Flexible bearing, wave generator, harmonic reducer and transmission

Abstract

The application relates to a flexible bearing, a wave generator, a harmonic reducer and a transmission device. The cage comprises a flexible inner ring and a flexible outer ring coaxially arranged, the flexible inner ring and the flexible outer ring are arranged in an elliptical structure at the outer periphery of a cam; the cage is arranged between the flexible inner ring and the flexible outer ring, the cage comprises a ring body, a plurality of guide pockets are arranged in the circumferential direction of the ring body at intervals; a plurality of rolling elements are rotatably arranged in the guide pockets, wherein the density of the guide pockets located at the two ends of the major axis of the flexible inner ring and the flexible outer ring is greater than the density of the guide pockets located at the two ends of the minor axis of the flexible inner ring and the flexible outer ring. The guide pockets are more near the major axis, more rolling elements are arranged near the major axis, the guide pockets are less near the minor axis, the rolling elements near the minor axis are sparse, under the condition of the same load, the contact stress of a single rolling element is reduced, and the service life of the whole machine is improved.

Description

Technical Field

[0001] This application relates to the field of speed reducer technology, and in particular to a flexible bearing, a wave generator, a harmonic speed reducer, and a transmission device. Background Technology

[0002] The harmonic reducer mainly consists of a rigid ring body, a flexible ring body, and a wave generator. The flexible ring body undergoes elastic deformation under the action of the wave generator, and its flexible teeth interact with the rigid wheel to achieve transmission. The flexible wheel, bent into an elliptical shape, meshes with the steel teeth of the rigid ring body at both ends of its long axis to transmit torque. The wave generator has a cam with an elliptical outer circumference and a flexible bearing mounted on the elliptical outer circumference of the cam. The flexible inner and outer rings of the flexible bearing are bent into an elliptical shape by the cam, and multiple rolling elements are positioned between the flexible inner and outer rings. Multiple guide pockets are evenly spaced along its circumference to enclose the rolling elements and isolate them from contact.

[0003] Because the flexible external teeth and rigid internal teeth mesh at both ends of the long shaft of the wave generator, the rolling elements near both ends of the long shaft are subjected to force, resulting in increased contact stress. Meanwhile, the balls near the short shaft are not subjected to force and are in a loose state. This leads to the problem of high stress on the rolling elements at both ends of the long shaft and uneven force on each rolling element, which reduces the overall lifespan of the machine. Summary of the Invention

[0004] The purpose of this application is to provide a flexible bearing, a wave generator, a harmonic reducer, and a transmission device, which can reduce the contact stress on the rolling elements at both ends of a long shaft, make the force on each rolling element uniform, thereby increasing the service life of the rolling elements, raceways, etc., and correspondingly improving the service life of the whole machine.

[0005] To this end, in a first aspect, embodiments of this application provide a flexible bearing, including a flexible inner ring and a flexible outer ring coaxially arranged, the flexible inner ring and the flexible outer ring respectively having an elliptical structure disposed on the outer periphery of a cam; a cage disposed between the flexible inner ring and the flexible outer ring, the cage including an annular body, the annular body having a plurality of guide pockets spaced apart in the circumferential direction; and a plurality of rolling elements, the rolling elements being rotatably disposed within the guide pockets, wherein the density of the guide pockets located at both ends of the major axis of the flexible inner ring and the flexible outer ring is greater than the density of the guide pockets located at both ends of the minor axis of the flexible inner ring and the flexible outer ring.

[0006] In one embodiment of this application, the annular body includes a first arc segment, a second arc segment, a third arc segment, and a fourth arc segment that are sequentially and continuously distributed along the circumferential direction; wherein, the two ends of the major axes of the flexible inner ring and the flexible outer ring fall onto the first arc segment and the third arc segment, respectively, and the two ends of the minor axes of the flexible inner ring and the flexible outer ring fall onto the second arc segment and the fourth arc segment, respectively; the density of the guide pockets in either the first arc segment or the third arc segment is greater than the density of the guide pockets in either the second arc segment or the fourth arc segment.

[0007] In one embodiment of this application, the density of the guide pockets in the first arc segment is the same as the density of the guide pockets in the third arc segment; and / or, the density of the guide pockets in the second arc segment is the same as the density of the guide pockets in the fourth arc segment.

[0008] In one embodiment of this application, the central angles of the first arc segment, the second arc segment, the third arc segment, and the fourth arc segment are all the same.

[0009] In one embodiment of this application, a plurality of guide pockets within any one of the first arc segment, the second arc segment, the third arc segment, and the fourth arc segment are distributed at equal intervals.

[0010] In one embodiment of this application, five guide pockets are provided in the first arc segment and the third arc segment respectively; and / or, two guide pockets are provided in the second arc segment and the fourth arc segment respectively.

[0011] In one embodiment of this application, the rolling element is a ball bearing.

[0012] Secondly, embodiments of this application provide a wave generator, including: a flexible bearing as described in any of the first aspects; and a cam having an elliptical outer peripheral surface, the cam being connected to the flexible inner ring, the rotation of the cam driving the flexible bearing to rotate synchronously, and causing the flexible bearing to have an elliptical structure.

[0013] Thirdly, embodiments of this application provide a harmonic reducer, comprising: a rigid annular body having a plurality of rigid internal teeth; a flexible annular body rotatably disposed within the rigid annular body, the flexible annular body having a plurality of flexible external teeth, the number of the plurality of rigid internal teeth being greater than the number of the plurality of flexible external teeth, and a portion of the rigid internal teeth meshing with a portion of the flexible external teeth; and a wave generator as described in the second aspect, the wave generator being rotatably disposed within the inner ring of the flexible annular body, such that the flexible annular body has an elliptical structure and rotates relative to the wave generator at a differential speed.

[0014] Fourthly, embodiments of this application provide a transmission device, including: a motor and a load component; and a harmonic reducer as described in the third aspect, wherein the output end of the motor is connected to the cam, and the load component is connected to the flexible annular body.

[0015] According to embodiments of this application, a flexible bearing, wave generator, harmonic reducer, and transmission device are provided. The flexible bearing includes a coaxially arranged flexible inner ring and a flexible outer ring, both having an elliptical structure disposed around the outer periphery of a cam. A cage is disposed between the flexible inner ring and the flexible outer ring, the cage including an annular body with a plurality of spaced guide pockets along its circumference. A plurality of rolling elements are rotatably disposed within the guide pockets. The density of the guide pockets located at the ends of the major axes of the flexible inner ring and the flexible outer ring is greater than the density of the guide pockets located at the ends of the minor axes of the flexible inner ring and the flexible outer ring. The cage features multiple guide pockets with non-equidistant spacing. The number of guide pockets is greater near the long shaft ends of the flexible bearing, resulting in a greater number of rolling elements near the long shaft ends. The number of guide pockets is less near the short shaft ends, resulting in sparser balls near the short shaft ends. Under the same load, the contact stress on individual rolling elements at the long shaft ends is reduced, and the force on each rolling element is more uniform, thereby increasing the service life of the rolling elements and raceways, and correspondingly improving the overall machine life. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In addition, in the drawings, the same parts use the same reference numerals, and the drawings are not drawn to scale.

[0017] Figure 1 This is a front view of a harmonic reducer provided in an embodiment of this application;

[0018] Figure 2 This illustration shows a front view of a wave generator provided in an embodiment of this application;

[0019] Figure 3 This is a front view showing one embodiment of a flexible bearing provided in this application.

[0020] Figure 4 This is a front view showing another embodiment of a flexible bearing provided in this application.

[0021] Explanation of reference numerals in the attached figures:

[0022] 100. Harmonic reducer; 10. Wave generator; 1. Flexible bearing; 11. Flexible inner ring; 12. Flexible outer ring; 13. Ball bearing; 14. Cage; 141. Guide pocket; 2. Cam; 20. Flexible ring body; 21. Flexible external gear; 30. Rigid ring body; 31. Rigid internal gear; AX1. Long shaft; AX2. Short shaft. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] This application provides a transmission device, including: a motor and a load component; and a harmonic reducer 100, wherein the output end of the motor is connected to the input end of the harmonic reducer 100, and the load component is connected to the output end of the harmonic reducer 100.

[0025] Figure 1 This is a front view of a harmonic reducer 100 provided in an embodiment of this application.

[0026] Please see Figure 1 As shown, the harmonic reducer 100 includes a rigid annular body 30 with a plurality of rigid internal teeth 31; a flexible annular body 20 rotatably disposed within the rigid annular body 30, the flexible annular body 20 having a plurality of flexible external teeth 21, the number of the plurality of rigid internal teeth 31 being greater than the number of the plurality of flexible external teeth 21, and some of the rigid internal teeth 31 meshing with some of the flexible external teeth 21; and a wave generator 10 rotatably disposed within the inner ring of the flexible annular body 20, such that the flexible annular body 20 has an elliptical structure and rotates relative to the wave generator 10 at a differential speed.

[0027] Specifically, the harmonic reducer 100 has a rigid annular body 30, a flexible annular body 20 placed therein, and the aforementioned wave generator 10 with an elliptical profile that mates with the inner hole of the flexible annular body 20. The inner ring of the rigid annular body 30 has a plurality of rigid internal teeth 31 evenly spaced along the circumference, and the outer ring of the flexible annular body 20 has a plurality of flexible external teeth 21 evenly spaced along the circumference. The rigid internal teeth 31 and the flexible external teeth 21 are the same size, and the number of rigid internal teeth 31 is greater than the number of flexible internal teeth. Specifically, the difference can be two teeth. When the wave generator 10 rotates, some of the flexible external teeth 21 are pushed to mesh with some of the rigid internal teeth 31, and the flexible annular body 20 moves relative to the wave generator 10 at a differential speed.

[0028] Additionally, the output end of the motor is connected to the wave generator 10, and the load component is connected to the flexible annular body 20. The wave generator 10 is connected to a high-speed rotating input shaft, such as a motor shaft. If the wave generator 10 rotates clockwise, the meshing position of the flexible rigid internal teeth 31 and flexible external teeth 21 located at both ends of the long axis AX1 of the wave generator 10 moves clockwise in the circumferential direction. Due to the difference in the number of teeth between the rigid internal teeth 31 and the flexible external teeth 21, a relative rotation occurs between the flexible annular body 20 and the wave generator 10. Since the rotational speed of the flexible annular body 20 is less than the rotational speed of the wave generator 10, a differential speed is generated, achieving deceleration output. For example, the rigid annular body 30 can be fixed to not rotate, and the flexible annular body 20 can be connected to the load component on the load side. The decelerated rotation is then transmitted from the rigid external teeth to the load component on the load side.

[0029] Figure 2 This is a front view of a wave generator 10 provided in an embodiment of this application.

[0030] Please see Figure 2 As shown, the wave generator 10 includes a flexible bearing 1 and a cam 2. The cam 2 is connected to the inner ring of the flexible bearing 1. The rotation of the cam 2 drives the flexible bearing 1 to rotate synchronously, and makes the flexible bearing 1 have an elliptical structure.

[0031] Specifically, the wave generator 10 has a cam 2 of a certain thickness and a flexible bearing 1 mounted on the elliptical outer peripheral surface of the cam 2. The flexible bearing 1 is a ball bearing 13, having a circular flexible inner ring 11, a flexible outer ring 12, balls 13, and a cage 14 that maintains the ball 13 at intervals. The flexible inner ring 11 and the flexible outer ring 12 are coaxially arranged, and the balls 13 and the cage 14 are located between the flexible inner ring 11 and the flexible outer ring 12.

[0032] The flexible bearing 1 is fitted into the inner hole of the flexible annular body 20 in an elliptical shape via the cam 2, maintaining the flexible annular body 20 and the cam 2, which connects the high-speed rotating input shaft, in a state where they can rotate relative to each other. The balls 13, inserted between the flexible inner ring 11 and the flexible outer ring 12, which are elliptical in shape, roll along the inner and outer ring raceways, thereby enabling the cam 2 and the flexible annular body 20 to rotate smoothly relative to each other with a small torque.

[0033] In the prior art, because the flexible external teeth 21 and the rigid internal teeth 31 mesh at both ends of the long shaft AX1 of the wave generator 10, the rolling elements near both ends of the long shaft AX1 are subjected to force, resulting in increased contact stress. Meanwhile, the balls 13 near the short shaft are not subjected to force and are in a loose state. This leads to the problem that the rolling elements at both ends of the long shaft AX1 have high stress and the uneven force on each rolling element reduces the overall lifespan of the machine.

[0034] Figure 3 This is a front view showing one embodiment of a flexible bearing 1 provided in this application. Figure 4 This is a front view showing another embodiment of a flexible bearing 1 provided in this application.

[0035] Please see Figures 3-4 As shown, this application embodiment provides a flexible bearing 1, including a flexible inner ring 11 and a flexible outer ring 12 coaxially arranged, the flexible inner ring 11 and the flexible outer ring 12 respectively having an elliptical structure disposed on the outer periphery of a cam 2; a cage 14, which functions to distribute rolling elements in a certain pattern between the flexible inner ring 11 and the flexible outer ring 12, the cage 14 being disposed between the flexible inner ring 11 and the flexible outer ring 12, the cage 14 including an annular body, the annular body having a plurality of guide pockets 141 spaced apart in the circumferential direction; and a plurality of rolling elements, the rolling elements being rotatably disposed within the guide pockets 141, wherein the density of the guide pockets 141 located at both ends of the major axis AX1 of the flexible inner ring 11 and the flexible outer ring 12 is greater than the density of the guide pockets 141 located at both ends of the minor axis of the flexible inner ring 11 and the flexible outer ring 12.

[0036] In order to alleviate the contact pressure on the balls 13 near the long axis AX1 of the elliptical flexible ring 20 and to balance the contact stress of each ball 13, the present invention designs the cage 14 to guide the distribution distance of the pockets 141 so that they are densely distributed near the long axis AX1 and sparsely distributed in other parts, thereby increasing the number of balls 13 in the position where the contact pressure is high.

[0037] The cage 14 has multiple guide pockets 141 arranged at non-equidistant intervals. The number of guide pockets 141 is greater near the two ends of the long shaft AX1 of the flexible bearing 1, resulting in a greater number of rolling elements near the two ends of the long shaft AX1. The number of guide pockets 141 is less near the two ends of the short shaft, resulting in a sparser number of balls 13 near the two ends of the short shaft. Under the same load, the contact stress on a single rolling element at the two ends of the long shaft AX1 is reduced, and the force on each rolling element is more uniform, thereby increasing the service life of the rolling elements and raceways, and correspondingly improving the service life of the entire machine.

[0038] Please continue reading Figure 2 As shown, the annular body includes a first arc segment, a second arc segment, a third arc segment, and a fourth arc segment that are sequentially and continuously distributed along the circumference; wherein, the two ends of the major axis AX1 of the flexible inner ring 11 and the flexible outer ring 12 fall on the first arc segment and the third arc segment respectively, and the two ends of the minor axis of the flexible inner ring 11 and the flexible outer ring 12 fall on the second arc segment and the fourth arc segment respectively; the density of the guide pocket 141 in either the first arc segment or the third arc segment is greater than the density of the guide pocket 141 in either the second arc segment or the fourth arc segment.

[0039] In this embodiment, a plurality of tightly packed balls 13 on and near the major axis AX1 of the elliptical flexible ring 20 are tightly clamped between the flexible inner ring 11 and the flexible outer ring 12, making point contact with the raceway surfaces of the flexible inner ring 11 and the flexible outer ring 12, and are in a rolling motion state. The remaining balls 13, except those near the major axis AX1, have gaps between the flexible inner ring 11 and the flexible outer ring 12, and remain in a loose state, allowing for free rolling motion. Please continue to the next section. Figure 2 As shown, angle range a1 corresponds to the first arc segment, angle range a2 corresponds to the third arc segment, and the ball 13 inside is a tightly packed ball 13. Angle range b1 corresponds to the second arc segment, angle range b2 corresponds to the fourth arc segment, and the ball 13 inside is a loose ball 13.

[0040] In this embodiment, a non-uniformly distributed cage 14 is used between the balls 13, making the balls 13 more densely distributed within angle ranges a1 and a2, and less densely distributed within angle ranges b1 and b2. The balls are more densely distributed near the major axis AX1 of the elliptical flexible annular body 20, and less densely distributed elsewhere. The cage 14 is fixed to the cam 2 through a fit. This method reduces the contact stress of the balls 13 and raceways near the major axis AX1 of the elliptical flexible annular body 20, thereby reducing the risk of spalling failure and improving the service life of the wave generator 10.

[0041] As an example, the density of the guide pockets 141 in the first arc segment is the same as the density of the guide pockets 141 in the third arc segment; and / or, the density of the guide pockets 141 in the second arc segment is the same as the density of the guide pockets 141 in the fourth arc segment. The guide pockets 141 in the first and third arc segments can be more densely packed than those in the second and fourth arc segments. For ease of processing, the density of the guide pockets 141 in the first and third arc segments can be the same, as can the density of the guide pockets 141 in the second and fourth arc segments, thereby further equalizing the pressure and reducing the risk of peeling failure, thus improving the service life of the wave generator 10.

[0042] In some embodiments, the central angles of the first, second, third, and fourth arc segments are all the same, that is, the central angles of the first, second, third, and fourth arc segments are all 90°. This is equivalent to the angle bisectors of the major axis AX1 and minor axis of the elliptical flexible ring body 20 being drawn out and connected to the flexible ring body 20, thereby dividing it into the first, second, third, and fourth arc segments. In this way, the two sides of the major axis AX1 accommodate tightly packed balls 13 in a symmetrical range, and the two sides of the minor axis accommodate loosely packed balls 13 in a symmetrical range. The two sides of the major axis AX1 and the two sides of the minor axis are subjected to balanced forces and are easy to process.

[0043] Furthermore, the multiple guide pockets 141 in any one of the first, second, third, and fourth arc segments are equally spaced, and the guide pockets 141 in each arc segment are evenly spaced, so that each ball 13 is subjected to uniform force within the position range of consistent pressure, further balancing the force on the ball 13 and improving the overall reliability of the machine.

[0044] In some embodiments, the first arc segment and the third arc segment are each provided with five guide pockets 141; and / or, the second arc segment and the fourth arc segment are each provided with two guide pockets 141.

[0045] Please continue reading Figure 3 As shown, in one embodiment, five guide pockets 141 are provided in the first arc segment and the third arc segment respectively, and two guide pockets 141 are provided in the second arc segment and the fourth arc segment respectively.

[0046] Please continue reading Figure 4As shown, in another embodiment, five guide pockets 141 are respectively provided in the first arc segment and the third arc segment. No balls 13 are provided near the ends of the short shaft because, during the operation of the harmonic reducer 100, only the balls 13 near the ends of the long shaft AX1 bear the contact pressure. Therefore, the cage 14 does not need to separate the balls 13 near the ends of the short shaft, ensuring that the balls 13 near the ends of the long shaft AX1 work effectively.

[0047] It should be noted that the central angle of each arc segment, the number of guide pockets 141 in each arc segment, and whether they are evenly distributed can be determined according to specific needs, and will not be listed here.

[0048] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0049] It should be readily understood that the terms “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0050] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A wave generator, characterized in that, include: Flexible bearings and cams; The flexible bearing includes: A flexible inner ring and a flexible outer ring are coaxially arranged, and the flexible inner ring and the flexible outer ring are respectively arranged in an elliptical structure on the outer periphery of the cam; A retainer, disposed between the flexible inner ring and the flexible outer ring, the retainer comprising an annular body having a plurality of spaced-apart guide pockets along its circumference; and Multiple rolling elements are rotatably disposed within the guide pockets, wherein the density of the guide pockets located at both ends of the long axis of the flexible inner ring and the flexible outer ring is greater than the density of the guide pockets located at both ends of the short axis of the flexible inner ring and the flexible outer ring. The cam has an elliptical outer peripheral surface. The cam is connected to the flexible inner ring. The rotation of the cam drives the flexible bearing to rotate synchronously, and makes the flexible bearing have an elliptical structure. The cage is fixedly connected to the cam.

2. The wave generator according to claim 1, characterized in that, The annular body includes a first arc segment, a second arc segment, a third arc segment, and a fourth arc segment that are sequentially and continuously distributed along the circumference. Wherein, the two ends of the long axis of the flexible inner ring and the flexible outer ring fall on the first arc segment and the third arc segment respectively, and the two ends of the short axis of the flexible inner ring and the flexible outer ring fall on the second arc segment and the fourth arc segment respectively; The density of the guide pockets in either the first arc segment or the third arc segment is greater than the density of the guide pockets in either the second arc segment or the fourth arc segment.

3. The wave generator according to claim 2, characterized in that, The density of the guide pockets in the first arc segment is the same as the density of the guide pockets in the third arc segment; and / or, the density of the guide pockets in the second arc segment is the same as the density of the guide pockets in the fourth arc segment.

4. The wave generator according to claim 2, characterized in that, The central angles of the first, second, third, and fourth arc segments are all the same.

5. The wave generator according to claim 2, characterized in that, The multiple guide pockets within any one of the first, second, third, and fourth arc segments are distributed at equal intervals.

6. The wave generator according to claim 2, characterized in that, The first arc segment and the third arc segment are each provided with five guide pockets; and / or, the second arc segment and the fourth arc segment are each provided with two guide pockets.

7. The wave generator according to claim 1, characterized in that, The rolling element is a ball bearing.

8. A harmonic reducer, characterized in that, include: A rigid ring-shaped body with multiple rigid internal teeth; A flexible annular body is rotatably disposed within the rigid annular body. The flexible annular body has a plurality of flexible external teeth, the number of the plurality of rigid internal teeth is greater than the number of the plurality of flexible external teeth, and some of the rigid internal teeth mesh with some of the flexible external teeth. as well as The wave generator as described in any one of claims 1-7, wherein the wave generator is rotatably disposed within the inner ring of the flexible annular body, such that the flexible annular body has an elliptical structure and rotates relative to the wave generator at a differential speed.

9. A transmission device, characterized in that, include: Motors and load components; as well as The harmonic reducer as described in claim 8, wherein the output end of the motor is connected to the cam, and the load component is connected to the flexible ring body.

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