阅读说明：本技术 一种新型结构的谐波减速器 (Harmonic speed reducer with novel structure ) 是由 刘换新 刘尚柏 邓青云 于 2021-08-25 设计创作，主要内容包括：本发明公开了一种新型结构的谐波减速器,属于减速器的技术领域,其包括壳体、柔轮、钢轮以及波发生器,钢轮安装于壳体的一端,钢轮内侧设置有内齿,柔轮外侧设置有与内齿相啮合的外齿,还包括连接组件和负载件,连接组件包括连接法兰和入力轴,连接法兰安装于钢轮远离壳体的一侧,入力轴通过连接轴承转动安装于连接法兰,连接法兰的外侧开设有与自身内部相连通的安装孔,波发生器包括凸轮,凸轮通过柔性轴承与柔轮相连接,负载件安装于柔轮远离凸轮的一端,入力轴与凸轮固定连接。本申请具有便于工作人员对谐波减速器与电机进行安装,同时有利于保证谐波减速器安装后各部件传动时的稳定性的效果。(The invention discloses a harmonic speed reducer with a novel structure, which belongs to the technical field of speed reducers and comprises a shell, a flexible gear, a steel gear and a wave generator, wherein the steel gear is arranged at one end of the shell, inner teeth are arranged on the inner side of the steel gear, outer teeth meshed with the inner teeth are arranged on the outer side of the flexible gear, the harmonic speed reducer further comprises a connecting assembly and a load piece, the connecting assembly comprises a connecting flange and an input shaft, the connecting flange is arranged on one side, away from the shell, of the steel gear, the input shaft is rotatably arranged on the connecting flange through a connecting bearing, a mounting hole communicated with the inner side of the connecting flange is formed in the outer side of the connecting flange, the wave generator comprises a cam, the cam is connected with the flexible gear through the flexible bearing, the load piece is arranged at one end, away from the cam, of the flexible gear, and the input shaft is fixedly connected with the cam. This application has the staff of being convenient for and installs harmonic reducer ware and motor, is favorable to guaranteeing the effect of the stability when each part transmission after the harmonic reducer ware installation simultaneously.)

1. The utility model provides a harmonic speed reducer ware of novel structure, includes casing (1), flexbile gear (2), steel wheel (3) and wave generator (4), the one end in casing (1) is installed in steel wheel (3), steel wheel (3) inboard is provided with internal tooth (33), the flexbile gear (2) outside is provided with external tooth (34) with internal tooth (33) engaged with, its characterized in that: also comprises a connecting component and a load part (5), wherein the connecting component comprises a connecting flange (9) and an input shaft (10), the connecting flange (9) is arranged on one side of the steel wheel (3) far away from the shell (1), the connecting flange (9) is used for being connected with a shell (1) of the motor, the input shaft (10) is rotatably arranged on the connecting flange (9) through a connecting bearing (14), the input shaft (10) is used for being connected with an output shaft of a motor, the outer side of the connecting flange (9) is provided with a mounting hole (19) communicated with the inner part of the connecting flange, the wave generator (4) comprises a cam (401), the cam (401) is connected with the flexible gear (2) through a flexible bearing (31), the loading piece (5) is arranged at one end, far away from the cam (401), of the flexible gear (2), and the input shaft (10) is fixedly connected with the cam (401).

2. The harmonic reducer of claim 1, wherein: the mounting hole (19) is in clamping fit with a sealing cover (20) for opening and closing the orifice of the mounting hole (19).

3. The harmonic reducer of claim 1, wherein: the flexible gear is characterized in that one end, far away from the flexible gear (2), of the input shaft (10) is provided with a clamping hole (15), the clamping hole (15) is in plug-in fit with an output shaft of a motor, one end, far away from the flexible gear (2), of the input shaft (10) is provided with a fixing groove (16) communicated with the clamping hole (15), the fixing groove (16) extends to the side wall of the input shaft (10), a free end, close to a hole opening of the clamping hole (15), of the input shaft (10) is provided with a movable groove (17), the movable groove (17) is communicated with the clamping hole (15), a free end, close to the hole opening of the clamping hole (15), of the input shaft (10) is provided with a fixing bolt (18) corresponding to the mounting hole (19), and when the fixing bolt (18) rotates, two groove walls of the fixing groove (16) move towards directions close to or far away from each other.

4. The harmonic reducer of a new construction according to claim 1 or 3, characterized in that: the outer peripheral surface of the input shaft (10) is convexly provided with a clamping part (22), the outer peripheral surface of the input shaft (10) is matched with a first clamp spring (24) in a clamping mode, the inner ring of the connecting bearing (14) is located between the clamping part (22) and the first clamp spring (24), and a first oil seal (28) is arranged between the clamping part (22) and the connecting flange (9).

5. The harmonic reducer of claim 4, wherein: the inner peripheral surface of the connecting flange (9) is convexly provided with a limiting part (25) corresponding to the clamping part (22), the inner peripheral surface of the connecting flange (9) is in clamping fit with a second clamping spring (27) corresponding to the first clamping spring (24), and the outer ring of the connecting bearing (14) is located between the limiting part (25) and the second clamping spring (27).

6. The harmonic reducer of claim 1, wherein: the input shaft (10) is connected with the cam (401) through a key (29), one end, far away from the connecting flange (9), of the input shaft (10) is fixedly connected with a limiting gasket (30) through a bolt, and one side, facing the input shaft (10), of the limiting gasket (30) abuts against the cam (401).

7. The harmonic reducer of claim 1 or 6, wherein: wave generator (4) still include screens board (402) through the bolt fastening in cam (401), cam (401) are offered towards one side of screens board (402) and are extended to storage tank (32) of cam (401) outer peripheral face, flexible bearing (31) are located storage tank (32), screens board (402) are contradicted in flexible bearing (31) towards one side of cam (401).

8. The harmonic reducer of claim 1, wherein: the utility model discloses a cross roller bearing, including bearing, loading piece (5), entry axle (10) are kept away from in flexbile gear (2), and the one end that entry axle (10) was kept away from in flexbile gear (2) is provided with bolster (38), flexbile gear (2) and bolster (38) are fixed in cross roller bearing's inner circle through the bolt, cross roller bearing's outer lane is fixed in casing (1) through the bolt, be provided with second oil blanket (37) between cross roller bearing's inner circle and the outer lane, second oil blanket (37) are located one side that cross roller bearing kept away from flexbile gear (2).

9. The harmonic reducer of claim 8, wherein: and a sealing rubber ring (35) is arranged between the shell (1) and the outer ring of the crossed roller bearing.

10. The harmonic reducer of claim 1, wherein: the outer side of the shell (1) is integrally provided with a flange connecting part (6).

Technical Field

The invention relates to the field of speed reducers, in particular to a harmonic speed reducer with a novel structure.

Background

The harmonic reducer is a device which realizes motion and power transmission by means of controllable elastic deformation of an intermediate flexible part. The harmonic reducer is mainly applied to the fields of robots, aerospace, precision instruments and the like, and compared with a common reducer, the harmonic reducer has the advantages of large transmission ratio, high transmission precision, simple structure, small size, light weight and the like.

The harmonic reducer among the correlation technique usually includes the casing, the steel wheel, wave generator and flexbile gear, the steel wheel is fixed in the casing, the steel wheel is the tube-shape and the inside internal tooth that is provided with of steel wheel, the flexbile gear rotates and connects in the casing, the flexbile gear is the tube-shape and the flexbile gear outside is provided with the external tooth with the meshing of steel wheel tooth, wave generator installs in the output shaft of motor, the flexbile gear cover is located outside the cam of wave generator, when the output shaft drive wave generator of motor rotated, the flexbile gear slowed down the rotation because of the meshing of external tooth and internal tooth, thereby drive the load that connects in the flexbile gear bottom and rotate so that the load carries out certain target task.

In view of the above-mentioned related technologies, the inventor believes that when the harmonic reducer and the motor are installed, the flange needs to be installed first, then the wave generator is installed, then the flexible gear is sleeved outside the cam of the wave generator, and then the housing and the flange are fixed, so that the operation is complicated.

Disclosure of Invention

In order to facilitate the staff to install harmonic speed reducer ware and motor, this application provides the harmonic speed reducer ware of a novel structure.

The application provides a harmonic speed reducer ware of novel structure adopts following technical scheme:

a harmonic reducer with a novel structure comprises a shell, a flexible gear, a steel gear and a wave generator, wherein the steel gear is arranged at one end of the shell, the inner side of the steel wheel is provided with inner teeth, the outer side of the flexible wheel is provided with outer teeth meshed with the inner teeth, the flexible wheel further comprises a connecting component and a load part, the connecting component comprises a connecting flange and an input shaft, the connecting flange is arranged on one side of the steel wheel far away from the shell, the connecting flange is used for being connected with a shell of the motor, the input shaft is rotatably arranged on the connecting flange through a connecting bearing, the input shaft is used for being connected with an output shaft of the motor, the outer side of the connecting flange is provided with a mounting hole communicated with the inner part of the connecting flange, the wave generator comprises a cam, the cam is connected with the flexible gear through a flexible bearing, the load part is installed at one end, far away from the cam, of the flexible gear, and the input shaft is fixedly connected with the cam.

Through adopting above-mentioned technical scheme, install flange in the casing of motor, install the input shaft in the output shaft of motor through the mounting hole afterwards and can accomplish the installation to harmonic speed reducer ware and motor, when motor drive input shaft rotated, the cam of wave generator passed through flexible bearing and drives the flexbile gear and together rotate, the flexbile gear drives the carrier to rotate with the meshing of internal tooth because of the external tooth, the staff need not to install the part of each split in proper order when installing harmonic speed reducer ware and motor, thereby make the staff simple and convenient to the installation operation of harmonic speed reducer ware and motor, and simultaneously, the harmonic speed reducer ware integration and need not to carry out the setting of dismouting to each drive part when installing, be favorable to guaranteeing the stability of each part transmission after the harmonic speed reducer ware installation.

Optionally, the mounting hole is in clamping fit with a sealing cover for opening and closing the hole opening of the mounting hole.

Through adopting above-mentioned technical scheme, sealed being provided with of lid does benefit to the leakproofness of guaranteeing behind the flange installation for outside object is difficult to enter into the rotation of interfering the entry axle to the interior through the mounting hole, guarantees the stability when entry axle rotates, simultaneously, makes impurity such as dust be difficult for entering into to cause the pollution to the entry axle in the flange through the mounting hole.

Optionally, the one end that the flexible wheel was kept away from to the entry axle has seted up the screens hole, the cooperation of pegging graft of screens hole and the output shaft of motor, the one end that the flexible wheel was kept away from to the entry axle has seted up the fixed slot that communicates with the screens hole, the fixed slot extends to the lateral wall of entry axle, the entry axle is close to the free end in screens hole drill way and has seted up the movable groove, the movable groove communicates with the screens hole, the entry axle is close to the free end in screens hole drill way and is provided with the fixing bolt who corresponds with the mounting hole, when fixing bolt rotated, two cell walls of fixed slot are towards the direction motion that is close to each other or keep away from.

Through adopting above-mentioned technical scheme, it is downthehole to insert the output shaft of motor to the screens to when revolving to twist fixing bolt and make two cell walls of fixed slot move towards the direction that is close to each other, the drill way in screens hole together reduces, thereby can realize fixed to the centre gripping of motor output shaft, the setting up in activity groove makes the atress of entry axle can the segmentation, thereby make the entry axle difficult because of the atress inequality damages when the entry axle is fixed to the output shaft centre gripping of motor, be favorable to guaranteeing the life of entry axle.

Optionally, the outer peripheral surface of the input shaft is convexly provided with a clamping portion, the outer peripheral surface of the input shaft is matched with a first snap spring in a clamping manner, the inner ring of the connecting bearing is located between the clamping portion and the first snap spring, and a first oil seal is arranged between the clamping portion and the connecting flange.

Through adopting above-mentioned technical scheme, screens portion does benefit to the stability of guaranteeing to connect the bearing position with being provided with of first jump ring to the stable transmission of the harmonic speed reducer ware of being convenient for, the setting up of first oil blanket makes impurity such as moisture be difficult for entering into to the position of connecting the bearing, thereby is favorable to guaranteeing to connect the stability of bearing when moving.

Optionally, the inner peripheral surface of the connecting flange is convexly provided with a limiting portion corresponding to the position of the clamping portion, the inner peripheral surface of the connecting flange is in clamping fit with a second clamp spring corresponding to the first clamp spring, and the outer ring of the connecting bearing is located between the limiting portion and the second clamp spring.

Through adopting above-mentioned technical scheme, the setting of second jump ring plays the further limiting displacement to connecting the bearing, is favorable to further guaranteeing the stability of connecting the bearing place position, and simultaneously, the second jump ring still plays the further limiting displacement to the entry shaft for difficult axial displacement takes place when the entry shaft operates, thereby further guarantees the stability when the entry shaft rotates.

Optionally, the entry shaft passes through the key-type connection with the cam, the entry shaft is kept away from flange's one end and is passed through bolt fixedly connected with spacing gasket, spacing gasket contradicts in the cam towards one side of entry shaft.

Through adopting above-mentioned technical scheme, being provided with of key-type connection does benefit to the synchronous stability when guaranteeing the income power axle and cam rotation, and spacing gasket has carried on spacingly to the motion of axial direction when cam rotates to be favorable to guaranteeing the stability when cam rotates, the dismouting of bolt fastening's mode messenger spacing gasket is easy and simple to handle, is convenient for overhaul and maintain spacing gasket.

Optionally, the wave generator still includes the screens board through the bolt fastening in the cam, the storage tank that extends to the cam outer peripheral face is seted up to one side of cam towards the screens board, flexible bearing is located the storage tank, the screens board is contradicted in flexible bearing towards one side of cam.

Through adopting above-mentioned technical scheme, the further limiting displacement to flexible bearing place position is played in the cooperation of screens board and storage tank to make flexible bearing be difficult for taking place axial displacement, be favorable to guaranteeing the stability of flexible bearing when moving.

Optionally, the load piece is crossed roller bearing, the one end that the entry axle was kept away from to the flexbile gear is provided with the bolster, flexbile gear and cushion pass through the bolt fastening in crossed roller bearing's inner circle, crossed roller bearing's outer lane passes through the bolt fastening in casing, be provided with the second oil blanket between crossed roller bearing's inner circle and the outer lane, the second oil blanket is located crossed roller bearing and keeps away from one side of flexbile gear.

Through adopting above-mentioned technical scheme, the setting of bolster plays the cushioning effect when fixed to the flexbile gear to difficult impaired when making the flexbile gear fixed, cross roller bearing can bear radial, axial and overturning load simultaneously, bearing capacity is strong, the stable output of the flexbile gear pair load of being convenient for, simultaneously, the setting of second oil blanket makes impurity such as moisture be difficult for entering into to cross roller bearing's between inner circle and the outer lane, thereby be favorable to further guaranteeing cross roller bearing stability when moving.

Optionally, a sealing rubber ring is arranged between the housing and the outer ring of the crossed roller bearing.

Through adopting above-mentioned technical scheme, being provided with of sealing rubber ring does benefit to further to guarantee the leakproofness ability between casing and the cross roller bearing for outside impurity is difficult for entering into the position of cross roller bearing, thereby guarantees cross roller bearing's life.

Optionally, a flange connection portion is integrally arranged on the outer side of the housing.

Through adopting above-mentioned technical scheme, the setting of flange joint portion is convenient for make casing be connected with other parts of outside to further guarantee the stability of casing position.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when the staff installs the harmonic reducer and the motor, the staff does not need to install each detached component in sequence, so that the staff is convenient to install and operate the harmonic reducer and the motor.

2. The harmonic reducer integration and the setting of need not to carry out the dismouting to each drive disk assembly when installing are favorable to guaranteeing the stability of each part transmission after the harmonic reducer installation.

3. The movable groove enables the stress of the input shaft to be segmented, so that the input shaft is not easy to damage due to uneven stress when the input shaft is clamped and fixed on the output shaft of the motor, and the service life of the input shaft is guaranteed.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present application.

Fig. 2 is a schematic cross-sectional view of the overall structure of the embodiment of the present application.

Fig. 3 is a partially enlarged schematic view of a portion a in fig. 2.

Fig. 4 is an exploded view of the overall structure of an embodiment of the present application.

Fig. 5 is a partially enlarged schematic view of a portion B in fig. 4.

Description of reference numerals:

1. a housing; 2. a flexible gear; 3. a steel wheel; 4. a wave generator; 401. a cam; 402. a clamping plate; 5. a load member; 6. a flange connection; 7. a first boss portion; 8. a first O-ring; 9. a connecting flange; 10. an input shaft; 11. a second boss portion; 12. a second O-ring; 13. connecting a threaded hole; 14. connecting a bearing; 15. a position clamping hole; 16. fixing grooves; 17. a movable groove; 18. fixing the bolt; 19. mounting holes; 20. a sealing cover; 21. fixing a plane; 22. a clamping part; 23. a first card slot; 24. a first clamp spring; 25. a limiting part; 26. a second card slot; 27. a second clamp spring; 28. a first oil seal; 29. a key; 30. a limiting gasket; 31. a compliant bearing; 32. a containing groove; 33. internal teeth; 34. an outer tooth; 35. sealing the rubber ring; 36. a third boss portion; 37. a second oil seal; 38. a buffer member; 39. and fastening the bolt.

Detailed Description

The present application is described in further detail below with reference to figures 1-5.

The embodiment of the application discloses a harmonic speed reducer ware of novel structure. Referring to fig. 1 and 2, the harmonic reducer of the novel structure includes a housing 1, a flexible gear 2, a steel gear 3, a wave generator 4, a load 5, and a connecting assembly, wherein the housing 1 is substantially cylindrical, and a flange connecting portion 6 is integrally provided on an outer peripheral surface of the housing 1, so that the housing 1 is connected to other components, thereby ensuring stability of a position where the housing 1 is located.

Referring to fig. 2 and 3, steel wheel 3 is cylindricly, steel wheel 3's one end and casing 1's one end are laminated mutually, steel wheel 3 is through a plurality of bolts and fixed casing 1 fixed connection around self axis circumference evenly distributed, for the leakproofness after guaranteeing steel wheel 3 and casing 1 are fixed, steel wheel 3 is provided with the annular first bellying 7 of being towards casing 1's one end an organic whole, the outer peripheral face of first bellying 7 is contradicted in the inner peripheral surface of casing 1, and the outer peripheral face of first bellying 7 inlays to establish and installs first O type circle 8, first O type circle 8 supports the inner peripheral surface of casing 1 tightly.

Continuing to refer to fig. 2 and 3, the connecting assembly includes a connecting flange 9 and an input shaft 10, the connecting flange 9 is fixedly installed at one end of the steel ring far away from the shell 1 through a plurality of bolts evenly distributed along the circumferential direction of the axis of the connecting flange 9, in order to ensure the sealing performance between the connecting flange 9 and the steel ring, a second protrusion 11 in a circular ring shape is integrally arranged at one end of the connecting flange 9 facing the steel ring, the outer circumferential surface of the second protrusion 11 is abutted against the inner circumferential surface of the steel ring, a second O-ring 12 is embedded and installed on the outer circumferential surface of the second protrusion 11, and the second O-ring 12 is abutted against the inner circumferential surface of the steel ring.

Referring to fig. 1 and 2, one end of the connecting flange 9, which is far away from the steel ring, is provided with a plurality of threaded connecting holes 13 which are uniformly distributed in the circumferential direction around the axis of the connecting flange 9, so that the connecting flange 9 is fixedly connected with the housing 1 of the motor. The input shaft 10 is rotatably mounted on the connecting flange 9 through a connecting bearing 14, in order to facilitate the fixed connection of the input shaft 10 and the output shaft of the motor, a clamping hole 15 is formed in one end, close to the connecting flange 9 and far away from the steel ring, of the input shaft 10, and the output shaft of the motor is in inserted fit with the clamping hole 15.

Referring to fig. 4 and 5, the input shaft 10 is further provided with a fixing groove 16 at one end provided with the locking hole 15, the fixing groove 16 is in a long strip shape and is communicated with the locking hole 15, and the fixing groove 16 extends to the side wall of the input shaft 10. The free end of the input shaft 10 close to the orifice of the clamping hole 15 is provided with a movable groove 17 extending along the radial direction of the input shaft 10, and the movable groove 17 is communicated with the clamping hole 15 and the fixed groove 16. The free end of the input shaft 10 close to the orifice of the clamping hole 15 is matched with a fixing bolt 18 in a threaded manner, and when the fixing bolt 18 rotates, two groove walls of the fixing groove 16 move towards the direction close to or away from each other, so that the output shaft of the motor inserted into the clamping hole 15 can be clamped and fixed.

Referring to fig. 2 and 4, in order to facilitate the worker to rotate the fixing bolt 18, a mounting hole 19 is formed in the outer circumferential surface of the connecting flange 9, the mounting hole 19 is communicated with the inside of the connecting flange 9, and the mounting hole 19 and the fixing bolt are distributed along the radial direction of the connecting flange 9, so that the worker can screw the fixing bolt 18 through the mounting hole 19. In order to prevent foreign matters from entering the connecting flange 9 through the mounting hole 19 to affect the rotation of the input shaft 10, the connecting flange 9 is in clamping fit with a sealing cover 20 for opening and closing the hole opening of the mounting hole 19. The peripheral surface of the connecting flange 9 is provided with a fixing plane 21, and when the sealing cover 20 closes the opening of the mounting hole 19, one side of the sealing cover 20, which is positioned outside the mounting hole 19, is attached to the fixing plane 21, so that the stability of the position of the sealing cover 20 when closing the opening of the mounting hole 19 is ensured.

Referring to fig. 2 and 3, in order to ensure the stability of the connection bearing 14 during operation, a circular clamping portion 22 is convexly disposed on the outer circumferential surface of the input shaft 10, a circular first clamping groove 23 is disposed on the outer circumferential surface of the input shaft 10, a first clamping spring 24 is clamped and matched in the first clamping groove 23, the inner ring of the connection bearing 14 is located between the clamping portion 22 and the first clamping spring 24, and two end surfaces of the inner ring of the connection bearing 14 respectively abut against the clamping portion 22 and the first clamping spring 24.

Continuing to refer to fig. 2 and 3, a limiting portion 25 corresponding to the position of the positioning portion 22 is convexly arranged on the inner circumferential surface of the connecting flange 9, a second annular clamping groove 26 is formed in the inner circumferential surface of the connecting flange 9, a second clamping spring 27 corresponding to the position of the first clamping spring 24 is clamped and matched in the second clamping groove 26, the outer ring of the connecting bearing 14 is located between the limiting portion 25 and the second clamping spring 27, and two end surfaces of the outer ring of the connecting bearing 14 respectively abut against the limiting portion 25 and the second clamping spring 27, so that a limiting effect is achieved when the connecting bearing 14 and the input shaft 10 operate, and stability of positions of the input shaft 10 and the connecting bearing 14 during operation is ensured. The limiting portion 25 and the clamping portion 22 are arranged close to the clamping hole 15, and a first oil seal 28 is arranged between the limiting portion 25 and the clamping portion 22, so that impurities such as moisture are not easy to enter the connecting bearing 14.

Referring to fig. 2, the wave generator 4 includes a cam 401 and a detent plate 402, and the input shaft 10 is connected to the cam 401 by a key 29 to ensure synchronous stability when the input shaft 10 and the cam 401 rotate. In order to further ensure the stability of the cam 401 and the input shaft 10 after being fixed, one end of the input shaft 10, which is far away from the clamping hole 15, is fixedly connected with a limiting gasket 30 through a bolt, and the limiting gasket 30 abuts against the cam 401 towards one side of the input shaft 10 so as to further limit the position of the cam 401.

Referring to fig. 2 and 3, the cam 401 is connected to the flexible gear 2 through the flexible bearing 31, in order to further ensure the stability of the position of the flexible bearing 31 during operation, an annular accommodating groove 32 is formed in one side of the cam 401 away from the limiting gasket 30, the accommodating groove 32 extends to the outer peripheral surface of the cam 401, and the flexible bearing 31 is located in the accommodating groove 32. Clamping plate 402 is fixed in the one side that spacing gasket 30 was kept away from to cam 401 through a plurality of bolts around self axis circumference evenly distributed, and clamping plate 402 contradicts in the inner circle of flexible bearing 31 towards one side of cam 401 to play further limiting displacement when rotating flexible bearing 31.

Referring to fig. 4 and 5, a single internal tooth 33 is integrally provided on the inner circumferential surface of the steel wheel 3, i.e., on the inner side of the steel wheel 3. The flexspline 2 is cylindrical, and the outer peripheral face of the flexspline 2, that is, the outer side of the flexspline 2, is provided with a circle of external teeth 34, and external teeth 34 meshes with internal teeth 33 mutually, and the quantity of internal teeth 33 is two more than the quantity of external teeth 34 in the embodiment of the present application, so that when the flexspline 2 rotates along with the cam 401, the flexspline 2 stably decelerates and rotates due to the meshing of internal teeth 33 and external teeth 34.

Referring to fig. 2 and 4, the load member 5 is selected as a cross roller bearing in the embodiment of the present application, and an outer ring of the cross roller bearing is fixedly connected to the housing 1 by bolts. In order to ensure the sealing performance between the outer ring of the crossed roller bearing and the housing 1, a sealing rubber ring 35 is installed on one side, close to the housing 1, of the outer ring of the crossed roller bearing, a circle of third protruding portions 36 are integrally arranged on one side, facing the crossed roller bearing, of the housing 1, the outer peripheral surfaces of the third protruding portions 36 abut against the inner peripheral surface of the outer ring of the crossed roller bearing, and the end surfaces of the third protruding portions 36 abut against the sealing rubber ring 35. In order to prevent external impurities from entering between the outer ring and the inner ring of the crossed roller bearing, a second oil seal 37 is arranged between the outer ring and the inner ring of the crossed roller bearing, and the second oil seal 37 is positioned on one side of the crossed roller bearing, which is far away from the shell 1.

Referring to fig. 2, a buffer 38 is disposed at one end of the flexible gear 2 away from the input shaft 10, the buffer 38 is cylindrical, a plurality of fastening bolts 39 are uniformly distributed on the flexible gear 2 around the circumferential direction of the axis of the flexible gear 2, each fastening bolt 39 sequentially penetrates through the buffer 38 and the flexible gear 2 and is in threaded fit with the inner ring of the crossed roller bearing, so as to fix the buffer 38, the flexible gear 2 and the inner ring of the crossed roller bearing, and the buffer 38 disperses the stress generated when the flexible gear 2 is fixed with the inner ring of the crossed roller bearing, so that the flexible gear 2 is not easily damaged when the flexible gear 2 is fixed with the inner ring of the crossed roller bearing.

The implementation principle of the harmonic reducer with the novel structure in the embodiment of the application is as follows: when the device is used, the connecting flange 9 is firstly installed on the shell 1 of the motor through bolts, then the input shaft 10 is fixedly installed on the output shaft of the motor through the installation hole 19 through bolts, so that the installation of the harmonic reducer and the motor can be completed, when the motor drives the input shaft 10 to rotate, the cam 401 of the wave generator 4 drives the flexible gear 2 to rotate together through the flexible bearing 31, the flexible gear 2 drives the inner ring of the crossed roller bearing to rotate in a speed reducing mode due to the meshing of the external teeth 34 and the internal teeth 33, and therefore parts fixedly connected with the crossed roller bearing can perform certain target tasks.

The staff need not to install the part of each split in proper order when installing harmonic reduction gear and motor to make the staff easy and simple to handle the installation of harmonic reduction gear and motor, simultaneously, the harmonic reduction gear integration need not to carry out the setting of dismouting to each drive disk assembly when just installing, is favorable to guaranteeing the stability of each part transmission time after the harmonic reduction gear installation.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.