Harmonic reducer

Abstract

The application provides a harmonic reducer, comprising a first-stage transmission module and a second-stage transmission module, wherein the first-stage transmission module comprises a first-stage transmission flexspline and a first-stage transmission rigid wheel which are internally meshed from inside to outside; the second-stage transmission module is located at the outer circumferential side of the first-stage transmission module, and the second-stage transmission module comprises a second-stage transmission flexspline and a second-stage transmission rigid wheel which are internally meshed from inside to outside; wherein the second-stage transmission module further comprises a plurality of input electromagnetic sheets and a plurality of output electromagnetic sheets, the plurality of input electromagnetic sheets are arranged around the outer circumferential surface of the first-stage transmission rigid wheel, and the plurality of output electromagnetic sheets are arranged around the inner circumferential surface of the second-stage transmission flexspline. The application solves the problem that the application scene of the harmonic reducer in the prior art is relatively single.

Description

Technical Field

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

[0002] Harmonic reducers are precision reducers used in the joints of industrial robots. They are usually composed of three major components: a flexspline, a rigid pulley, and a wave generator. The rotation of the wave generator causes the flexspline to produce periodic wave deformation, forcing the teeth between the flexspline and the rigid pulley to engage internally, thereby achieving motion and power transmission.

[0003] The existing harmonic reducer has only a single input and a single output. However, with the continuous development of emerging technologies, there are new requirements for the diversity of the output forms of harmonic reducers. The existing single output can no longer meet the needs of multi-mode output in the future. New applications of harmonic reducers sometimes require dual outputs in the same direction, and sometimes require dual outputs in both directions. The output mode of the existing harmonic reducers is relatively single, resulting in a relatively single application scenario for the existing harmonic reducers. Summary of the Invention

[0004] The main purpose of the present invention is to provide a harmonic reducer to solve the problem that the application scenarios of harmonic reducers in the prior art are relatively single.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a harmonic reducer, comprising a first-stage transmission module and a second-stage transmission module, wherein the first-stage transmission module comprises, from the inside to the outside, a first-stage transmission flexible pulley and a first-stage transmission rigid pulley that are internally meshed with each other; the second-stage transmission module is located on the outer peripheral side of the first-stage transmission module, and the second-stage transmission module comprises, from the inside to the outside, a second-stage transmission flexible pulley and a second-stage transmission rigid pulley that are internally meshed with each other; wherein the second-stage transmission module further comprises a plurality of input electromagnetic sheets and a plurality of output electromagnetic sheets, the plurality of input electromagnetic sheets are wound around the outer peripheral surface of the first-stage transmission rigid pulley, and the plurality of output electromagnetic sheets are wound around the inner peripheral surface of the second-stage transmission flexible pulley.

[0006] Furthermore, a plurality of input electromagnetic sheets are evenly wound around the outer circumference of the first-stage transmission rigid pulley; and / or a plurality of output electromagnetic sheets are evenly wound around the inner circumference of the second-stage transmission flexible pulley.

[0007] Furthermore, an annular gap is formed between the plurality of input electromagnetic plates and the plurality of output electromagnetic plates.

[0008] Furthermore, the number of the input electromagnetic plates is equal to the number of the output electromagnetic plates.

[0009] Furthermore, alternating currents of different intensities are respectively passed through the input electromagnetic sheets at different positions, so that at least two circumferential electromagnetic fields with different intensities and directions are generated in the circumference of the first-stage transmission rigid pulley; and / or, alternating currents of different intensities are respectively passed through the output electromagnetic sheets at different positions, so that at least two circumferential electromagnetic fields with different intensities and directions are generated in the circumference of the second-stage transmission flexible pulley.

[0010] Furthermore, the first-stage transmission module also includes a cam structure and a flexible bearing. The flexible bearing is sleeved on the outer peripheral side of the cam structure and forms a cam wave generator with the cam structure. The first-stage transmission flexible wheel is sleeved on the outer peripheral side of the flexible bearing.

[0011] Furthermore, the plurality of input electromagnetic plates include two groups of input electromagnetic plates, the first group of input electromagnetic plates being located within the long axis direction of the cam structure, and the second group of input electromagnetic plates being located within the short axis direction of the cam structure;

[0012] The multiple output electromagnetic plates include two groups of output electromagnetic plate groups, the first group of output electromagnetic plate groups is located within the long axis direction range of the cam structure, and the second group of output electromagnetic plate groups is located within the short axis direction range of the cam structure; an alternating current of a first preset intensity is passed through each input electromagnetic plate in the first group of input electromagnetic plate groups, and at the same time, an alternating current of a second preset intensity is passed through each output electromagnetic plate in the first group of output electromagnetic plate groups, so that the first group of input electromagnetic plate groups and the first group of output electromagnetic plate groups generate circumferential electromagnetic fields in opposite directions within the long axis direction range of the cam structure; an alternating current of a third preset intensity is passed through each input electromagnetic plate in the second group of input electromagnetic plate groups, and at the same time, an alternating current of a fourth preset intensity is passed through each output electromagnetic plate in the second group of output electromagnetic plate groups, so that the second group of input electromagnetic plate groups and the second group of output electromagnetic plate groups generate circumferential electromagnetic fields with the same direction within the short axis direction range of the cam structure, so that the second-stage transmission flexible wheel is deformed according to the outer contour shape of the cam wave generator.

[0013] Furthermore, an alternating current of a fifth preset intensity is applied to the multiple input electromagnetic sheets, and at the same time, an alternating current of a sixth preset intensity is applied to the multiple output electromagnetic sheets, so that the multiple input electromagnetic sheets and the multiple output electromagnetic sheets generate a periodic rotating magnetic field, so that the second-stage transmission flexible wheel is periodically deformed along with the periodic rotating magnetic field, and is periodically meshed with the second-stage transmission rigid wheel.

[0014] Furthermore, the difference in the number of teeth between the first-stage transmission flexible spline and the first-stage transmission rigid spline is equal to the difference in the number of teeth between the second-stage transmission flexible spline and the second-stage transmission rigid spline.

[0015] Furthermore, the harmonic reducer also includes a three-stage cross-bearing structure, which includes, from the inside to the outside, a first-stage bearing at the rigid wheel end, a second-stage bearing at the rigid wheel end, and a third-stage bearing at the rigid wheel end; wherein, the first-stage bearing at the rigid wheel end is sleeved on the outer peripheral side of the cam structure of the first-stage transmission module and is connected to the cam structure, the second-stage bearing at the rigid wheel end is located at one axial end of the first-stage transmission rigid wheel and is connected to the first-stage transmission rigid wheel, and the third-stage bearing at the rigid wheel end is located at one axial end of the second-stage transmission rigid wheel and is connected to the second-stage transmission rigid wheel.

[0016] Furthermore, the harmonic reducer also includes an intermediate cross-bearing structure and a secondary cross-bearing structure, wherein the axial first end of the intermediate cross-bearing structure is connected to the second-stage transmission rigid wheel; the secondary cross-bearing structure includes, from the inside to the outside, a first-stage bearing at the flexible spline end and a second-stage bearing at the flexible spline end, and the second-stage bearing at the flexible spline end is connected to the axial second end of the intermediate cross-bearing structure.

[0017] Further, the first-stage transmission flexible wheel includes a first flexible wheel body and a first cylinder, wherein the outer peripheral side of the first flexible wheel body has teeth for internal meshing cooperation with the first-stage transmission rigid wheel; one axial end of the first cylinder is connected to the first flexible wheel body, and the other axial end of the first cylinder has a first annular flange, and the first annular flange is folded inward and connected to the first-level bearing at the flexible wheel end; and / or, the second-stage transmission flexible wheel includes a second flexible wheel body and a second cylinder, wherein the outer peripheral side of the second flexible wheel body has teeth for internal meshing cooperation with the second-stage transmission rigid wheel; one axial end of the second cylinder is connected to the second flexible wheel body, and the other axial end of the second cylinder has a second annular flange, and the second annular flange is folded outward and connected to the second-level bearing at the flexible wheel end.

[0018] Furthermore, the first-stage transmission module also includes a cam structure and a flexible bearing. The flexible bearing is sleeved on the outer peripheral side of the cam structure and forms a cam wave generator with the cam structure. The first-stage transmission flexible wheel is sleeved on the outer peripheral side of the flexible bearing; the number of teeth of the first-stage transmission flexible wheel is z1, the number of teeth of the first-stage transmission rigid wheel is z2, the number of teeth of the second-stage transmission flexible wheel is z3, and the number of teeth of the second-stage transmission rigid wheel is z4; the working mode of the harmonic reducer has a single-input and single-output mode. When only the first-stage transmission module is working, the cam structure serves as the output. The first-stage transmission rigid wheel is connected to the frame of the robot equipped with the harmonic reducer so that the first-stage transmission rigid wheel is in a fixed state, the first-stage transmission flexible wheel serves as the output end, and the transmission ratio is i=z1 / (z2-z1); or, when only the first-stage transmission module is working, the cam structure serves as the input end, the first-stage transmission flexible wheel is connected to the frame of the robot equipped with the harmonic reducer so that the first-stage transmission flexible wheel is in a fixed state, the first-stage transmission rigid wheel serves as the output end, and the transmission ratio is i=z2 / (z2-z1).

[0019] Furthermore, the first-stage transmission module also includes a cam structure and a flexible bearing. The flexible bearing is sleeved on the outer peripheral side of the cam structure and forms a cam wave generator with the cam structure. The first-stage transmission flexible wheel is sleeved on the outer peripheral side of the flexible bearing; the number of teeth of the first-stage transmission flexible wheel is z1, the number of teeth of the first-stage transmission rigid wheel is z2, the number of teeth of the second-stage transmission flexible wheel is z3, and the number of teeth of the second-stage transmission rigid wheel is z4; the working mode of the harmonic reducer has a single-input single-output mode. When only the second-stage transmission module is working, the electromagnetic device formed by multiple input electromagnetic sheets and multiple output electromagnetic sheets serves as the output The second-stage transmission rigid wheel is connected to the frame of the robot equipped with the harmonic reducer so that the second-stage transmission rigid wheel is in a fixed state, the second-stage transmission flexible wheel serves as the output end, and the transmission ratio is i=z3 / (z4-z3); or, when only the second-stage transmission module is working, the electromagnetic device formed by multiple input electromagnetic sheets and multiple output electromagnetic sheets serves as the input end, the second-stage transmission flexible wheel is connected to the frame of the robot equipped with the harmonic reducer so that the second-stage transmission flexible wheel is in a fixed state, the second-stage transmission rigid wheel serves as the output end, and the transmission ratio is i=z4 / (z4-z3).

[0020] Furthermore, the first-stage transmission module also includes a cam structure and a flexible bearing, the flexible bearing is sleeved on the outer peripheral side of the cam structure and forms a cam wave generator with the cam structure, and the first-stage transmission flexible wheel is sleeved on the outer peripheral side of the flexible bearing; the working mode of the harmonic reducer has a single-input single-output mode, when the first-stage transmission module and the second-stage transmission module work simultaneously, and the circumferential electromagnetic field of the second-stage transmission module only changes in strength, the second-stage transmission flexible wheel deforms with the strength of the circumferential electromagnetic field to adjust the meshing depth of the second-stage transmission flexible wheel and the second-stage transmission rigid wheel, and the transmission ratio of the harmonic reducer is the product of the transmission ratio of the first-stage transmission module and the transmission ratio of the second-stage transmission module; or, when the first-stage transmission module and the second-stage transmission module work simultaneously, and the circumferential electromagnetic field of the second-stage transmission module is a rotating magnetic field, the strength change of the circumferential electromagnetic field causes the second-stage transmission flexible wheel to deform with the strength of the circumferential electromagnetic field to adjust the meshing depth of the second-stage transmission flexible wheel and the second-stage transmission rigid wheel, and the rotation change of the circumferential electromagnetic field causes the second-stage transmission module and the first-stage transmission module to produce a differential change.

[0021] Further, the first-stage transmission module further comprises a cam structure and a flexible bearing, the flexible bearing is sleeved on the outer circumferential side of the cam structure and forms a cam wave generator with the cam structure, and the first-stage transmission flexspline is sleeved on the outer circumferential side of the flexible bearing; the working mode of the harmonic reducer has a single-input double-output mode, and the single-input double-output mode comprises a single-input same-direction double-output mode; when the first-stage transmission module and the second-stage transmission module work simultaneously, the cam structure serves as an input end, the first-stage transmission rigid gear and the second-stage transmission rigid gear are connected with the frame of the robot cooperating with the harmonic reducer, so that the first-stage transmission rigid gear and the second-stage transmission rigid gear are in a fixed state, and the first-stage transmission flexspline and the second-stage transmission flexspline serve as output ends; or, when the first-stage transmission module and the second-stage transmission module work simultaneously, the cam structure serves as an input end, the first-stage transmission flexspline and the second-stage transmission flexspline are connected with the frame of the robot cooperating with the harmonic reducer, so that the first-stage transmission flexspline and the second-stage transmission flexspline are in a fixed state, and the first-stage transmission rigid gear and the second-stage transmission rigid gear serve as output ends.

[0022] Further, the single-input same-direction double-output mode comprises a same-direction synchronous rotation form, a same-direction same-direction differential rotation form and a same-direction reverse-direction differential rotation form.

[0023] Further, the first-stage transmission module further comprises a cam structure and a flexible bearing, the flexible bearing is sleeved on the outer circumferential side of the cam structure and forms a cam wave generator with the cam structure, and the first-stage transmission flexspline is sleeved on the outer circumferential side of the flexible bearing; the working mode of the harmonic reducer has a single-input double-output mode, and the single-input double-output mode comprises a single-input bidirectional double-output mode; when the first-stage transmission module and the second-stage transmission module work simultaneously, the cam structure serves as an input end, the first-stage transmission rigid gear and the second-stage transmission flexspline are connected with the frame of the robot cooperating with the harmonic reducer, so that the first-stage transmission rigid gear and the second-stage transmission flexspline are in a fixed state, and the first-stage transmission flexspline and the second-stage transmission rigid gear serve as output ends; or, when the first-stage transmission module and the second-stage transmission module work simultaneously, the cam structure serves as an input end, the first-stage transmission flexspline and the second-stage transmission rigid gear are connected with the frame of the robot cooperating with the harmonic reducer, so that the first-stage transmission flexspline and the second-stage transmission rigid gear are in a fixed state, and the first-stage transmission rigid gear and the second-stage transmission flexspline serve as output ends.

[0024] Further, the single-input bidirectional double-output mode comprises a bidirectional synchronous rotation form, a bidirectional same-direction differential rotation form and a bidirectional reverse-direction differential rotation form.

[0025] The technical scheme of the present application provides a harmonic reducer, which is arranged in a structure including a first-stage transmission module and a second-stage transmission module, wherein the first-stage transmission module includes a first-stage transmission flexspline and a first-stage transmission rigid gear which are internally meshed from inside to outside; the second-stage transmission module is located at the outer circumferential side of the first-stage transmission module and includes a second-stage transmission flexspline and a second-stage transmission rigid gear which are internally meshed from inside to outside; the second-stage transmission module further includes a plurality of input electromagnetic sheets and a plurality of output electromagnetic sheets, the plurality of input electromagnetic sheets are arranged around the outer circumferential surface of the first-stage transmission rigid gear, and the plurality of output electromagnetic sheets are arranged around the inner circumferential surface of the second-stage transmission flexspline; the magnetic field strength of the electromagnetic field is controlled by changing the alternating current flowing through the plurality of input electromagnetic sheets and the plurality of output electromagnetic sheets, and even the rotation direction and rotation speed of the generated rotating magnetic field can be changed by changing the alternating current, so that the meshing interval and meshing depth between the second-stage transmission flexspline and the second-stage transmission rigid gear of the second-stage transmission module can be regulated according to requirements, and the application scenarios of the harmonic reducer are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the present application, and together with the description of the application, serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0027] Figure 1 A cross-sectional structure schematic view of a harmonic reducer according to an optional embodiment of the present application is shown;

[0028] Figure 2 Another cross-sectional structure schematic view of a harmonic reducer according to an optional embodiment of the present application is shown from another perspective;

[0029] Figure 3 A structure schematic view of a three-stage cross bearing structure of a harmonic reducer in Figure 2 is shown;

[0030] Figure 4 A structure schematic view of a two-stage cross bearing structure of a harmonic reducer in Figure 2 is shown.

[0031] In the above drawings, the following reference signs are used:

[0032] 10, first-stage transmission module; 11, first-stage transmission flexspline; 111, first flexspline body; 112, first cylinder body; 113, first annular flange; 12, first-stage transmission rigid gear; 13, cam structure; 14, flexible bearing;

[0033] 20, second stage transmission module; 21, second stage transmission flexspline; 211, second flexspline body; 212, second cylinder body; 213, second annular flange; 22, second stage transmission rigid spline; 23, input electromagnetic sheet; 24, output electromagnetic sheet;

[0034] 30, third stage cross bearing structure; 31, rigid spline end first stage bearing; 32, rigid spline end second stage bearing; 33, rigid spline end third stage bearing;

[0035] 40, intermediate cross bearing structure;

[0036] 50, second stage cross bearing structure; 51, flexspline end first stage bearing; 52, flexspline end second stage bearing. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work, fall within the scope of protection of the present application.

[0038] In order to solve the problem that the application scene of the harmonic reducer in the prior art is single, the present application provides a harmonic reducer.

[0039] As shown in the figure, Figures 1 to 4 The harmonic reducer comprises a first stage transmission module 10 and a second stage transmission module 20, wherein the first stage transmission module 10 comprises a first stage transmission flexspline 11 and a first stage transmission rigid spline 12 which are internally meshed from inside to outside; the second stage transmission module 20 is located at the outer peripheral side of the first stage transmission module 10, and the second stage transmission module 20 comprises a second stage transmission flexspline 21 and a second stage transmission rigid spline 22 which are internally meshed from inside to outside; wherein the second stage transmission module 20 further comprises a plurality of input electromagnetic sheets 23 and a plurality of output electromagnetic sheets 24, the plurality of input electromagnetic sheets 23 are arranged around the outer peripheral surface of the first stage transmission rigid spline 12, and the plurality of output electromagnetic sheets 24 are arranged around the inner peripheral surface of the second stage transmission flexspline 21.

[0040] The technical solution of the present invention is applied to provide a harmonic reducer, which is configured to include a first-stage transmission module 10 and a second-stage transmission module 20. At the same time, the first-stage transmission module 10 includes, from the inside to the outside, a first-stage transmission flexible wheel 11 and a first-stage transmission rigid wheel 12 that are meshed with each other; the second-stage transmission module 20 is located on the outer peripheral side of the first-stage transmission module 10, and the second-stage transmission module 20 includes, from the inside to the outside, a second-stage transmission flexible wheel 21 and a second-stage transmission rigid wheel 22 that are meshed with each other; the second-stage transmission module 20 also includes a plurality of input electromagnetic sheets 23 and a plurality of output electromagnetic sheets 24, and the plurality of input electromagnetic sheets 25 are connected to the first-stage transmission module 10. The magnetic sheet 23 is wound around the outer circumference of the first-stage transmission rigid wheel 12, and multiple output electromagnetic sheets 24 are wound around the inner circumference of the second-stage transmission flexible wheel 21. By changing the alternating current passed through the multiple input electromagnetic sheets 23 and the multiple output electromagnetic sheets 24, the purpose of controlling the strength of the electromagnetic field is achieved. The rotation direction and rotation speed of the generated rotating magnetic field can even be changed by changing the alternating current, so that the meshing range and meshing depth between the second-stage transmission flexible wheel 21 and the second-stage transmission rigid wheel 22 of the second-stage transmission module 20 can be adjusted according to needs, which greatly improves the application scenarios of the harmonic reducer.

[0041] It should be noted that in the present application, multiple input electromagnetic sheets 23 are evenly wound around the outer circumference of the first-stage transmission rigid pulley 12; and / or multiple output electromagnetic sheets 24 are evenly wound around the inner circumference of the second-stage transmission flexible pulley 21. This ensures the uniformity of the circumferential magnetic field generated by the multiple input electromagnetic sheets 23 and the uniformity of the circumferential magnetic field generated by the multiple output electromagnetic sheets 24.

[0042] like Figure 1 As shown, an annular gap is formed between the multiple input electromagnetic sheets 23 and the multiple output electromagnetic sheets 24. This prevents the multiple input electromagnetic sheets 23 and the multiple output electromagnetic sheets 24 from directly contacting each other and causing interference in the circumferential magnetic fields generated by each of them.

[0043] like Figure 1 As shown, the number of input electromagnetic plates 23 is equal to the number of output electromagnetic plates 24 .

[0044] It should be noted that, in the present application, alternating currents of different intensities are respectively passed through the input electromagnetic sheets 23 at different positions, so that at least two circumferential electromagnetic fields with different intensities and directions are generated in the circumference of the first-stage transmission rigid wheel 12; and / or, alternating currents of different intensities are respectively passed through the output electromagnetic sheets 24 at different positions, so that at least two circumferential electromagnetic fields with different intensities and directions are generated in the circumference of the second-stage transmission flexible wheel 21.

[0045] like Figure 1 and Figure 2As shown, the first-stage transmission module 10 also includes a cam structure 13 and a flexible bearing 14. The flexible bearing 14 is sleeved on the outer periphery of the cam structure 13 and forms a cam wave generator with the cam structure 13. The first-stage transmission flexspline 11 is sleeved on the outer periphery of the flexible bearing 14. In this way, the drive shaft of the motor and the cam structure 13 are connected by a key to achieve power transmission. The cam wave generator is connected to the first-stage transmission flexspline 11 and expands the first-stage transmission flexspline 11 to produce a nearly elliptical deformation. The cam wave generator meshes with the first-stage transmission rigid pulley 12 along its long axis, thereby transmitting power to the first-stage transmission flexspline 11 and the first-stage transmission rigid pulley 12.

[0046] It should be noted that, in an embodiment not shown in the figure of the present application, the plurality of input electromagnetic sheets 23 include two groups of input electromagnetic sheet groups, the first group of input electromagnetic sheet groups is located within the long axis direction range of the cam structure 13, and the second group of input electromagnetic sheet groups is located within the short axis direction range of the cam structure 13; the plurality of output electromagnetic sheets 24 include two groups of output electromagnetic sheet groups, the first group of output electromagnetic sheet groups is located within the long axis direction range of the cam structure 13, and the second group of output electromagnetic sheet groups is located within the short axis direction range of the cam structure 13; an alternating current of a first preset intensity is applied to each input electromagnetic sheet 23 in the first group of input electromagnetic sheet groups, and at the same time, an alternating current of a first preset intensity is applied to each output electromagnetic sheet 23 in the first group of output electromagnetic sheet groups. An alternating current of a second preset intensity is passed through the output electromagnetic sheet 24, so that the first group of input electromagnetic sheet groups and the first group of output electromagnetic sheet groups generate circumferential electromagnetic fields in opposite directions within the long axis direction of the cam structure 13; an alternating current of a third preset intensity is passed through each input electromagnetic sheet 23 in the second group of input electromagnetic sheet groups, and at the same time, an alternating current of a fourth preset intensity is passed through each output electromagnetic sheet 24 in the second group of output electromagnetic sheet groups, so that the second group of input electromagnetic sheet groups and the second group of output electromagnetic sheet groups generate circumferential electromagnetic fields in the same direction within the short axis direction of the cam structure 13, so that the second-stage transmission flexible wheel 21 is deformed according to the outer contour shape of the cam wave generator.

[0047] The following examples illustrate:

[0048] Specifically, in another embodiment of the present application (not shown), an alternating current of a fifth preset strength is applied to the multiple input electromagnetic sheets 23, and at the same time, an alternating current of a sixth preset strength is applied to the multiple output electromagnetic sheets 24, so that the multiple input electromagnetic sheets 23 and the multiple output electromagnetic sheets 24 generate a periodic rotating magnetic field, so that the second-stage transmission flexible wheel 21 is periodically deformed with the periodic rotating magnetic field and periodically meshes with the second-stage transmission rigid wheel 22.

[0049] It should be noted that, in the present application, the difference in the number of teeth between the first-stage transmission flexible spline 11 and the first-stage transmission rigid spline 12 is equal to the difference in the number of teeth between the second-stage transmission flexible spline 21 and the second-stage transmission rigid spline 22 .

[0050] likeFigure 2 and Figure 3 As shown, the harmonic reducer also includes a three-stage cross-bearing structure 30, which includes, from the inside to the outside, a first-stage bearing 31 on the sheave end, a second-stage bearing 32 on the sheave end, and a third-stage bearing 33 on the sheave end. The first-stage bearing 31 on the sheave end is sleeved on the outer periphery of the cam structure 13 of the first-stage transmission module 10 and is connected to the cam structure 13. The second-stage bearing 32 on the sheave end is located at one axial end of the first-stage transmission sheave 12 and is connected to the first-stage transmission sheave 12. The third-stage bearing 33 on the sheave end is located at one axial end of the second-stage transmission sheave 22 and is connected to the second-stage transmission sheave 22. This ensures the reliability of power transmission.

[0051] like Figure 2 and Figure 4 As shown, the harmonic reducer also includes an intermediate cross-bearing structure 40 and a secondary cross-bearing structure 50. The intermediate cross-bearing structure 40 has its first axial end connected to the second-stage transmission rigid pulley 22. The secondary cross-bearing structure 50 includes, from the inside out, a first-stage bearing 51 on the flexspline side and a second-stage bearing 52 on the flexspline side. The second-stage bearing 52 on the flexspline side is connected to the second axial end of the intermediate cross-bearing structure 40. This ensures reliable power transmission.

[0052] like Figure 2 As shown, the first-stage transmission flexspline 11 includes a first flexspline body 111 and a first cylinder 112, wherein the outer peripheral side of the first flexspline body 111 has teeth for internally meshing with the first-stage transmission rigid wheel 12; one axial end of the first cylinder 112 is connected to the first flexspline body 111, and the other axial end of the first cylinder 112 has a first annular flange 113, which is folded inward and connected to the primary bearing 51 at the flexspline end; and / or, the second-stage transmission flexspline 21 includes a second flexspline body 211 and a second cylinder 212, wherein the outer peripheral side of the second flexspline body 211 has teeth for internally meshing with the second-stage transmission rigid wheel 22; one axial end of the second cylinder 212 is connected to the second flexspline body 211, and the other axial end of the second cylinder 212 has a second annular flange 213, which is folded outward and connected to the secondary bearing 52 at the flexspline end. In this way, the deformation reliability of the first-stage transmission flexible wheel 11 and the force transmission reliability of the first-stage transmission flexible wheel 11 are ensured.

[0053] The following introduces several different output modes of the harmonic reducer provided in this application:

[0054] 1Single input single output mode:

[0055] It should be noted that, in the first embodiment of this application, combined with Figure 1 and Figure 2For explanation, the first-stage transmission module 10 also includes a cam structure 13 and a flexible bearing 14. The flexible bearing 14 is sleeved on the outer peripheral side of the cam structure 13 and forms a cam wave generator with the cam structure 13. The first-stage transmission flexible wheel 11 is sleeved on the outer peripheral side of the flexible bearing 14; the number of teeth of the first-stage transmission flexible wheel 11 is z1, the number of teeth of the first-stage transmission rigid wheel 12 is z2, the number of teeth of the second-stage transmission flexible wheel 21 is z3, and the number of teeth of the second-stage transmission rigid wheel 22 is z4; the working mode of the harmonic reducer has a single-input single-output mode. When only the first-stage transmission module 10 is working, the cam structure The cam structure 13 serves as the input end, the first-stage transmission rigid wheel 12 is connected to the frame of the robot equipped with the harmonic reducer, so that the first-stage transmission rigid wheel 12 is in a fixed state, the first-stage transmission flexible wheel 11 serves as the output end, and the transmission ratio is i=z1 / (z2-z1); or, when only the first-stage transmission module 10 is working, the cam structure 13 serves as the input end, the first-stage transmission flexible wheel 11 is connected to the frame of the robot equipped with the harmonic reducer, so that the first-stage transmission flexible wheel 11 is in a fixed state, the first-stage transmission rigid wheel 12 serves as the output end, and the transmission ratio is i=z2 / (z2-z1).

[0056] It should be noted that, in the second embodiment of the present application, in combination with Figure 1 and Figure 2 For explanation, the first-stage transmission module 10 also includes a cam structure 13 and a flexible bearing 14. The flexible bearing 14 is sleeved on the outer peripheral side of the cam structure 13 and forms a cam wave generator with the cam structure 13. The first-stage transmission flexible wheel 11 is sleeved on the outer peripheral side of the flexible bearing 14; the number of teeth of the first-stage transmission flexible wheel 11 is z1, the number of teeth of the first-stage transmission rigid wheel 12 is z2, the number of teeth of the second-stage transmission flexible wheel 21 is z3, and the number of teeth of the second-stage transmission rigid wheel 22 is z4; the working mode of the harmonic reducer has a single-input single-output mode. When only the second-stage transmission module 20 is working, the multiple input electromagnetic sheets 23 and the multiple output electromagnetic sheets 24 form an electric field. The magnetic device serves as the input end, the second-stage transmission rigid wheel 22 is connected to the frame of the robot equipped with the harmonic reducer, so that the second-stage transmission rigid wheel 22 is in a fixed state, the second-stage transmission flexible wheel 21 serves as the output end, and the transmission ratio is i=z3 / (z4-z3); or, when only the second-stage transmission module 20 is working, the electromagnetic device formed by multiple input electromagnetic sheets 23 and multiple output electromagnetic sheets 24 serves as the input end, the second-stage transmission flexible wheel 21 is connected to the frame of the robot equipped with the harmonic reducer, so that the second-stage transmission flexible wheel 21 is in a fixed state, the second-stage transmission rigid wheel 22 serves as the output end, and the transmission ratio is i=z4 / (z4-z3).

[0057] It should be noted that, in the third embodiment of the present application, in combination with Figure 1 and Figure 2To illustrate, the first-stage transmission module 10 also includes a cam structure 13 and a flexible bearing 14. The flexible bearing 14 is sleeved on the outer peripheral side of the cam structure 13 and forms a cam wave generator with the cam structure 13. The first-stage transmission flexible wheel 11 is sleeved on the outer peripheral side of the flexible bearing 14; the working mode of the harmonic reducer has a single-input single-output mode. When the first-stage transmission module 10 and the second-stage transmission module 20 work simultaneously, and the circumferential electromagnetic field of the second-stage transmission module 20 only changes in strength, the second-stage transmission flexible wheel 21 is deformed with the strength of the circumferential electromagnetic field to adjust the meshing depth of the second-stage transmission flexible wheel 21 and the second-stage transmission rigid wheel 22. The transmission ratio of the harmonic reducer is the product of the transmission ratio of the first-stage transmission module 10 and the transmission ratio of the second-stage transmission module 20; or, when the first-stage transmission module 10 and the second-stage transmission module 20 operate simultaneously, and the circumferential electromagnetic field of the second-stage transmission module 20 is a rotating magnetic field, the intensity change of the circumferential electromagnetic field causes the second-stage transmission flexible spline 21 to deform with the intensity of the circumferential electromagnetic field to adjust the engagement depth of the second-stage transmission flexible spline 21 and the second-stage transmission rigid spline 22, and the rotational change of the circumferential electromagnetic field causes the second-stage transmission module 20 and the first-stage transmission module 10 to produce a differential change. The transmission ratio of the harmonic reducer is derived corresponding to the specific change.

[0058] It should be noted that the above-mentioned "and the rotational change of the circumferential electromagnetic field causes the second-stage transmission module 20 and the first-stage transmission module 10 to produce a differential change" specifically means that the rotational change of the circumferential electromagnetic field causes the deformation rate of the second-stage transmission flexible wheel 21 in the second-stage transmission module 20 and the rotational speed of the first-stage transmission rigid wheel 12 in the first-stage transmission module 10 to produce the same-direction constant speed, opposite-direction constant speed, same-direction differential speed, and opposite-direction differential speed changes.

[0059] 2Single-input, same-direction, dual-output mode in single-input, dual-output mode:

[0060] It should be noted that, in the embodiments not shown in the present application, Figure 1 and Figure 2To illustrate, the first-stage transmission module 10 also includes a cam structure 13 and a flexible bearing 14. The flexible bearing 14 is sleeved on the outer peripheral side of the cam structure 13 and forms a cam wave generator with the cam structure 13. The first-stage transmission flexible wheel 11 is sleeved on the outer peripheral side of the flexible bearing 14; the working mode of the harmonic reducer has a single-input dual-output mode, and the single-input dual-output mode includes a single-input same-direction dual-output mode. When the first-stage transmission module 10 and the second-stage transmission module 20 work at the same time, the cam structure 13 serves as the input end, and the first-stage transmission rigid wheel 12 and the second-stage transmission rigid wheel 22 are both equipped with the harmonic reducer. The first-stage transmission rigid pulley 12 and the second-stage transmission rigid pulley 22 are both in a fixed state, and the first-stage transmission flexible pulley 11 and the second-stage transmission flexible pulley 21 are both used as output ends; or, when the first-stage transmission module 10 and the second-stage transmission module 20 work simultaneously, the cam structure 13 serves as the input end, and the first-stage transmission flexible pulley 11 and the second-stage transmission flexible pulley 21 are both connected to the frame of the robot matched with the harmonic reducer, so that the first-stage transmission flexible pulley 11 and the second-stage transmission flexible pulley 21 are both in a fixed state, and the first-stage transmission rigid pulley 12 and the second-stage transmission rigid pulley 22 are both used as output ends.

[0061] Optionally, the single-input, same-direction, dual-output mode includes a same-direction synchronous rotation mode, a same-direction, same-direction differential rotation mode, and a same-direction, opposite-direction differential rotation mode. The transmission ratio can be derived according to the specific output mode.

[0062] 3Single-input, dual-output mode:

[0063] It should be noted that, in the embodiments not shown in the present application, Figure 1 and Figure 2To illustrate, the first-stage transmission module 10 also includes a cam structure 13 and a flexible bearing 14. The flexible bearing 14 is sleeved on the outer peripheral side of the cam structure 13 and forms a cam wave generator with the cam structure 13. The first-stage transmission flexible wheel 11 is sleeved on the outer peripheral side of the flexible bearing 14; the working mode of the harmonic reducer has a single-input dual-output mode, and the single-input dual-output mode includes a single-input bidirectional dual-output mode. When the first-stage transmission module 10 and the second-stage transmission module 20 work at the same time, the cam structure 13 serves as the input end, and the first-stage transmission rigid wheel 12 and the second-stage transmission flexible wheel 21 are both equipped with the harmonic reducer. The first-stage transmission module 10 and the second-stage transmission module 20 are connected to the frame of the robot in combination with the harmonic reducer, so that the first-stage transmission flexible pulley 12 and the second-stage transmission flexible pulley 21 are both in a fixed state, and the first-stage transmission flexible pulley 11 and the second-stage transmission flexible pulley 22 are both used as output ends; or, when the first-stage transmission module 10 and the second-stage transmission module 20 are working simultaneously, the cam structure 13 serves as the input end, and the first-stage transmission flexible pulley 11 and the second-stage transmission flexible pulley 22 are both connected to the frame of the robot coordinated with the harmonic reducer, so that the first-stage transmission flexible pulley 11 and the second-stage transmission flexible pulley 22 are both in a fixed state, and the first-stage transmission flexible pulley 12 and the second-stage transmission flexible pulley 21 are both used as output ends.

[0064] Optionally, the single-input, two-way, two-output mode includes a two-way synchronous rotation mode, a two-way same-direction differential rotation mode, and a two-way counter-direction differential rotation mode. The transmission ratio can be derived according to the specific output mode.

[0065] It should be noted that in the present application, the first-stage transmission module 10 can use the same electromagnetic input scheme as the second-stage transmission module 20, which can replace the external motor, further simplify the application structure, and realize stepless adjustment of the input speed and control of the input wave number and reduction or amplification of the meshing range and meshing depth.

[0066] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0067] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0068] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0069] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0070] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0071] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A harmonic reducer, characterized in that: include: A first-stage transmission module (10), the first-stage transmission module (10) comprising, from the inside out, a first-stage transmission flexible wheel (11) and a first-stage transmission rigid wheel (12) that are internally meshed with each other; A second-stage transmission module (20), the second-stage transmission module (20) being located on the outer peripheral side of the first-stage transmission module (10), and the second-stage transmission module (20) comprising, from the inside to the outside, a second-stage transmission flexible wheel (21) and a second-stage transmission rigid wheel (22) that are internally meshed with each other; The second-stage transmission module (20) further comprises a plurality of input electromagnetic sheets (23) and a plurality of output electromagnetic sheets (24), wherein the plurality of input electromagnetic sheets (23) are wound around the outer circumference of the first-stage transmission rigid wheel (12), and the plurality of output electromagnetic sheets (24) are wound around the inner circumference of the second-stage transmission flexible wheel (21).

2. The harmonic reducer according to claim 1, characterized in that: A plurality of input electromagnetic sheets (23) are evenly wound around the outer peripheral surface of the first-stage transmission rigid wheel (12); and / or, The plurality of output electromagnetic sheets (24) are evenly wound around the inner circumference of the second-stage transmission flexible wheel (21).

3. The harmonic reducer according to claim 1, characterized in that: An annular gap is formed between the plurality of input electromagnetic sheets (23) and the plurality of output electromagnetic sheets (24).

4. The harmonic reducer according to claim 1, characterized in that: The number of the input electromagnetic plates (23) is equal to the number of the output electromagnetic plates (24).

5. The harmonic reducer according to claim 1, characterized in that: Alternating currents of different intensities are respectively supplied to the input electromagnetic sheets (23) at different positions, so that at least two circumferential electromagnetic fields with different intensities and directions are generated in the circumference of the first-stage transmission rigid wheel (12); and / or, Alternating currents of different strengths are respectively supplied to the output electromagnetic sheets (24) at different positions, so that at least two circumferential electromagnetic fields with different strengths and directions are generated in the circumference of the second-stage transmission flexible wheel (21).

6. The harmonic reducer according to claim 1, characterized in that: The first-stage transmission module (10) further comprises: Cam structure (13); A flexible bearing (14) is sleeved on the outer peripheral side of the cam structure (13) and forms a cam wave generator with the cam structure (13); the first-stage transmission flexible wheel (11) is sleeved on the outer peripheral side of the flexible bearing (14).

7. The harmonic reducer according to claim 6, characterized in that: The plurality of input electromagnetic sheets (23) include two groups of input electromagnetic sheet groups, wherein the first group of input electromagnetic sheet groups is located within the long axis direction of the cam structure (13), and the second group of input electromagnetic sheet groups is located within the short axis direction of the cam structure (13); The plurality of output electromagnetic sheets (24) include two groups of output electromagnetic sheet groups, wherein the first group of output electromagnetic sheet groups is located within the long axis direction of the cam structure (13), and the second group of output electromagnetic sheet groups is located within the short axis direction of the cam structure (13); An alternating current of a first preset intensity is passed through each of the input electromagnetic sheets (23) in the first group of the input electromagnetic sheet group, and an alternating current of a second preset intensity is passed through each of the output electromagnetic sheets (24) in the first group of the output electromagnetic sheet group, so that the first group of the input electromagnetic sheet group and the first group of the output electromagnetic sheet group generate circumferential electromagnetic fields in opposite directions within the range of the long axis direction of the cam structure (13); An alternating current of a third preset intensity is passed through each of the input electromagnetic sheets (23) in the second group of input electromagnetic sheets, and at the same time, an alternating current of a fourth preset intensity is passed through each of the output electromagnetic sheets (24) in the second group of output electromagnetic sheets, so that the second group of input electromagnetic sheets and the second group of output electromagnetic sheets generate a circumferential electromagnetic field with the same direction within the short axis direction of the cam structure (13), so that the second-stage transmission flexible wheel (21) is deformed according to the outer contour shape of the cam wave generator.

8. The harmonic reducer according to claim 1, characterized in that: An alternating current of a fifth preset intensity is applied to each of the plurality of input electromagnetic sheets (23), and simultaneously, an alternating current of a sixth preset intensity is applied to each of the plurality of output electromagnetic sheets (24), so that the plurality of input electromagnetic sheets (23) and the plurality of output electromagnetic sheets (24) generate a periodic rotating magnetic field, so that the second-stage transmission flexible wheel (21) generates periodic deformation along with the periodic rotating magnetic field and generates periodic meshing with the second-stage transmission rigid wheel (22).

9. The harmonic reducer according to any one of claims 1 to 8, characterized in that: The difference in the number of teeth between the first-stage transmission flexible wheel (11) and the first-stage transmission rigid wheel (12) is equal to the difference in the number of teeth between the second-stage transmission flexible wheel (21) and the second-stage transmission rigid wheel (22).

10. The harmonic reducer according to any one of claims 1 to 8, characterized in that: The harmonic reducer also includes: A three-stage cross bearing structure (30), wherein the three-stage cross bearing structure (30) includes, from the inside to the outside, a first-stage bearing (31) at the rigid wheel end, a second-stage bearing (32) at the rigid wheel end, and a third-stage bearing (33) at the rigid wheel end; The first-stage bearing (31) at the rigid wheel end is sleeved on the outer peripheral side of the cam structure (13) of the first-stage transmission module (10) and is connected to the cam structure (13); the second-stage bearing (32) at the rigid wheel end is located at one axial end of the first-stage transmission rigid wheel (12) and is connected to the first-stage transmission rigid wheel (12); and the third-stage bearing (33) at the rigid wheel end is located at one axial end of the second-stage transmission rigid wheel (22) and is connected to the second-stage transmission rigid wheel (22).

11. The harmonic reducer according to claim 10, characterized in that: The harmonic reducer also includes: an intermediate cross bearing structure (40), wherein an axial first end of the intermediate cross bearing structure (40) is connected to the second-stage transmission rigid wheel (22); A secondary cross bearing structure (50) includes, from the inside to the outside, a flexible plywood end primary bearing (51) and a flexible plywood end secondary bearing (52), and the flexible plywood end secondary bearing (52) is connected to the axial second end of the intermediate cross bearing structure (40).

12. The harmonic reducer according to claim 11, characterized in that: The first-stage transmission flexible wheel (11) comprises: A first flexible wheel body (111), wherein the outer peripheral side of the first flexible wheel body (111) has teeth for internal meshing with the first-stage transmission rigid wheel (12); a first cylinder (112), wherein one axial end of the first cylinder (112) is connected to the first flexspline body (111), and the other axial end of the first cylinder (112) has a first annular flange (113), and the first annular flange (113) is folded inward and connected to the first-stage bearing (51) at the flexspline end; and / or, The second-stage transmission flexible wheel (21) comprises: A second flexible wheel body (211), wherein the outer peripheral side of the second flexible wheel body (211) has teeth for internal meshing with the second-stage transmission rigid wheel (22); A second cylinder (212), one axial end of the second cylinder (212) is connected to the second flexible wheel body (211), and the other axial end of the second cylinder (212) has a second annular flange (213), and the second annular flange (213) is folded outward and connected to the flexible wheel end secondary bearing (52).

13. The harmonic reducer according to any one of claims 1 to 8, characterized in that: The first-stage transmission module (10) further comprises: Cam structure (13); A flexible bearing (14), wherein the flexible bearing (14) is sleeved on the outer peripheral side of the cam structure (13) and forms a cam wave generator with the cam structure (13); the first-stage transmission flexible wheel (11) is sleeved on the outer peripheral side of the flexible bearing (14); The number of teeth of the first-stage transmission flexible wheel (11) is z1, the number of teeth of the first-stage transmission rigid wheel (12) is z2, the number of teeth of the second-stage transmission flexible wheel (21) is z3, and the number of teeth of the second-stage transmission rigid wheel (22) is z4; The working mode of the harmonic reducer is a single-input single-output mode. When only the first-stage transmission module (10) is working, the cam structure (13) serves as an input end, the first-stage transmission rigid wheel (12) is connected to a frame of a robot matched with the harmonic reducer, so that the first-stage transmission rigid wheel (12) is in a fixed state, the first-stage transmission flexible wheel (11) serves as an output end, and the transmission ratio is i=z1 / (z2-z1); or, When only the first-stage transmission module (10) is working, the cam structure (13) serves as an input end, the first-stage transmission flexible wheel (11) is connected to the frame of the robot matched with the harmonic reducer so that the first-stage transmission flexible wheel (11) is in a fixed state, the first-stage transmission rigid wheel (12) serves as an output end, and the transmission ratio is i=z2 / (z2-z1).

14. The harmonic reducer according to any one of claims 1 to 8, characterized in that: The first-stage transmission module (10) further comprises: Cam structure (13); A flexible bearing (14), wherein the flexible bearing (14) is sleeved on the outer peripheral side of the cam structure (13) and forms a cam wave generator with the cam structure (13); the first-stage transmission flexible wheel (11) is sleeved on the outer peripheral side of the flexible bearing (14); The number of teeth of the first-stage transmission flexible wheel (11) is z1, the number of teeth of the first-stage transmission rigid wheel (12) is z2, the number of teeth of the second-stage transmission flexible wheel (21) is z3, and the number of teeth of the second-stage transmission rigid wheel (22) is z4; The working mode of the harmonic reducer is a single-input single-output mode. When only the second-stage transmission module (20) is working, the electromagnetic device formed by the plurality of input electromagnetic sheets (23) and the plurality of output electromagnetic sheets (24) serves as an input end, the second-stage transmission rigid wheel (22) is connected to the frame of the robot matched with the harmonic reducer so that the second-stage transmission rigid wheel (22) is in a fixed state, the second-stage transmission flexible wheel (21) serves as an output end, and the transmission ratio is i=z3 / (z4-z3); or, When only the second-stage transmission module (20) is working, the electromagnetic device formed by the multiple input electromagnetic sheets (23) and the multiple output electromagnetic sheets (24) serves as the input end, the second-stage transmission flexible wheel (21) is connected to the frame of the robot matched with the harmonic reducer so that the second-stage transmission flexible wheel (21) is in a fixed state, the second-stage transmission rigid wheel (22) serves as the output end, and the transmission ratio is i=z4 / (z4-z3).

15. The harmonic reducer according to any one of claims 1 to 8, characterized in that: The first-stage transmission module (10) further comprises: Cam structure (13); A flexible bearing (14), wherein the flexible bearing (14) is sleeved on the outer peripheral side of the cam structure (13) and forms a cam wave generator with the cam structure (13); the first-stage transmission flexible wheel (11) is sleeved on the outer peripheral side of the flexible bearing (14); The working mode of the harmonic reducer is a single-input single-output mode. When the first-stage transmission module (10) and the second-stage transmission module (20) operate simultaneously, and the circumferential electromagnetic field of the second-stage transmission module (20) changes only in strength, the second-stage transmission flexible wheel (21) deforms according to the strength of the circumferential electromagnetic field to adjust the engagement depth of the second-stage transmission flexible wheel (21) and the second-stage transmission rigid wheel (22), and the transmission ratio of the harmonic reducer is the product of the transmission ratio of the first-stage transmission module (10) and the transmission ratio of the second-stage transmission module (20); or, When the first-stage transmission module (10) and the second-stage transmission module (20) operate simultaneously, and the circumferential electromagnetic field of the second-stage transmission module (20) is a rotating magnetic field, the intensity change of the circumferential electromagnetic field causes the second-stage transmission flexible wheel (21) to deform according to the intensity of the circumferential electromagnetic field, so as to adjust the meshing depth of the second-stage transmission flexible wheel (21) and the second-stage transmission rigid wheel (22), and the rotation change of the circumferential electromagnetic field causes the second-stage transmission module (20) and the first-stage transmission module (10) to produce a differential change.

16. The harmonic reducer according to any one of claims 1 to 8, characterized in that: The first-stage transmission module (10) further comprises: Cam structure (13); A flexible bearing (14), wherein the flexible bearing (14) is sleeved on the outer peripheral side of the cam structure (13) and forms a cam wave generator with the cam structure (13); the first-stage transmission flexible wheel (11) is sleeved on the outer peripheral side of the flexible bearing (14); The working mode of the harmonic reducer has a single-input dual-output mode, and the single-input dual-output mode includes a single-input same-direction dual-output mode. When the first-stage transmission module (10) and the second-stage transmission module (20) operate simultaneously, the cam structure (13) serves as an input end, the first-stage transmission rigid wheel (12) and the second-stage transmission rigid wheel (22) are both connected to the frame of the robot matched with the harmonic reducer, so that the first-stage transmission rigid wheel (12) and the second-stage transmission rigid wheel (22) are both in a fixed state, and the first-stage transmission flexible wheel (11) and the second-stage transmission flexible wheel (21) serve as output ends; or, When the first-stage transmission module (10) and the second-stage transmission module (20) work simultaneously, the cam structure (13) serves as an input end, the first-stage transmission flexible wheel (11) and the second-stage transmission flexible wheel (21) are both connected to the frame of the robot matched with the harmonic reducer, so that the first-stage transmission flexible wheel (11) and the second-stage transmission flexible wheel (21) are both in a fixed state, and the first-stage transmission rigid wheel (12) and the second-stage transmission rigid wheel (22) serve as output ends.

17. The harmonic reducer according to claim 16, characterized in that: The single-input same-direction dual-output mode includes a same-direction synchronous rotation mode, a same-direction same-rotation differential rotation mode, and a same-direction counter-rotation differential rotation mode.

18. The harmonic reducer according to any one of claims 1 to 8, characterized in that: The first-stage transmission module (10) further comprises: Cam structure (13); A flexible bearing (14), wherein the flexible bearing (14) is sleeved on the outer peripheral side of the cam structure (13) and forms a cam wave generator with the cam structure (13); the first-stage transmission flexible wheel (11) is sleeved on the outer peripheral side of the flexible bearing (14); The working mode of the harmonic reducer has a single-input dual-output mode, and the single-input dual-output mode includes a single-input bidirectional dual-output mode. When the first-stage transmission module (10) and the second-stage transmission module (20) operate simultaneously, the cam structure (13) serves as an input end, the first-stage transmission rigid wheel (12) and the second-stage transmission flexible wheel (21) are both connected to the frame of the robot matched with the harmonic reducer, so that the first-stage transmission rigid wheel (12) and the second-stage transmission flexible wheel (21) are both in a fixed state, and the first-stage transmission flexible wheel (11) and the second-stage transmission rigid wheel (22) serve as output ends; or, When the first-stage transmission module (10) and the second-stage transmission module (20) operate simultaneously, the cam structure (13) serves as an input end, the first-stage transmission flexible wheel (11) and the second-stage transmission rigid wheel (22) are both connected to a frame of a robot that cooperates with the harmonic reducer, so that the first-stage transmission flexible wheel (11) and the second-stage transmission rigid wheel (22) are both in a fixed state, and the first-stage transmission rigid wheel (12) and the second-stage transmission flexible wheel (21) serve as output ends.

19. The harmonic reducer according to claim 18, characterized in that: The single-input, two-way, two-output mode includes a two-way synchronous rotation mode, a two-way same-direction differential rotation mode, and a two-way counter-direction differential rotation mode.

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