A wave generator and harmonic reducer

Abstract

The present invention provides a wave generator and a harmonic wave reducer. The wave generator includes: a flexible bearing outer ring, a cam, and a ball bearing. The flexible bearing outer ring is an annular structure and is sleeved on the outer periphery of the cam. The ball bearing is located between the flexible bearing outer ring and the cam. The inner periphery of the flexible bearing outer ring contacts the ball bearing, and the outer periphery of the cam contacts the ball bearing, allowing the ball bearing to roll between the flexible bearing outer ring and the cam. A first groove is provided on the outer periphery of the cam at a position in contact with the ball bearing. A thermally sensitive structure is provided in the first groove. The thermally sensitive structure is made of a thermally sensitive material and expands when the cam is heated, thereby expanding the space in the first groove, thereby increasing the volume of the portion of the ball bearing that falls into the first groove. According to the present invention, the internal clearance of the flexible bearing can be maintained within an optimal operating range, the wear between the wave generator and the flexspline can be reduced, the operating stability of the wave generator can be improved, and the operating performance of the flexspline can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of harmonic reducers, and in particular to a wave generator and a harmonic reducer. Background Art

[0002] Harmonic reducers are precision speed reducers used in industrial robot joints. They typically consist of three main components: a flexspline, a rigid pulley, and a wave generator. The wave generator's rotation causes the flexspline to deform periodically, forcing the small tooth difference between the flexspline and the rigid pulley to engage internally, thereby achieving motion and power transmission. The wave generator and flexspline are key and vulnerable parts in harmonic reducers, often experiencing precision and fatigue failures before other components.

[0003] In existing harmonic reducers, the wave generator housing is fitted with a flexible bearing consisting of an inner and outer ring with a steel ball between them. However, during operation, the inner ring of the flexible bearing experiences the highest temperature rise, resulting in a reduction in the bearing's clearance due to thermal expansion of the metal. Furthermore, deformation at the contact point between the rolling elements and the raceway under load also alters the bearing's clearance. This increase and decrease in clearance can lead to unstable wave generator performance, degrading the flexible gear's performance and preventing it from meeting its rated lifespan.

[0004] Patent CN113417986A proposes to reduce the inner ring of a conventional flexible bearing and integrate it with the wave generator. This significantly increases the sensitivity of the elliptical wave generator to the movement of the steel balls, thereby improving the transmission performance of the flexible gear. However, significant wear still occurs between the wave generator and the flexible gear.

[0005] Since the clearance of the flexible bearing of the harmonic reducer in the prior art changes due to temperature changes during operation, there is a large friction between the flexible bearing and the flexible wheel, which leads to unstable operation performance of the wave generator, reduces the working performance of the flexible gear, and fails to meet the rated life requirements and other technical problems. Therefore, the present invention studies and designs a wave generator and a harmonic reducer. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that the clearance of the flexible bearing changes due to temperature changes during operation of the harmonic reducer, resulting in large friction between the flexible bearing and the flexible wheel, thereby providing a wave generator and a harmonic reducer.

[0007] In order to solve the above problems, the present invention provides a wave generator comprising:

[0008] A flexible bearing outer ring, a cam, and a ball, wherein the flexible bearing outer ring is annular and sleeved on the outer periphery of the cam, the ball is located between the flexible bearing outer ring and the cam, the inner periphery of the flexible bearing outer ring contacts the ball, and the outer periphery of the cam contacts the ball, so that the ball can roll between the flexible bearing outer ring and the cam;

[0009] A first groove is provided on the outer periphery of the cam and at a position where it connects with the ball. A thermosensitive structure is provided in the first groove. The thermosensitive structure is made of a thermosensitive material and can expand when the temperature of the cam rises, thereby expanding the space of the first groove, thereby increasing the volume of the part of the first groove into which the ball falls.

[0010] In some embodiments, the heat-sensitive structure can also shrink when the temperature of the cam decreases, thereby shrinking the space of the first groove and reducing the volume of the portion of the ball falling into the first groove.

[0011] In some embodiments, the first groove is an annular groove formed around the outer periphery of the cam, and the first groove extends from the outer periphery of the cam toward the radial inner side of the cam; there are multiple balls, and the multiple balls are located between the outer ring of the flexible bearing and the cam.

[0012] In some embodiments, the thermosensitive structure is an annular structure that is clamped in the first groove.

[0013] In some embodiments, in an axial cross-section passing through the axis of the wave generator, the first groove includes a rectangular segment and an arc segment, the arc segment is located at the outer periphery of the cam and is adapted to the ball, a part of the structure of the ball is stuck in the arc segment, the rectangular segment is located at the radial inner periphery of the arc segment and is connected to the arc segment, and the thermal sensitive structure is arranged in the rectangular segment.

[0014] In some embodiments, the rectangular segment includes a first straight side located on one axial side of the cam and a second straight side located on the other axial side, and the angle between the first straight side after deformation and the first straight side before deformation is θ, and when the temperature of the cam increases, θ>0.

[0015] In some embodiments, the expansion coefficient of the thermosensitive structure is 0.004-0.006, and when the temperature of the thermosensitive structure increases by 10° C., the angle θ increases by more than 0.5°.

[0016] In some embodiments, the temperature change of the thermosensitive structure is in a directly proportional function relationship with the change of θ; the clearance is the movement gap between the ball and the outer ring of the flexible bearing and the cam, and the change of the clearance is in an exponential function relationship that is positively correlated with the change of θ.

[0017] In some embodiments, a second groove is provided on the inner circumference of the outer ring of the flexible bearing and at a position in contact with the ball, and a portion of the structure of the ball is clamped in the second groove.

[0018] In some embodiments, the second groove is an arc-shaped groove and is adapted to fit the ball.

[0019] The present invention also provides a harmonic reducer, which includes the wave generator described in any of the preceding items.

[0020] The wave generator and harmonic reducer provided by the present invention have the following beneficial effects:

[0021] 1. The present invention provides a first groove structure on the outer peripheral surface of the cam of the wave generator where it meets the ball, and provides a thermally sensitive structure in the first groove. When the cam is heated and the temperature rises, the thermally sensitive structure senses the temperature rise and generates expansion deformation, thereby squeezing and expanding the first groove outward, thereby expanding and increasing the space of the first groove, thereby allowing the ball to fall further into the first groove, that is, the volume of the ball falling into the first groove is increased, thereby effectively reducing the squeezing of the ball due to the thermal expansion of the cam, and the reduction of the ball clearance caused by the squeezing of the ball onto the outer ring of the flexible bearing. The reduction of the ball clearance is prevented, and the outer ring of the flexible bearing is prevented from being squeezed and causing increased wear between the outer ring of the flexible bearing and the flexible spline. The reduction of the internal clearance of the flexible bearing caused by temperature changes, especially temperature rise, thereby effectively preventing or reducing the occurrence of greater friction or wear between the outer ring of the bearing and the flexible spline. The internal clearance of the flexible bearing is ensured to be maintained within the optimal working range, thereby reducing wear, improving the operating stability of the wave generator, and effectively improving the working performance of the flexible gear.

[0022] 2. The present invention also integrates the flexible bearing and the cam by providing an outer raceway on the outer ring of the flexible bearing and an inner raceway on the outer ring of the cam. Compared with the conventional flexible bearing and cam assembly method, the present invention therefore omits the matching process of the flexible bearing and the cam, eliminating the error caused by the matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is an exploded structural diagram of the wave generator of the present invention;

[0024] Figure 2 It is an assembly structure diagram of the wave generator of the present invention;

[0025] Figure 3 is a radial cross-sectional structural diagram of a wave generator of the present invention;

[0026] Figure 4 yes Figure 3 A partial enlarged view of part A when it is rotated 90°;

[0027] Figure 5a is the parameter curve of the present invention Figure 1 ;

[0028] Figure 5b is the parameter curve of the present invention Figure 2 ;

[0029] Figure 6 It is a deformation structure diagram of the ball portion of the wave generator of the present invention.

[0030] The reference numerals indicate:

[0031] 1. Flexible bearing outer ring; 2. Second groove; 3. Ball; 4. Arc segment; 5. Cam; 6. First groove; 61. Rectangular segment; 611. First straight edge; 612. Second straight edge; 7. Thermosensitive structure. DETAILED DESCRIPTION

[0032] like Figure 1-6 As shown, the present invention provides a wave generator: which includes:

[0033] A flexible bearing outer ring 1, a cam 5, and a ball 3. The flexible bearing outer ring 1 is an annular structure and is sleeved on the outer periphery of the cam 5. The ball 3 is located between the flexible bearing outer ring 1 and the cam 5. The inner periphery of the flexible bearing outer ring 1 contacts the ball 3, and the outer periphery of the cam 5 contacts the ball 3, so that the ball 3 can roll between the flexible bearing outer ring 1 and the cam 5.

[0034] A first groove 6 is provided on the periphery of the cam 5 and at a position where it connects with the ball 3. A thermosensitive structure 7 is provided in the first groove 6. The thermosensitive structure 7 is made of a thermosensitive material (a thermosensitive material refers to a material that undergoes chemical or physical changes caused by heat energy to form text, images, color changes, and changes in shape. The thermosensitive material of the present invention is a material that deforms due to temperature changes). The thermosensitive structure 7 can expand when the temperature of the cam 5 rises, thereby expanding the space of the first groove 6, thereby increasing the volume of the portion of the ball 3 that falls into the first groove 6.

[0035] The present invention provides a first groove structure on the outer peripheral surface of the cam of the wave generator at the junction with the ball, and provides a thermally sensitive structure in the first groove. When the cam is heated and the temperature rises, the thermally sensitive structure senses the temperature rise and generates expansion deformation, thereby squeezing and expanding the first groove outward, thereby expanding and increasing the space of the first groove, and allowing the ball to further fall into the first groove, that is, the volume of the ball falling into the first groove is increased, thereby effectively reducing the squeezing of the ball due to the thermal expansion of the cam, and the reduction of the ball clearance caused by the squeezing of the ball onto the outer ring of the flexible bearing, and preventing the outer ring of the flexible bearing from being squeezed due to the reduction of the ball clearance, thereby preventing the wear between the outer ring of the flexible bearing and the flexible wheel from being increased due to the squeezing. Thus, the internal clearance of the flexible bearing is effectively prevented or reduced due to temperature changes, especially temperature rise, thereby generating greater friction or wear between the outer ring of the bearing and the flexible wheel; ensuring that the internal clearance of the flexible bearing is maintained within the optimal working range, reducing wear, improving the operating stability of the wave generator, and effectively improving the working performance of the flexible gear.

[0036] The innovation of the present invention is:

[0037] 1. A cam structure with an annular groove is designed. An annular heat-sensitive material is embedded in the cam. By adding the annular groove structure and utilizing the thermal expansion of the heat-sensitive material, the expansion deformation of the heat-sensitive material is used to adjust the clearance of the wave generator. This achieves self-adjustment of the flexible bearing clearance, reduces wear on the harmonic reducer, reduces friction loss between the flexible bearing and the flexspline, and effectively improves the reducer life.

[0038] 2. The wave generator structure of the present invention adjusts its clearance through temperature changes and the volume of the annular groove. The heat-sensitive material is particularly sensitive and responsive within the temperature range of 30°C-60°C. Outside this temperature range, its physical properties are stable and its volume remains unchanged. Its coefficient of thermal expansion is 0.0056. As the temperature rises, the heat-sensitive material expands and deforms. Specifically, for every 10°C increase in temperature, the angle θ between the outer wall of the annular groove and the normal increases by 0.5°, causing the flexible bearing ball to move downward a certain distance.

[0039] 3. The cam of the present invention is integrated with the flexible bearing. By providing an integrated structure of the flexible bearing and the cam, the sensitivity of the cam to the driving of the ball is increased, thereby reducing the probability of fatigue failure of the wave generator.

[0040] In some embodiments, the thermosensitive structure 7 can also contract when the temperature of the cam 5 decreases, thereby shrinking the space of the first groove 6 and reducing the volume of the portion of the ball 3 that falls into the first groove 6. The present invention can also reduce the expansion of the first groove by forming a contraction effect when the temperature decreases, thereby partially pushing the ball outward, thereby achieving the effect of adjusting the clearance.

[0041] In some embodiments, the first groove 6 is an annular groove formed around the outer circumference of the cam 5, and the first groove 6 extends from the outer circumference of the cam 5 toward the radial inner side of the cam 5. There are multiple balls 3, and each of the multiple balls 3 is located between the flexible bearing outer ring 1 and the cam 5. This is the preferred structural form of the first groove of the present invention, that is, it is formed as an annular groove structure and extends radially inward, forming a circumferential groove structure capable of accommodating the balls.

[0042] In some embodiments, the thermosensitive structure 7 is an annular structure or an arc-segment structure that is clamped in the first groove 6. This is a further preferred structural form of the thermosensitive structure of the present invention. It can be clamped in the annular groove by an annular structure or an arc-segment structure to improve the ability to expand the first groove in the circumferential direction and improve the effect of preventing wear between the flexible bearing and the flexible wheel in the circumferential direction.

[0043] In some embodiments, in an axial cross-section passing through the axis of the wave generator, the first groove 6 includes a rectangular segment 61 and an arcuate segment 4 (i.e., an inner raceway). The arcuate segment 4 is located at the outer periphery of the cam 5 and is adapted to the ball 3. Part of the structure of the ball 3 is stuck in the arcuate segment 4. The rectangular segment 61 is located at the radial inner periphery of the arcuate segment 4 and is connected to the arcuate segment 4. The thermosensitive structure 7 is disposed in the rectangular segment 61. This is a further preferred structural form of the first groove of the present invention, i.e., a structure including a rectangular segment and an arcuate segment. The arcuate segment is the inner raceway, i.e., a curved surface structure that matches the ball. The rectangular segment is located inside the cam, which enables the cam to expand the rectangular segment through the thermal expansion of the thermosensitive structure when heated, thereby increasing the volume of the ball falling into the rectangular segment.

[0044] Specifically, if Figure 1 As shown, the wave generator disclosed in the present invention includes a flexible bearing outer ring 1, an outer raceway (i.e., second groove 2), balls 3, an inner raceway (i.e., arc segment 4), a cam 5, an annular groove (first groove 6), and a thermally sensitive structure 7. The flexible bearing outer ring 1 is provided with an outer raceway, and the outer ring of the cam 5 is provided with an inner raceway, so that the flexible bearing inner ring and the cam 5 are integrated. Compared with the conventional flexible bearing and cam assembly method, this invention eliminates the matching process of the flexible bearing and the cam, eliminating the errors caused by the matching. At the same time, this structure also reduces the processing steps and increases work efficiency.

[0045] The cam 5 of the present invention is provided with an annular groove (first groove 6). The rectangular section in the annular groove is located directly below the inner raceway (arc section). An annular thermosensitive structure 7 is embedded in the rectangular section. This thermosensitive material can sense temperature changes, and its volume changes with temperature changes within a certain range. When the harmonic reducer is in harsh working conditions or has been running for a long time, the temperature of its wave generator rises, and the cam 5 expands slightly due to the heat. At this time, the clearance of the wave generator becomes smaller (that is, the movement clearance between the ball in the outer ring 1 of the flexible bearing and the cam 5. More accurately, the clearance is the movement clearance between the ball in the raceway of the flexible bearing outer ring 1 and the raceway on the cam 5). The thermosensitive structure 7 senses the temperature increase of the cam 5, expands and deforms, and its volume increases. Figure 4 As shown, the annular groove is deformed outward, causing the flexible bearing ball to move down a distance x. The wave generator clearance will increase, thus achieving the effect of adjusting the clearance. In this way, the operation performance of the wave generator is more stable, the working performance of the flexible gear is improved, and the rated life requirement of the wave generator is increased.

[0046] When the operating temperature of cam 5 rises, the volume of the heat-sensitive material expands, and the annular groove is deformed outward under force, causing the flexible bearing balls to move downward and the wave generator clearance to increase. When the temperature of cam 5 drops, the volume of the heat-sensitive material contracts, and the first groove 6 is deformed under force, causing the flexible bearing balls to move upward and reducing the wave generator clearance. This achieves the effect of balancing the clearance, maintaining a stable clearance in the flexible bearing and ensuring its flexible and unimpeded operation. It also ensures smooth operation, no significant axis settling, and a maximum number of rolling elements carrying the load. This improves the dynamic performance (noise, vibration, and friction) and rotational accuracy of the flexible bearing.

[0047] In some embodiments, the rectangular segment 61 includes a first straight side 611 located on one axial side of the cam 5 and a second straight side 612 located on the other axial side. The angle between the first straight side after deformation and the first straight side before deformation is θ. When the temperature of the cam 5 increases, θ>0. This is a further preferred structural form of the first groove of the present invention, that is, a preferred structural form of a rectangular segment. When the temperature increases, the expansion and deformation causes the first and second straight sides of the first groove to become larger at the opening, that is, the first groove expands more outward; and when the temperature decreases, the first groove expands less outward, thereby forming a shape as shown in FIG. Figure 6 The θ structure shown, after expansion θ>0.

[0048] In some embodiments, the thermal structure 7 has an expansion coefficient of 0.004 to 0.006, and when the temperature of the thermal structure 7 increases by 10°C, θ increases by at least 0.5°. By setting the thermal structure's expansion coefficient within the aforementioned range, preferably 0.0056, the present invention maximizes θ, thereby increasing the outward expansion of the first groove, thereby improving the effectiveness of the ball falling into the first groove and increasing the sensitivity of clearance adjustment.

[0049] In some embodiments, the temperature change of the thermosensitive structure 7 is in a proportional functional relationship with the change of θ; the clearance is the movement clearance of the ball between the outer ring 1 of the flexible bearing and the cam 5 (more accurately, the movement clearance of the ball between the outer raceway of the bearing outer ring (i.e., the second groove 2) and the inner raceway of the cam (i.e., the arc segment 4)), and the change of the clearance is in an exponential functional relationship with the change of θ. Figure 5a-5b As shown, the change in the clearance of the present invention is in an exponential function relationship that is positively correlated with the change in θ, and the temperature change is in a directly proportional function relationship with the change in θ, which can achieve a larger clearance adjustment capability with a smaller temperature change, thereby greatly improving the clearance adjustment capability of the present invention.

[0050] In the process of adjusting the clearance, the thermosensitive material is particularly sensitive in the temperature range of 30℃-60℃, with outstanding response effect. Outside this temperature range, its physical properties are stable and its volume remains unchanged. Its thermal expansion coefficient is 0.0056. As the temperature rises, the volume of the thermosensitive material expands and deforms. That is, for every 10℃ increase in temperature, the angle θ between the outer wall of the annular groove and the normal direction increases by 0.5°, causing the flexible bearing ball to move down a certain distance. The relationship between temperature and deformation, and deformation and clearance is as follows: Figure 5a-5b As shown in the figure, within a certain temperature range, the angle θ between the outer wall of the annular groove and the unilateral deformation in the normal direction increases with the increase of temperature t, showing a positive proportional function; the clearance of the wave generator increases with the increase of the angle θ between the outer wall of the annular groove and the unilateral deformation in the normal direction, showing an exponential function.

[0051] In some embodiments, a second groove 2 (i.e., an outer raceway) is provided on the inner circumference of the flexible bearing outer ring 1, where it contacts the ball 3. Part of the structure of the ball 3 is retained in the second groove 2. This is a preferred structural form of the flexible bearing outer ring of the present invention. The second groove effectively forms an outer raceway, allowing the radially outer portion of the ball to be retained in the outer raceway, thereby positioning it and allowing it to roll therein, thereby improving the rolling effect.

[0052] In some embodiments, the second groove 2 is an arc-shaped groove and is adapted to fit the ball 3 .

[0053] The present invention further provides a harmonic reducer comprising the wave generator described in any one of the preceding items, and preferably further comprising a flexspline, wherein the flexspline is sleeved on the outer periphery of the wave generator so as to be driven to move by the wave generator.

[0054] Beneficial effects of the present invention:

[0055] 1. When a conventional harmonic reducer operates under harsh conditions or for long periods of time, the temperature of the wave generator rises and the cam undergoes slight thermal expansion, which reduces the clearance of the wave generator. Compared with conventional wave generators, the cam of the present invention is provided with an annular groove on its long axis. An annular thermosensitive material is embedded in the annular groove. The temperature change during the operation of the wave generator and the thermal expansion of the thermosensitive material are used to adjust the clearance of the wave generator. The thermosensitive material of the present invention senses the temperature increase and expands and deforms, causing the flexible bearing ball to move downward, thereby achieving the effect of adjusting the clearance and reducing the probability of fatigue failure of the wave generator.

[0056] 2. In the process of adjusting the clearance of the present invention, the heat-sensitive material is particularly sensitive in the temperature range of 30℃-60℃, and has an outstanding response effect. When the temperature rises, the volume of the heat-sensitive material expands and deforms, and the thermal expansion coefficient is 0.0056. That is, for every 10℃ increase in temperature, the single-sided angle between the outer wall of the annular groove and the normal direction increases by 0.5°, causing the flexible bearing ball to move down a certain distance and the clearance to change.

[0057] 3. The outer ring of the flexible bearing of the present invention is provided with an outer raceway, and the outer ring of the cam is provided with an inner raceway, so that the flexible bearing and the cam are integrated. Compared with the conventional flexible bearing and cam assembly method, the present invention omits the matching process of the flexible bearing and the cam, eliminating the error caused by matching.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and variations without departing from the technical principles of the present invention, and such improvements and variations shall also be considered within the scope of protection of the present invention.

Claims

1. A wave generator, characterized in that: include: A flexible bearing outer ring (1), a cam (5) and a ball (3), wherein the flexible bearing outer ring (1) is an annular structure and is sleeved on the outer periphery of the cam (5), and the ball (3) is located between the flexible bearing outer ring (1) and the cam (5), the inner periphery of the flexible bearing outer ring (1) contacts the ball (3), and the outer periphery of the cam (5) contacts the ball (3), so that the ball (3) can roll between the flexible bearing outer ring (1) and the cam (5); A first groove (6) is provided on the outer periphery of the cam (5) and at a position in contact with the ball (3). A thermosensitive structure (7) is provided in the first groove (6). The thermosensitive structure (7) is made of a thermosensitive material and is capable of expanding when the temperature of the cam (5) increases, thereby expanding the space of the first groove (6), thereby increasing the volume of the portion of the ball (3) that falls into the first groove (6).

2. The wave generator according to claim 1, characterized in that: The heat-sensitive structure (7) can also shrink when the temperature of the cam (5) decreases, thereby shrinking the space of the first groove (6) and reducing the volume of the part of the ball (3) that falls into the first groove (6).

3. The wave generator according to claim 1, characterized in that: The first groove (6) is an annular groove formed around the outer periphery of the cam (5), and the first groove (6) extends from the outer periphery of the cam (5) toward the radial inner side of the cam (5); the plurality of balls (3) are located between the outer ring (1) of the flexible bearing and the cam (5).

4. The wave generator according to claim 3, characterized in that: The thermosensitive structure (7) is an annular structure that is clamped in the first groove (6).

5. The wave generator according to claim 3, characterized in that: In an axial cross-section passing through the axis of the wave generator, the first groove (6) includes a rectangular section (61) and an arc section (4), the arc section (4) is located at the outer periphery of the cam (5) and is adapted to the ball (3), a part of the structure of the ball (3) is clamped in the arc section (4), the rectangular section (61) is located at the radial inner periphery of the arc section (4) and is connected to the arc section (4), and the thermal sensitive structure (7) is arranged in the rectangular section (61).

6. The wave generator according to claim 5, characterized in that: The rectangular segment (61) comprises a first straight side (611) located on one axial side of the cam (5) and a second straight side (612) located on the other axial side. An included angle θ is formed between the first straight side after deformation and the first straight side before deformation. When the temperature of the cam (5) increases, the included angle θ is greater than 0.

7. The wave generator according to claim 6, characterized in that: The expansion coefficient of the thermosensitive structure (7) is 0.004-0.006, and when the temperature of the thermosensitive structure (7) increases by 10°C, the angle θ increases by more than 0.5°.

8. The wave generator according to claim 6, characterized in that: The temperature change of the thermosensitive structure (7) is in a proportional functional relationship with the change of θ; the clearance is the movement gap between the ball and the outer ring of the flexible bearing (1) and the cam (5), and the change of the clearance is in an exponential functional relationship with the change of θ.

9. The wave generator according to any one of claims 1 to 8, characterized in that: A second groove (2) is provided on the inner periphery of the outer ring (1) of the flexible bearing and at a position connected to the ball (3), and a part of the structure of the ball (3) is clamped in the second groove (2).

10. The wave generator according to claim 9, characterized in that: The second groove (2) is an arc-shaped groove and is adapted to fit the ball (3).

11. A harmonic reducer, characterized in that: The invention comprises the wave generator according to any one of claims 1 to 10.

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