A wave generator and its shaping method and a reducer including the wave generator

Abstract

The present invention provides a wave generator and a shaping method thereof, and a reducer including the wave generator, which relate to the technical field of reducers. The center point of an ellipse is taken as a base point O, the short axis is taken as an X-axis, and the long axis is taken as a Y-axis to form a coordinate axis. A first arc line, a second arc line, a third arc line, and a fourth arc line are respectively arranged in four quadrants. The first arc line and the second arc line, the third arc line, and the fourth arc line are respectively symmetrically arranged about the Y-axis, and the second arc line and the third arc line are respectively symmetrically arranged about the X-axis; the first arc line and the second arc line, the third arc line, and the fourth arc line are respectively connected by a first connecting arc line tangent thereto, the second arc line and the third arc line, the first arc line, and the fourth arc line are respectively connected by a second connecting arc line tangent thereto, and the first arc line, the second arc line, the third arc line, the fourth arc line, the first connecting arc line, and the second connecting arc line are sequentially connected to form a closed and continuous irregular curve.

Description

Technical Field

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

[0002] The harmonic reducer is a reduction device consisting of three basic components: a rigid wheel with an inner gear ring, a flexible wheel with an outer gear ring, and a wave generator that causes the flexible wheel to undergo radial deformation. It has the characteristics of high precision, small size, and high load-bearing torque, and is widely used in the field of industrial robots.

[0003] In order to achieve a higher reduction ratio and a larger number of meshing teeth, the wave generator of the harmonic reducer commonly used in the prior art is usually designed to be elliptical, such as Figure 1 As shown in the figure, the ellipse's long axis stretches the flexible wheel and meshes with the rigid wheel, while the short axis's flexible wheel teeth are disengaged from the rigid wheel teeth. In this way, during the rotation of the wave generator, the flexible wheel's outer teeth mesh with the rigid wheel's inner teeth repeatedly, thus achieving harmonic transmission.

[0004] However, due to the large gap between the flexible wheel and the rigid wheel in the short shaft, the harmonic reducer with this structure is very easy to jump teeth when subjected to large torque, especially impact torque, resulting in gear meshing. Figure 2 Therefore, the traditional structure of the harmonic reducer has poor impact resistance and is easily damaged during use. Summary of the invention

[0005] The purpose of the present invention is to provide a wave generator and a shaping method thereof, and a reducer including the wave generator. By designing a special structure of the wave generator, the inner teeth of the rigid wheel and the outer teeth of the flexible wheel are meshed in four quadrants, thereby improving the impact resistance of the harmonic reducer and greatly improving the stability of the operation of the harmonic reducer.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] A wave generator shaping method, taking the center point of an ellipse as a base point O, the minor axis of the ellipse as an X-axis, and the major axis of the ellipse as a Y-axis to form a coordinate axis, and respectively providing a first arc line, a second arc line, a third arc line, and a fourth arc line in a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant, wherein the first arc line and the second arc line are symmetrically arranged about the Y-axis, the second arc line and the third arc line are symmetrically arranged about the X-axis, and the third arc line and the fourth arc line are symmetrically arranged about the Y-axis;

[0008] The first arc line and the second arc line, and the third arc line and the fourth arc line are connected by a first connecting arc line tangent thereto, the second arc line and the third arc line, and the first arc line and the fourth arc line are connected by a second connecting arc line tangent thereto, the first arc line, the second arc line, the third arc line, the fourth arc line, two first connecting arc lines, and two second connecting arc lines are sequentially connected to form a closed and continuous irregular curve, and the irregular curve is the longitudinal cross-sectional shape of the wave generator;

[0009] The center of the first arc is located in the first quadrant, and the angle between the line connecting the first arc and the base point O and the Y axis is β, the range of β is 40°-50°, the first arc is located outside the ellipse, and its radius is smaller than the radius of the position on the ellipse corresponding to the angle β;

[0010] The vertices of the two first connecting arc lines are located between the two vertices of the major axis of the ellipse, the center of the first connecting arc line is located on the Y axis, and the radius of the first connecting arc line is greater than the length of the major semi-axis of the ellipse;

[0011] The vertices of the two second connecting arc lines are located between the two vertices of the minor axis of the ellipse, the center of the second connecting arc line is located on the X-axis, and the radius of the second connecting arc line is greater than the length of the minor semi-axis of the ellipse;

[0012] The circumference of the curve formed by the first arc line, the second arc line, the third arc line, the fourth arc line, the two first connected arc lines, and the two second connected arc lines is equal to the circumference of the ellipse.

[0013] Furthermore, the angle of β is 45°, the first arc line and the third arc line are 180° symmetrical, and the second arc line and the fourth arc line are 180° symmetrical.

[0014] A wave generator has a cross-sectional shape of a closed and continuous irregular curve formed by sequentially connecting the first arc line, the second arc line, the third arc line, the fourth arc line, two first connected arc lines, and two second connected arc lines.

[0015] A reducer includes a wave generator, a flexible bearing, a flexible wheel and a rigid wheel. The rigid wheel is meshed with the flexible wheel by a difference in the number of teeth. The flexible wheel and the rigid wheel are respectively meshed at four positions of a first circular arc line, a second circular arc line, a third circular arc line and a fourth circular arc line, and the meshing is single-sided tooth meshing.

[0016] Furthermore, the flexible wheel and the rigid wheel are meshed with the left tooth surface at the position corresponding to the first circular arc line, are meshed with the right tooth surface at the position corresponding to the second circular arc line, the meshing condition at the position corresponding to the third circular arc line is the same as the meshing condition at the position corresponding to the first circular arc line, and the meshing condition at the position corresponding to the fourth circular arc line is the same as the meshing condition at the position corresponding to the second circular arc line.

[0017] A reducer includes a wave generator, two flexible bearings, a flexible wheel, a first rigid wheel, and a second rigid wheel. The first rigid wheel meshes with the flexible wheel with the same number of teeth, and the second rigid wheel meshes with the flexible wheel with a different number of teeth. The flexible wheel is meshed with single-sided teeth at four positions, namely, the first circular arc line, the second circular arc line, the third circular arc line, and the fourth circular arc line, and at the same meshing position, the meshing tooth surfaces of the flexible wheel, the first rigid wheel, and the second rigid wheel are opposite.

[0018] Furthermore, the flexible wheel and the rigid wheel 1 are meshed with the right tooth surface at the position corresponding to the first circular arc line, and are meshed with the left tooth surface at the position corresponding to the second circular arc line. The meshing condition at the position corresponding to the third circular arc line is the same as the meshing condition at the position corresponding to the first circular arc line, and the meshing condition at the position corresponding to the fourth circular arc line is the same as the meshing condition at the position corresponding to the second circular arc line.

[0019] Furthermore, the flexible wheel and the rigid wheel 2 are meshed with the left tooth surface at the position corresponding to the first circular arc line, are meshed with the right tooth surface at the position corresponding to the second circular arc line, the meshing condition at the position corresponding to the third circular arc line is the same as the meshing condition at the position corresponding to the first circular arc line, and the meshing condition at the position corresponding to the fourth circular arc line is the same as the meshing condition at the position corresponding to the second circular arc line.

[0020] In summary, the present invention has the following beneficial effects:

[0021] 1. After the wave generator of the present invention is modified, compared with the traditional single rigid wheel harmonic reducer, the meshing of the flexible wheel and the rigid wheel in the reducer is changed from two meshing places to four meshing places, so that the meshing position is more even in the circumferential direction, thereby making the operation of the reducer more stable;

[0022] 2. In the reducer of the present invention, the flexible wheel and the rigid wheel are all single-sidedly meshed at the four meshing positions, while in the traditional structure, when the wave generator is an ellipse, the flexible wheel and the rigid wheel are meshed with full teeth at the top of the major axis of the ellipse, which greatly reduces the possibility of tooth meshing interference caused by processing or assembly errors, improves the operating accuracy of the reducer, and reduces noise and vibration;

[0023] 3. In the present invention, the flexible wheel and the rigid wheel are meshed at four positions, and the gap between the flexible wheel and the rigid wheel at the non-meshing position is much smaller than the gap between the flexible wheel and the rigid wheel at the end point of the minor semi-axis of the ellipse in the conventional reducer, thereby greatly reducing the space for the flexible wheel to deviate and jump teeth, reducing the possibility of tooth jumping, and improving the impact resistance of the reducer;

[0024] 4. When the reducer of the present invention is a double rigid wheel structure, the meshing positions of the flexible wheel and the rigid wheel one and the rigid wheel two are closer at four positions, especially when the β angle is 45°, the flexible wheel and the rigid wheel one and the rigid wheel two are meshed at four identical positions, so that the force on the flexible wheel is more uniform, and the rigid wheels one and two run more smoothly, which greatly reduces the possibility of the flexible wheel being twisted, deformed or even broken by the rigid wheels one and two when subjected to impact force, thereby improving the impact resistance of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a diagram of the normal meshing state of the rigid wheel and the flexible wheel of the harmonic reducer in the prior art;

[0026] Figure 2 It is a schematic diagram of the meshing state of the flexible wheel of the harmonic reducer in the prior art after being impacted and jumping teeth;

[0027] Figure 3 It is a schematic diagram of a modified structure of a wave generator in the present invention;

[0028] Figure 4 It is a schematic diagram of a single rigid wheel structure of a reducer in the present invention;

[0029] Figure 5 It is a schematic diagram of the meshing state of the flexible wheel and the rigid wheel in a single rigid wheel structure of a reducer in the present invention;

[0030] Figure 6 It is a schematic diagram of a double rigid wheel structure of a reducer in the present invention;

[0031] Figure 7 It is a schematic diagram of the same-tooth meshing state of the flexible wheel and the rigid wheel one in the double rigid wheel structure of a reducer in the present invention;

[0032] Figure 8 It is a schematic diagram of the meshing state of the difference in the number of teeth between the flexible wheel and the rigid wheel 2 in the double rigid wheel structure of a reducer in the present invention.

[0033] In the figure, 01, ellipse; 02, first arc line; 03, second arc line; 04, third arc line; 05, fourth arc line; 06, first connecting arc line; 07, second connecting arc line; 1, wave generator; 2, flexible bearing; 3, rigid wheel; 4, flexible wheel; 5, rigid wheel one; 6, rigid wheel two. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] A wave generator shaping method, such as Figure 3 As shown, Taking the longitudinal section of the wave generator 1 perpendicular to its axis as a reference, the wave generator 1 is reshaped on the basis of the conventional ellipse 01 shape of the wave generator 1, and the center point of the ellipse 01 is taken as the base point O, the minor axis of the ellipse 01 is taken as the X-axis, and the major axis of the ellipse 01 is taken as the Y-axis to form the coordinate axis. The first arc line 02, the second arc line 03, the third arc line 04, and the fourth arc line 05 are respectively provided in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant. The first arc line 02 and the second arc line 03 are symmetrically arranged about the Y-axis, the second arc line 03 and the third arc line 04 are symmetrically arranged about the X-axis, the third arc line 04 and the fourth arc line 05 are symmetrically arranged about the Y-axis, and the first arc line 02 and the fourth arc line 05 are symmetrically arranged about the X-axis.

[0036] like Figure 3 As shown, the first arc line 02 and the second arc line 03, the third arc line 04 and the fourth arc line 05 are connected by the first connecting arc line 06, and the second arc line 03 and the third arc line 04, the first arc line 02 and the fourth arc line 05 are connected by the second connecting arc line 07. The first arc line 02, the second arc line 03, the third arc line 04, the fourth arc line 05, the two first connecting arc lines 06, and the two second connecting arc lines 07 are sequentially connected to form a closed and continuous irregular curve, and the irregular curve is the longitudinal section shape of the wave generator 1.

[0037] The first arc line 02, the second arc line 03, the third arc line 04, the fourth arc line 05, the first connecting arc line 06, and the second connecting arc line 07 meet the following conditions:

[0038] (1) The two first connecting arc lines 06 are tangent to the first arc line 02, the second arc line 03, the third arc line 04, and the fourth arc line 05 at their two ends respectively, and the two second connecting arc lines 07 are tangent to the first arc line 02, the fourth arc line 05, the second arc line 03, and the third arc line 04 at their two ends respectively;

[0039] (2) The center of the first arc 02 is located in the first quadrant, and the angle between the line connecting the center of the first arc 02 and the base point O and the upper semi-axis of the Y axis is β, and the range of β is 40°-50°; at the same time, the first arc 02 is located outside the ellipse 01, and its radius is smaller than the radius of the position on the ellipse 01 corresponding to the angle β. In other words, the upper semi-axis of the Y axis is offset by an angle β into the first quadrant to form an angle line, and the center of the first arc 02 is on the angle line, and the curvature radius of the angle line and the ellipse 01 at the angular position in the first quadrant is greater than the radius of the first arc 02. In other words, the first arc 02 bulges outward compared to the ellipse 01.

[0040] (3) The vertices and centers of the two first connecting arc lines 06 are both located on the Y axis, and the vertices of the two first connecting arc lines 06 are located between the two vertices of the major axis of the ellipse 01, and the radius of the first connecting arc line 06 is greater than the length of the major semi-axis of the ellipse 01. In other words, taking the first and second quadrants as an example, the vertices of the first connecting arc line 06 are located below the vertices of the upper end of the major semi-axis of the ellipse 01. In other words, the first connecting arc line 06 is concave inward compared to the ellipse 01.

[0041] (4) The vertices and centers of the two second connecting arc lines 07 are both located on the X-axis, and the vertices of the two second connecting arc lines 07 on the X-axis are located between the two vertices of the minor axis of the ellipse 01, and the radius of the second connecting arc line 07 is greater than the length of the minor semi-axis of the ellipse 01. In other words, taking the second and third quadrants as an example, the vertex of the second connecting arc line 07 is located to the right of the left vertex of the minor semi-axis of the ellipse 01. In other words, the second connecting arc shape is concave inward compared to the ellipse 01.

[0042] (5) The circumference of the curve formed by the first arc line 02, the second arc line 03, the third arc line 04, the fourth arc line 05, the two first connecting arc lines 06, and the two second connecting arc lines 07 is equal to the circumference of the ellipse 01, thereby ensuring that the cross-sectional circumference of the wave generator 1 after the modification is equal to the cross-sectional circumference of the original ellipse 01, thereby ensuring that the flexible bearing 2 can be installed outside the wave generator 1 without redesigning the flexible bearing 2, the flexible wheel 4, and the rigid wheel 3.

[0043] like Figure 3 , Figure 4 and Figure 5 As shown, after the wave generator 1 is modified by the above-mentioned shaping method, after the wave generator 1 and the flexible bearing 2, the flexible wheel 4 and the rigid wheel 3 are assembled into a reducer, the flexible wheel 4 and the rigid wheel 3 are meshed at the positions of the first arc line 02, the second arc line 03, the third arc line 04 and the fourth arc line 05, and the meshing position changes from meshing at two places to meshing at four places.

[0044] like Figure 3 and Figure 5As shown, in this embodiment, the angle of β is preferably 45°, the first arc line 02 and the third arc line 04 are 180° symmetrical, and the second arc line 03 and the fourth arc line 05 are 180° symmetrical. In this way, the first arc line 02, the second arc line 03, the third arc line 04, and the fourth arc line 05 are arranged in a circular array around the base point O, and the meshing conditions of the flexible wheel 4 and the rigid wheel 3 at four positions are more uniform, ensuring that the flexible wheel 4 is subjected to more uniform force and improving the impact resistance.

[0045] A wave generator, such as Figure 3 As shown, after the above shaping method is used, The longitudinal section perpendicular to the axial direction is a first arc line 02, a second arc line 03, a third arc line 04, a fourth arc line 05, two first connecting arc lines 06, and two second connecting arc lines 07 connected in sequence to form a closed and continuous irregular curve, and the circumference of the irregular curve is equal to the circumference of the shaping front wave generator 1. Figure 3 , Figure 4 and Figure 5 As shown, after the flexible bearing 2, the flexible wheel 4 and the rigid wheel 3 are inserted into the wave generator 1, the flexible wheel 4 and the rigid wheel 3 are meshed at four positions of the first circular arc line 02, the second circular arc line 03, the third circular arc line 04 and the fourth circular arc line 05 respectively.

[0046] A reducer, such as Figure 3 As shown, it is a single rigid wheel structure, including the above-mentioned modified wave generator 1 , further comprising a flexible bearing 2, a flexible wheel 4 and a rigid wheel 3, wherein the rigid wheel 3 and the flexible wheel 4 are meshed with each other by a different number of teeth, such as Figure 3 and Figure 5 As shown, the flexible wheel 4 and the rigid wheel 3 are meshed at four positions, namely, the first arc line 02, the second arc line 03, the third arc line 04, and the fourth arc line 05, and the meshing is all single-sided tooth meshing. Among them, the flexible wheel 4 and the rigid wheel 3 are meshed with the left tooth surface at the position corresponding to the first arc line 02, and the right tooth surface at the position corresponding to the second arc line 03. The meshing condition at the position corresponding to the third arc line 04 is the same as the meshing condition at the position corresponding to the first arc line 02, and the meshing condition at the position corresponding to the fourth arc line 05 is the same as the meshing condition at the position corresponding to the second arc line 03. In addition, the flexible wheel 4 and the rigid wheel 3 are in a disengaged state at the four vertex positions of the two first connecting arc lines 06 and the two second connecting arc lines 07, and there is no meshing.

[0047] like Figure 3 and Figure 5 As shown in FIG. 1 , at the four meshing positions, the flexible wheel 4 and the rigid wheel 3 only have single-sided teeth meshing, which greatly reduces the possibility of tooth meshing interference caused by processing or assembly errors. Figure 1 In this meshing state, at the vertex position of the second connecting arc line 07, the gap between the flexible wheel 4 and the rigid wheel 3 is smaller than the gap at the two vertices of the elliptical minor axis of the conventional harmonic reducer. Therefore, the space for the flexible wheel 4 to offset and jump teeth can be reduced, the possibility of tooth jumping is reduced, and the impact resistance of the reducer is improved.

[0048] A reducer, such as Figure 6 As shown, it is a double rigid wheel structure, including the above-mentioned modified wave generator 1 , and also includes two flexible bearings 2, a flexible wheel 4, a rigid wheel 1 5, and a rigid wheel 2 6. The rigid wheel 1 5 meshes with the flexible wheel 4 with the same number of teeth, and the rigid wheel 2 6 meshes with the flexible wheel 4 with a difference of two teeth. One of the rigid wheel 1 5 and the rigid wheel 2 6 is a fixed end, and the other is an output end. Figure 3 , Figure 7 and Figure 8 As shown, the flexible wheel 4 and the rigid wheel 1 5 and the rigid wheel 2 6 are all single-sidedly meshed at the first arc line 02, the second arc line 03, the third arc line 04, and the fourth arc line 05, respectively, and at the same meshing position, the meshing tooth surfaces of the flexible wheel 4 and the rigid wheel 1 5 and the rigid wheel 2 6 are opposite. Figure 3 , Figure 5 and Figure 8 As shown, the single-sided tooth meshing of the flexible wheel 4 and the rigid wheel 2 6 at four positions in the double rigid wheel structure is the same as the single-sided meshing of the flexible wheel 4 and the rigid wheel 3 at four positions in the single rigid wheel. The left tooth surface meshes at the corresponding positions of the first circular arc line 02 and the third circular arc line 04, and the right tooth surface meshes at the positions of the second circular arc line 03 and the fourth circular arc line 05.

[0049] In the conventional double rigid wheel structure deceleration, the meshing positions of the flexible wheel and the two rigid wheels are completely different, and the forces on both ends of the flexible wheel come from different positions, which can easily cause the flexible wheel to deform under the forces from the two rigid wheels, or even break under the action of two impact forces. Figure 3 , Figure 7 and Figure 8 As shown, the four meshing positions of the flexible wheel 4 and the rigid wheel 1 5 and the rigid wheel 2 6 after the wave generator 1 is modified in the present invention are basically similar, especially when the β angle is 45°, the meshing positions are exactly the same. In addition, the meshing tooth surfaces of the flexible wheel 4 and the rigid wheel 1 5 and the rigid wheel 2 6 at the four meshing positions are just opposite. The flexible wheel 4 and the rigid wheel 1 5 are meshed with the right tooth surface at the corresponding positions of the first circular arc line 02 and the third circular arc line 04, and the left tooth surface is meshed at the corresponding positions of the second circular arc line 03 and the fourth circular arc line 05. In this way, the forces at both ends of the flexible wheel 4 are evenly applied, the rigid wheel 1 5 and the rigid wheel 2 6 run more smoothly, and the possibility of the flexible wheel 4 being twisted, deformed or even broken by the force applied by the rigid wheel 1 5 and the rigid wheel 2 6 when impacted is greatly reduced, thereby improving the impact resistance of the deceleration.

[0050] When the reducer in the present invention is a single-rigid wheel or double-rigid wheel structure, except that the wave generator 1 adopts a modified structure, the remaining components are the same as the structural structure of the single-rigid wheel or double-rigid wheel harmonic reducer in the prior art.

[0051] Working principle and use method of the present invention:

[0052] By modifying the wave generator 1 to include the first arc line 02, the second arc line 03, the third arc line 04, the fourth arc line 05, the first connecting arc line 06, and the second connecting arc line 07, when the wave generator 1 is used, the flexible wheel 4 and the rigid wheel 3 are meshed at the corresponding positions of the first arc line 02, the second arc line 03, the third arc line 04, and the fourth arc line 05, and the meshing of the flexible wheel 4 and the rigid wheel 3 is changed from meshing at two places to meshing at four places, so that the meshing position is more even in the circumferential direction, thereby making the operation of the reducer more stable. In addition, the gap between the non-meshing positions of the flexible wheel 4 and the rigid wheel 3 is much smaller than the gap between the flexible wheel and the rigid wheel at the end point of the minor semi-axis of the ellipse in the conventional reducer, thereby greatly reducing the space for the flexible wheel 4 to deviate and jump teeth, reducing the possibility of jumping teeth, and improving the impact resistance of the reducer.

[0053] The flexible wheel 4 and the rigid wheel 3 are single-sidedly meshed at the four meshing positions. When the wave generator in the traditional structure is an ellipse, the flexible wheel 4 and the rigid wheel 3 are fully meshed at the top of the major axis of the ellipse, which greatly reduces the possibility of tooth meshing interference caused by processing or assembly errors, improves the operating accuracy of the reducer, and reduces noise and vibration.

[0054] When the reducer has a double rigid wheel structure, the meshing positions of the flexible wheel 4, the rigid wheel 1 5 and the rigid wheel 2 6 are closer at four positions, especially when the β angle is 45°, the flexible wheel 4 meshes with the rigid wheel 1 5 and the rigid wheel 2 6 at four identical positions, so that the force on the flexible wheel 4 is more uniform, and the rigid wheels 1 5 and 2 6 run more smoothly, which greatly reduces the possibility of the flexible wheel 4 being twisted, deformed or even broken by the rigid wheels 1 5 and 2 6 when subjected to impact force, thereby improving the impact resistance of the reducer.

[0055] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A wave generator shaping method, Features: The center point of the ellipse (01) is taken as the base point O, the minor axis of the ellipse (01) is taken as the X-axis, and the major axis of the ellipse (01) is taken as the Y-axis to form the coordinate axis. A first arc line (02), a second arc line (03), a third arc line (04), and a fourth arc line (05) are respectively arranged in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant. The first arc line (02) and the second arc line (03) are symmetrically arranged about the Y-axis, the second arc line (03) and the third arc line (04) are symmetrically arranged about the X-axis, and the third arc line (04) and the fourth arc line (05) are symmetrically arranged about the Y-axis. The first arc line (02) and the second arc line (03), and the third arc line (04) and the fourth arc line (05) are connected by a first connecting arc line (06) tangent thereto; the second arc line (03) and the third arc line (04), and the first arc line (02) and the fourth arc line (05) are connected by a second connecting arc line (07) tangent thereto; the first arc line (02), the second arc line (03), the third arc line (04), the fourth arc line (05), the two first connecting arc lines (06), and the two second connecting arc lines (07) are sequentially connected to form a closed and continuous irregular curve, and the irregular curve is the longitudinal cross-sectional shape of the wave generator (1); The center of the first circular arc (02) is located in the first quadrant, and the angle between the line connecting the first circular arc (02) and the base point O and the Y axis is β, and the range of β is 40°-50°. The first circular arc (02) is located outside the ellipse (01), and its radius is smaller than the radius of the corresponding position on the ellipse (01) corresponding to the angle β. The vertices of the two first connecting arc lines (06) are located between the two vertices of the major axis of the ellipse (01), the center of the first connecting arc line (06) is located on the Y axis, and the radius of the first connecting arc line (06) is greater than the length of the major semi-axis of the ellipse (01); The vertices of the two second connecting arc lines (07) are located between the two vertices of the minor axis of the ellipse (01), the center of the second connecting arc line (07) is located on the X-axis, and the radius of the second connecting arc line (07) is greater than the length of the minor semi-axis of the ellipse (01); The circumference of the curve formed by the first arc line (02), the second arc line (03), the third arc line (04), the fourth arc line (05), the two first connected arc lines (06), and the two second connected arc lines (07) is equal to the circumference of the ellipse (01).

2. A wave generator shaping method according to claim 1, Features: The angle of β is 45°, the first arc line (02) and the third arc line (04) are 180° symmetrical, and the second arc line (03) and the fourth arc line (05) are 180° symmetrical.

3. A wave generator, Features: The cross-sectional shape obtained after shaping by the shaping method according to claim 1 or 2 is that the first arc line (02), the second arc line (03), the third arc line (04), the fourth arc line (05), two first connected arc lines (06), and two second connected arc lines (07) are connected in sequence to form a closed and continuous irregular curve.

4. A reducer, Features: The invention comprises a wave generator (1) as claimed in claim 3, and further comprises a flexible bearing (2), a flexible wheel (4) and a rigid wheel (3), wherein the rigid wheel (3) is meshed with the flexible wheel (4) by a difference in the number of teeth, and the flexible wheel (4) and the rigid wheel (3) are respectively meshed at four positions of a first circular arc line (02), a second circular arc line (03), a third circular arc line (04), and a fourth circular arc line (05), and the meshing is all single-sided tooth meshing.

5. A reducer according to claim 4, Features: The flex wheel (4) and the rigid wheel (3) are in left tooth surface meshing at the position corresponding to the first circular arc (02), and are in right tooth surface meshing at the position corresponding to the second circular arc (03). The meshing condition at the position corresponding to the third circular arc (04) is the same as the meshing condition at the position corresponding to the first circular arc (02), and the meshing condition at the position corresponding to the fourth circular arc (05) is the same as the meshing condition at the position corresponding to the second circular arc (03).

6. A reducer, Features: The invention comprises a wave generator (1) as claimed in claim 3, and further comprises two flexible bearings (2), a flexible wheel (4), a rigid wheel one (5), and a rigid wheel two (6), wherein the rigid wheel one (5) meshes with the flexible wheel (4) with the same number of teeth, and the rigid wheel two (6) meshes with the flexible wheel (4) with a different number of teeth; the flexible wheel (4) and the rigid wheel one (5) and the rigid wheel two (6) are meshed with single-sided teeth at four positions of the first circular arc (02), the second circular arc (03), the third circular arc (04), and the fourth circular arc (05), and at the same meshing position, the meshing tooth surfaces of the flexible wheel (4) and the rigid wheel one (5) and the rigid wheel two (6) are opposite.

7. A reducer according to claim 6, Features: The flexible wheel (4) and the rigid wheel (5) are in right tooth surface meshing at the position corresponding to the first circular arc (02), and are in left tooth surface meshing at the position corresponding to the second circular arc (03). The meshing condition at the position corresponding to the third circular arc (04) is the same as the meshing condition at the position corresponding to the first circular arc (02), and the meshing condition at the position corresponding to the fourth circular arc (05) is the same as the meshing condition at the position corresponding to the second circular arc (03).

8. A reducer according to claim 7, Features: The flexible wheel (4) and the rigid wheel 2 (6) are in left tooth surface meshing at the position corresponding to the first circular arc (02), and are in right tooth surface meshing at the position corresponding to the second circular arc (03). The meshing condition at the position corresponding to the third circular arc (04) is the same as the meshing condition at the position corresponding to the first circular arc (02), and the meshing condition at the position corresponding to the fourth circular arc (05) is the same as the meshing condition at the position corresponding to the second circular arc (03).

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