The invention discloses a self-lubricating
harmonic reducer. The self-lubricating
harmonic reducer comprises a wave generator, a rigid gear and a flexible gear, wherein the rigid gear is meshed with the flexible gear; the wave generator is in contact with the inner wall of the flexible gear; an oil seal is arranged on an input shaft of the wave generator or an output end of the
reducer in a sealing manner; a
lubricant cavity is formed among the oil sea, the wave generator and the flexible gear; the oil seal comprises a ring-shaped base part; an elastic lip edge overhangs outwards from the outer side wall of the base part; the elastic lip edge is slantly arranged toward the wave generator; the overhanging
tail end of the elastic lip edge tightly presses against the inner wall of the flexible gear. According to the reducer disclosed in the invention, the
lubricant cavity, rather than the whole cavity in the flexible gear, is filled with the
lubricant, so that the weight of the lubricant is decreased; the lubricating supply for the rigid gear and the flexible gear can be completed, and the flowing direction of the lubricant is not influenced by the mounting direction of the
harmonic reducer, so that the favorable
lubrication for the rigid gear and the flexible gear is ensured, the torn-up
scrap iron of the rigid gear and the flexible gear is prevented from flowing back to the flexible bearing along with the lubricant, and the service life of the reducer is prolonged.