline, the second circular spline, and the wave generator;
• and
• wherein said electric motor has a stator, fixed to said outer shell, and a rotor, fixed to the wave generator, to drive a rotation of said electric motor around the longitudinal axis of the motorized harmonic drive.