Harmonic reducer, robot and method for monitoring life of reducer thereof

Abstract

The application provides a harmonic reducer, a robot and a reducer life monitoring method thereof. The harmonic reducer comprises a rigid gear, a flexible gear, a wave generator, a main shaft, a generator and a monitoring system. The generator is arranged between the flexible gear and the main shaft, and the generator generates electricity by using kinetic energy generated by rotation of the main shaft, and supplies power to the monitoring system. The monitoring system comprises a microphone, a processor and a loudspeaker which are electrically connected. The robot comprises the harmonic reducer. The reducer life monitoring method of the robot comprises: acquiring noise data through the microphone and rotation speed data through an angle encoder; generating first frequency data according to the noise data and second frequency data according to the rotation speed data; and issuing a warning signal through the loudspeaker if a characteristic value of a ratio of the first frequency data to the second frequency data reaches a first preset value or a characteristic value of the noise data reaches a second preset value. The application has a monitoring and noise reduction system built in the harmonic reducer, and realizes life monitoring and active noise reduction based on noise data.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, specifically to a harmonic speed reducer, a robot, and a method for monitoring the lifespan of the speed reducer. Background Technology

[0002] Harmonic reducers have many advantages, such as high transmission accuracy, large speed ratio, small size, simple structure and wide application.

[0003] Harmonic reducers mainly consist of a rigid wheel, a flexible wheel, a wave generator, and a main shaft. Generally, the rigid wheel is fixed, and when the wave generator rotates, it forces the flexible wheel to undergo elastic deformation, causing the teeth of the flexible wheel to mesh with the teeth of the rigid wheel, thereby achieving transmission.

[0004] With the development of service robots, especially the gradual entry of bionic robots into the public eye in recent years, people have new requirements for robot products. In addition to precision and lifespan, they are paying more and more attention to environmental indicators and safety factors such as noise and lifespan testing. The main source of robot noise is the high-speed reducer. The purpose of reducer lifespan testing is to ensure that the robot can detect and actively stop to protect itself before it is close to failure, thereby avoiding a series of safety problems caused by robot failure.

[0005] There is a current method for predicting the lifespan of speed reducers. This method combines current and vibration signals to reduce interference, analyzes and calculates degradation index curves, and then predicts the lifespan of harmonic speed reducers based on these curves. However, due to the generally harsh working environment and complex and variable operating conditions of speed reducers, this current signal-based lifespan prediction method monitors the speed reducer under initial conditions and cannot reflect the real-time status of various speed reducer indicators. Therefore, it fails to achieve truly effective lifespan monitoring and early warning. Summary of the Invention

[0006] The primary objective of this invention is to provide a harmonic reducer that achieves lifespan monitoring and noise reduction based on noise data.

[0007] The second objective of this invention is to provide a robot that achieves lifespan monitoring and noise reduction based on noise data.

[0008] The third objective of this invention is to provide a method for monitoring the lifespan of a robot's reducer based on noise data.

[0009] The first objective of this invention is to provide a harmonic reducer comprising a rigid wheel, a flexible wheel, a wave generator, a main shaft, a generator, and a monitoring system; the generator is disposed between the flexible wheel and the main shaft, and generates electricity using the kinetic energy generated by the rotation of the main shaft, and supplies power to the monitoring system; the monitoring system is disposed within the harmonic reducer, and the monitoring system comprises a microphone, a processor, and a speaker connected in sequence.

[0010] As can be seen from the above scheme, since the natural frequency of an undamped single-degree-of-freedom vibration system is related to the system stiffness k and mass m, the mass m of the harmonic reducer remains basically constant. However, due to the wear of the meshing teeth, the reducer stiffness k gradually decreases with the extension of operating time. When the natural frequency of the harmonic reducer vibration is close to the natural frequency of the equipment, it is more susceptible to resonance caused by excitation force, resulting in abnormal characteristic frequency signals. Therefore, this invention sets up a monitoring system within the harmonic reducer. By using a microphone in the monitoring system to pick up noise data related to the rotation of the main shaft and wave generator, and the meshing of the flexible and rigid wheels, the processor extracts the characteristic frequency of the reducer noise. When the characteristic frequency increases by a certain multiple, it indicates a significant decrease in reducer stiffness and abnormal wear at the meshing parts of the reducer teeth. Continued operation will lead to failure, and a failure warning signal will then be issued through a usable speaker. This invention can detect abnormal changes in the characteristic frequency in advance, thereby achieving real-time monitoring of the safe operating status of the harmonic reducer. The unexpected effect is that the system is easy to set up, and in addition to monitoring and early warning, it can also be used as an active noise reduction system. The processor generates inverse noise data based on the acquired noise data and emits inverse noise through the speaker. The noise with opposite waveforms cancels each other out, thus achieving noise reduction.

[0011] A further embodiment is that the flex wheel includes a connected cylinder and a diaphragm, and the harmonic reducer also includes a flex wheel flange, which includes a connected peripheral wall and a flange portion. The diaphragm is connected to the flange portion, and the peripheral wall is located between the cylinder and the main shaft. The generator is located between the peripheral wall and the main shaft, and / or the monitoring system is located between the peripheral wall and the cylinder.

[0012] A further proposed solution is to place the microphone and processor on the outside of the perimeter wall, and fix the speaker to the flange or the perimeter wall.

[0013] A further proposed solution is that the flexible wheel includes a first gear, and the rigid wheel includes a second gear, with the first gear meshing with the second gear; the microphone is positioned near the first gear along the axial direction of the spindle.

[0014] A further design includes a generator comprising cooperating magnets and coils, with the coils connected to the outside of the main shaft and the magnets positioned on the inside of the peripheral wall.

[0015] As can be seen from the above, many components of the monitoring system need to be fixedly installed. Therefore, it is necessary to find a space within the harmonic reducer that balances protection, stability, and ease of noise data acquisition as the installation location. The key to this invention lies in the use of a flexible wheel flange. In addition to the disc-shaped flange portion, the flexible wheel flange also includes a bearing housing protruding from the flange portion, with a bearing connecting the main shaft and the bearing housing. This invention forms the peripheral wall of the invention by extending the axial dimension of the bearing housing. The outer side of the peripheral wall and the cylindrical portion of the flexible wheel form a usable outer annular space. This space is adjacent to the flexible wheel and directly opposite the wave generator. Since the flexible wheel flange is a non-rotating component, this invention selects the peripheral wall of the flexible wheel flange as the installation base and the aforementioned outer annular space as the installation location. Placing the microphone and processor at this location not only provides stability and protection but also brings them closer to the noise source, facilitating noise data acquisition. In a more optimized solution, the flange portion of the flexible wheel flange is generally located at the axial end of the harmonic reducer, and the loudspeaker is mounted on the flange portion. The loudspeaker can simultaneously face both the inside and outside of the reducer, resulting in better cancellation of anti-phase noise and clearer transmission of warning signals to the outside of the equipment. In an even more optimized solution, after the aforementioned bearing housing is extended to form a peripheral wall, an inner annular space is formed between the inner side of the peripheral wall and the main shaft, on one side of the bearing. Due to the relative rotation between the inner and outer sides of the inner annular space, it is very convenient to place the generator coil and magnet on the main shaft and the peripheral wall respectively. In this way, the kinetic energy generated by the rotation of the main shaft can be effectively utilized to generate electricity, thereby powering the monitoring system. It can be seen that the present invention takes into account the unique structural characteristics of the harmonic reducer itself, and makes full use of the very limited space inside the harmonic reducer to realize the placement of the generator and the monitoring system without increasing the structural size as much as possible, making the harmonic reducer structure compact, tight, stable and effective.

[0016] A further improvement is that the generator also includes a current commutator, which is located on the inner side of the peripheral wall.

[0017] As can be seen from the above, DC power supply can be achieved by setting a current commutator.

[0018] A further option is to include a battery in the harmonic reducer, with the battery fixedly installed inside the reducer and the generator electrically connected to the battery.

[0019] As can be seen from the above, in addition to installing a DC generator in the flex wheel cavity of the reducer to provide DC power to the entire system, a battery is also added inside to store the remaining electrical energy of the generator.

[0020] Another further option is that the monitoring system also includes a vibration sensor, which is electrically connected to the processor; the vibration sensor is installed on the cylinder and / or on the diaphragm.

[0021] As can be seen from the above, the vibration sensor can acquire vibration data on the flexible wheel. This data, combined with the noise data, generates inverse noise data that more effectively cancels out the noise, achieving a better noise reduction effect.

[0022] A further proposed solution is to create a gap between the diaphragm and the flange, with the vibration sensor mounted on the diaphragm positioned within this gap.

[0023] As can be seen from the above, since the other side of the diaphragm is close to the rotating rigid bearing, the space at this position is small and not conducive to stability and protection. Therefore, choosing a relatively fixed flange with a larger gap between it and the diaphragm as the installation position can better protect the sensor, and this gap is connected to the outer ring space mentioned above, which is more conducive to wiring.

[0024] Another further option is that the monitoring system also includes an angle encoder, which is fixedly installed in the harmonic reducer and positioned toward the wave generator, and the angle encoder is electrically connected to the processor.

[0025] As can be seen from the above, the angle encoder is used to acquire the rotational speed data of the wave generator. The processor can calculate the corresponding second frequency data based on this data, and combine it with the first frequency data corresponding to the noise data to calculate the real-time frequency multiplication, thereby improving the real-time performance and accuracy of monitoring.

[0026] The robot provided by the second objective of this invention includes the aforementioned harmonic reducer.

[0027] As can be seen from the above scheme, this invention incorporates a monitoring system within the harmonic reducer. By using a microphone within the monitoring system to pick up noise data related to the rotation of the main shaft and wave generator, as well as the noise generated by the meshing of the flexible and rigid wheels, the processor extracts the characteristic frequency of the reducer noise. When the characteristic frequency increases by a certain multiple, it indicates a significant decrease in reducer stiffness and abnormal wear at the gear meshing points. Continued operation will lead to failure, and a failure warning signal is then emitted through a usable speaker. This invention can detect abnormal changes in the characteristic frequency in advance, thereby achieving real-time monitoring of the safe operating status of the harmonic reducer. An unexpected effect is that, in addition to monitoring and warning functions, the monitoring system also functions as an active noise reduction system. The processor generates inverse noise data based on the acquired noise data and emits this inverse noise through a speaker to achieve noise reduction, making the robot operate more quietly.

[0028] The third objective of this invention is to provide a robot reducer life monitoring method, in which the robot includes the aforementioned harmonic reducer, and the harmonic reducer further includes an angle encoder; the robot reducer life monitoring method includes: acquiring noise data through a microphone, acquiring rotational speed data through the angle encoder; generating first frequency data based on the noise data, generating second frequency data based on the rotational speed data; and issuing a life warning signal if any of the following conditions are met: first condition: the characteristic value of the ratio of the first frequency data to the second frequency data reaches a first preset value; second condition: the characteristic value of the noise data reaches a second preset value.

[0029] As can be seen from the above scheme, by using the microphone in the monitoring system to pick up noise data related to the rotation of the main shaft and wave generator, the meshing of the flexible wheel and rigid wheel, etc., the processor extracts the characteristic frequency of the reducer noise. When the characteristic frequency increases by a certain multiple, or when the noise sound pressure level or sound power level of the noise data exceeds a certain value, it indicates that the stiffness of the reducer has decreased significantly and abnormal wear has occurred at the meshing part of the reducer gear teeth. Continued operation will lead to failure. Subsequently, a failure warning signal is issued through a usable speaker.

[0030] A further embodiment includes a vibration sensor in the harmonic reducer. The vibration sensor is electrically connected to the processor and connected to the flexible wheel. Vibration data is acquired through the vibration sensor. If the result of the step of determining whether the ratio of the first frequency data to the second frequency data reaches a preset value is negative, inverse noise data is generated based on the noise data and vibration data. Based on the inverse noise data, an inverse noise signal is emitted through a speaker.

[0031] As can be seen from the above, in addition to monitoring and early warning, the monitoring system can also serve as an active noise reduction system. The processor generates inverse noise data based on the acquired noise data and emits inverse noise through the speaker to achieve noise reduction, making the robot quieter when it works. Attached Figure Description

[0032] Figure 1 This is a cross-sectional view of an embodiment of the harmonic reducer of the present invention.

[0033] Figure 2 This is an axial structural diagram of an embodiment of the harmonic reducer of the present invention.

[0034] Figure 3 for Figure 1 Enlarged view of point A in the middle.

[0035] Figure 4 for Figure 1 Enlarged view of point B in the middle.

[0036] Figure 5 This is a flowchart illustrating an embodiment of the robot reducer life monitoring method of the present invention.

[0037] Harmonic reducer examples

[0038] See Figure 1 , Figure 3 and Figure 4 The robot of the present invention includes a harmonic reducer. The harmonic reducer of this embodiment includes a rigid wheel 1, a flexible wheel 2, a wave generator 3, a main shaft 4, a flexible wheel flange 5, a rigid wheel bearing 6, a monitoring system 7, a storage battery 76, a generator 8, and a main shaft bearing 9. Of course, it also includes the rigid wheel flange, which is not shown.

[0039] The inner ring 61 of the rigid wheel 1, the rigid wheel flange and the rigid wheel bearing 6 are fixedly connected along the axial direction, and the inner circumference of the rigid wheel 1 is provided with a second gear tooth 13.

[0040] The flexible wheel 2 includes a cylindrical portion 21 and a diaphragm 22. The cylindrical portion 21 extends axially, and the diaphragm 22 extends radially in an annular shape. The diaphragm 22 is connected to the first axial end of the cylindrical portion 21. A first gear tooth 23 is provided on the outer periphery of the second axial end of the cylindrical portion 21. The second axial end of the cylindrical portion 21 is located on the inner periphery of the rigid wheel 1. The first gear tooth 23 meshes with the second gear tooth 13.

[0041] The wave generator 3 includes a cam 31 and a flexible bearing 32. The wave generator 3 is mounted on the inner circumference of the first axial end of the cylindrical part 21. The second gear tooth 13, the first gear tooth 23 and the wave generator 3 are in the same axial position. The main shaft 4 is fixedly connected to the cam 31.

[0042] The flexible wheel flange 5 includes a connected peripheral wall 51 and a flange portion 52. The peripheral wall 51 extends axially, and the flange portion 52 extends radially in an annular shape. The flange portion 52 is connected to the first axial end of the peripheral wall 51. The flange portion 52, the connecting ring of the outer edge of the diaphragm 22, and the outer ring 62 of the rigid wheel bearing 6 are sequentially and axially fixedly connected.

[0043] The peripheral wall 51 is actually the bearing housing of the main spindle 4. The main spindle bearing 9 is mounted on the main spindle 4 and fixed to the inner circumference of the peripheral wall 51.

[0044] Combined Figure 2 Thus, when the main shaft 4 drives the wave generator 3 to rotate, it forces the flexible wheel 2 to undergo elastic deformation, thereby causing the first gear tooth 23 to mesh with the second gear tooth 13 of the rigid wheel 1, thereby realizing transmission.

[0045] The peripheral wall 51 is located on the inner circumference of the cylinder 21 and on the outer circumference of the main shaft 4. For example... Figure 4 As shown, an outer annular space 101 that can be utilized is formed between the outer side of the peripheral wall 51 and the inner side of the cylindrical portion 21 of the flexible wheel. Figure 3As shown, an inner annular space 102 is formed between the inner side of the peripheral wall 51 and the main shaft 4, next to the main shaft bearing. The outer side mentioned above and below refers to the outer peripheral surface, and the inner side mentioned above and below refers to the inner peripheral surface. Additionally, a gap 20 is formed between the flange 52 and the diaphragm 22, and the gap 20 communicates with the aforementioned outer annular space 101.

[0046] See Figure 1 and Figure 3 The generator 8 includes a magnet 82, a coil 81, and a current commutator 83. The magnet 82, coil 81, and current commutator 83 are all disposed in the aforementioned inner annular space 102. The coil 81 is fixedly connected to the outside of the main shaft 4, while the magnet 82 and current commutator 83 are fixedly disposed on the inside of the peripheral wall 51. The coil 81 and the magnet 82 are located in the same axial position and are opposite to each other. The current commutator 83 includes a first semicircular ring 831 and a second semicircular ring 832 that are on the same circle but disconnected from each other.

[0047] Thus, the main shaft 4 and the peripheral wall 41 on the inner and outer sides of the inner annular space 102 rotate relative to each other, and the coil 81 and magnet 82 of the generator 8 are respectively set on the main shaft 4 and the peripheral wall 51. In this way, the kinetic energy generated by the rotation of the main shaft 4 can be used to generate electricity. In addition, the current commutator 83 can continuously generate direct current, thereby powering the monitoring system 7.

[0048] See Figure 1 , Figure 3 and Figure 4 The battery 76 is disposed in the outer annular space 101 and fixed to the peripheral wall 51. A wire hole is provided on the peripheral wall 51, and the generator 8 is electrically connected to the battery 76. In this way, in addition to providing DC power to the monitoring system 7, the generator 8 also uses the battery 76 to store the remaining electrical energy of the generator 8.

[0049] The monitoring system 7 includes a microphone 71, a speaker 72, a processor 73, an angle encoder 74, and multiple vibration sensors 75. The microphone 71, speaker 72, angle encoder 74, and multiple vibration sensors 75 are all electrically connected to the processor 73.

[0050] Microphone 71, processor 73, angle encoder 74, and a portion of vibration sensors 75 are disposed in the outer annular space 101, while another portion of vibration sensors 75 are disposed in the interval 20. In this embodiment, speaker 72 is fixed to flange 52.

[0051] Furthermore, the microphone 71, processor 73, and angle encoder 74 are all fixed on the outer side of the peripheral wall 51. In the axial direction of the main shaft 4, the microphone 71 and angle encoder 74 are positioned close to the first gear tooth 23 and the wave generator 3, while the processor 73 and battery 73 are positioned on the other side, further away from the wave generator 3.

[0052] This layout is quite reasonable. The microphone 71 and the angle encoder 74, which are closer to the wave generator 3 and the gear meshing position, are more conducive to accurately acquiring noise data and rotational speed data, while the processor 73 and the battery 73 are better protected by being away from these moving structures.

[0053] In addition, the vibration sensor 75 in the outer annular space 101 is fixed to the inner side of the cylinder 21, and the vibration sensor 75 in the interval 20 is fixed to the diaphragm 22.

[0054] In addition, the speaker 72 is fixed on the flange 52, and a cavity structure can be formed on the flange 52 so that the speaker 72 is oriented not only towards the inside of the harmonic reducer, but also towards the outside of the harmonic reducer. In this way, the better the cancellation effect of the divergent anti-phase noise of its output is, the clearer the warning signal can be transmitted to the outside of the robot.

[0055] The natural frequency fn of an undamped single-degree-of-freedom vibration system is related to the system stiffness k and mass m, as shown in the following formula:

[0056]

[0057] In the formula, fn is the natural frequency, ωn is the natural circular frequency, k is the system stiffness, and m is the mass.

[0058] Since the mass m of the harmonic reducer remains basically unchanged, the stiffness k of the reducer will gradually decrease as the operating time increases after the meshing teeth wear. When the natural frequency of the harmonic reducer is close to the natural frequency of the equipment, it is more likely to be excited by the excitation force to cause resonance, thereby generating abnormal characteristic frequency signals.

[0059] To address this, the present invention incorporates a monitoring system 7 within the harmonic reducer. This system utilizes a microphone 71 to pick up noise data related to the rotation of the main shaft 4 and wave generator 3, as well as the noise generated by the meshing of the flex wheel and rigid wheel 1. It also acquires the rotational speed data of the wave generator 3 via an angle encoder 74. After inputting the rotational speed data, a processor 73 extracts the first frequency data of the reducer noise and the second frequency data of the rotational speed. When the characteristic frequency increases by a specific multiple, it indicates a significant decrease in reducer stiffness and abnormal wear at the gear meshing points. Continued operation will lead to failure. Subsequently, a failure warning signal is issued via a usable speaker 72. This invention can detect abnormal changes in the characteristic frequency in advance, thereby achieving real-time monitoring of the safe operating status of the harmonic reducer.

[0060] The unexpected effect is that the system is easy to set up, and in addition to monitoring and early warning, the monitoring system 7 can also be used as an active noise reduction system. The processor 73 generates inverse noise data based on the acquired noise data and emits inverse noise through the speaker 72. The noise with opposite waveforms and the inverse noise cancel each other out to achieve noise reduction.

[0061] Robot reducer life monitoring method

[0062] Combined Figure 5 In the robot reducer life monitoring method of the present invention, the robot adopts the harmonic reducer of this embodiment.

[0063] Methods for monitoring the lifespan of robot reducers include:

[0064] In step S1, noise data is acquired in real time via microphone 71, rotational speed data via angle encoder 74, and vibration data via vibration sensor 75. The noise data is related to the noise generated by the reducer, and the rotational speed data is related to the rotational speed of wave generator 3, i.e., related to the input rotational speed of the harmonic reducer.

[0065] Then, step S2 is executed to generate first frequency data based on the acquired noise data and second frequency data based on the acquired rotational speed data.

[0066] Then, step S3 is executed to determine whether the preset conditions are met.

[0067] In this embodiment, the preset condition for step S3 is to satisfy any of the following conditions: First condition: The ratio of the first frequency data to the second frequency data reaches a first preset value; Second condition: The characteristic value of the noise data reaches a second preset value.

[0068] In the process of calculating the ratio of the first frequency data to the second frequency data, the first frequency data and the second frequency data under the same period should be selected for comparison.

[0069] In step S3, more specifically, the ratio of the first frequency to the second frequency is defined as the third frequency. The third frequency exhibits multiple sets of characteristic peaks of fixed frequencies, and the fixed frequencies also vary depending on the assembly method of the reducer. The characteristic peaks of the third frequency exhibiting multiple sets of fixed frequencies are the characteristic values ​​of the ratio of the first frequency to the second frequency in this embodiment. Further: the input characteristic frequency of the wave generator 3 is 1, the characteristic frequency of the fixed gear is 2, and the characteristic frequency of the output gear is 2×n, where n is the ratio of the number of teeth of the fixed gear to the number of teeth of the output gear.

[0070] Taking a harmonic reducer with a reduction ratio of 50 as an example: when the wave generator is the input, the rigid wheel is fixed and the flexible wheel is the output, obvious peaks are observed when the third frequency is 1 times the characteristic frequency of the input shaft, 2 times the characteristic frequency of the rigid wheel, and 2.04 times the characteristic frequency of the flexible wheel.

[0071] When the wave generator is input, the flexible wheel is fixed and the rigid wheel is output, obvious peaks are observed when the third frequency is 1 times the characteristic frequency of the input shaft, 2 times the characteristic frequency of the flexible wheel, and 1.96 times the characteristic frequency of the rigid wheel.

[0072] Therefore, the system will implement lifespan warning by judging the following two conditions:

[0073] The first condition is whether one or more of the amplitudes of the multiple characteristic frequencies reach a first preset value.

[0074] The second condition is that the noise sound pressure level reaches a second preset value, or the second condition is that the sound power level reaches a second preset value. Both the noise sound pressure level and the sound power level are characteristic values ​​of the noise data in this invention.

[0075] If either the first condition or the second condition is met, or if both conditions are met simultaneously, a warning signal will be issued.

[0076] If step S3 is not successful, the system is in a safe operating state. Then, step S5 is executed to generate anti-phase noise data based on noise data and vibration data. Then, step 26 is executed to emit an anti-phase noise signal through speaker 72 based on the anti-phase noise data.

[0077] If step S3 is correct, the system is in an abnormal operating state. The system will then execute step S4, shut down for protection, and issue a lifespan warning signal through speaker 72.

[0078] In other embodiments of harmonic reducers, no battery is provided.

[0079] In other embodiments of the harmonic reducer, vibration sensors are provided only on the cylinder or only on the diaphragm.

[0080] In other embodiments of harmonic reducers, vibration sensors are not provided.

[0081] In other embodiments of harmonic reducers, if no angle encoder is provided, the input speed needs to be obtained through conversion or through system-preset data.

[0082] In other embodiments of harmonic reducers, the loudspeaker is disposed within the outer annular space and fixed to the outer side of the peripheral wall.

[0083] In other embodiments of harmonic reducers, the loudspeaker is placed entirely outside the flange.

[0084] Furthermore, in this invention, as long as at least a part of the monitoring system is installed inside the harmonic detector, it falls within the protection scope of "the monitoring system is installed inside the harmonic reducer".

[0085] Finally, it should be emphasized that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. Harmonic reducer, including rigid wheel, flexible wheel, wave generator and main shaft; Its features are: Includes generators and monitoring systems; The generator is disposed between the flexible wheel and the main shaft. The generator generates electricity using the kinetic energy generated by the rotation of the main shaft and supplies power to the monitoring system. The monitoring system is installed inside the harmonic reducer, and the monitoring system includes a microphone, a processor, and a speaker that are electrically connected in sequence. The flexible wheel flange includes a connected peripheral wall and a flange portion, and the harmonic reducer also includes a main shaft bearing, which is mounted on the main shaft and fixed to the inner circumference of the peripheral wall. An outer annular space is formed between the outer side of the peripheral wall and the inner side of the cylindrical portion of the flexible wheel, and an inner annular space is formed between the inner side of the peripheral wall and the main shaft, on one side of the main shaft bearing. The microphone and the processor are disposed in the outer annular space; The generator includes a magnet, a coil, and a current commutator. The magnet, the coil, and the current commutator are all disposed in the inner annular space. The coil is fixedly connected to the outside of the main shaft, while the magnet and the current commutator are fixedly disposed on the inside of the peripheral wall.

2. The harmonic reducer according to claim 1, characterized in that: The flex wheel includes a connected cylindrical portion and a diaphragm, and the harmonic reducer also includes a flex wheel flange. The diaphragm is connected to the flange portion, and the peripheral wall is located between the cylindrical portion and the main shaft. The generator is disposed between the peripheral wall and the main shaft, and / or the monitoring system is disposed between the peripheral wall and the cylindrical section.

3. The harmonic reducer according to claim 2, characterized in that: The microphone and the processor are disposed on the outside of the peripheral wall, and the speaker is fixed to the flange or the peripheral wall.

4. The harmonic reducer according to claim 3, characterized in that: The flexible wheel includes a first gear tooth, and the rigid wheel includes a second gear tooth, wherein the first gear tooth meshes with the second gear tooth; The microphone is positioned axially above the main shaft, near the first gear tooth.

5. The harmonic reducer according to claim 2, characterized in that: The generator includes a magnet and a coil that cooperate with each other. The coil is fixed to the outside of the main shaft, and the magnet is fixed to the inside of the peripheral wall.

6. The harmonic reducer according to claim 5, characterized in that: The generator also includes a current commutator, which is disposed on the inner side of the peripheral wall.

7. The harmonic reducer according to claim 2, characterized in that: The harmonic reducer also includes a storage battery, which is fixedly installed in the harmonic reducer, and the generator is electrically connected to the storage battery.

8. The harmonic reducer according to any one of claims 2 to 7, characterized in that: The monitoring system also includes a vibration sensor, which is electrically connected to the processor. The vibration sensor is provided on the cylindrical part and / or on the diaphragm.

9. The harmonic reducer according to claim 8, characterized in that: A gap is formed between the diaphragm and the flange, and the vibration sensor disposed on the diaphragm is located in the gap.

10. The harmonic reducer according to any one of claims 1 to 7, characterized in that: The monitoring system also includes an angle encoder, which is fixedly installed in the harmonic reducer and positioned toward the wave generator, and is electrically connected to the processor.

11. A robot, characterized in that, Includes the harmonic reducer as described in any one of claims 1 to 10.

12. A method for monitoring the lifespan of a robot's reducer, characterized in that: The robot includes the harmonic reducer according to any one of claims 1 to 7, and the harmonic reducer further includes an angle encoder; The method for monitoring the lifespan of the robot's reducer includes: Noise data is acquired through the microphone, and rotational speed data is acquired through the angle encoder; A first frequency data is generated based on the noise data, and a second frequency data is generated based on the rotational speed data; A lifespan warning signal will be issued if any of the following conditions are met: First condition: The characteristic value of the ratio of the first frequency data to the second frequency data reaches a first preset value; Second condition: The feature value of the noise data reaches the second preset value.

13. The method for monitoring the life of a reducer according to claim 12, characterized in that: The harmonic reducer also includes a vibration sensor, which is electrically connected to the processor and connected to the flex wheel; Vibration data is acquired through the vibration sensor; After the steps of generating first frequency data based on the noise data and generating second frequency data based on the rotational speed data: If neither the first condition nor the second condition is met: Generate inverse noise data based on the noise data and the vibration data; Based on the inverse noise data, an inverse noise signal is emitted through the speaker.

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