Parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in motor rotor

Abstract

Among the five motor rotors, a parallel, high-efficiency, composite flexible-cylinder internal meshing harmonic transmission (HMT) consists of a thin-walled composite flexible cylinder with integrated flexible bearing inner ring outer raceways and inner bevel gears at both ends, and an inner gear ring integrated in the middle. These components are coupled to two rolling wave generators of the same structural dimensions, but with the semi-minor axis at one end coplanar with the semi-major axis at the other, fixed to the motor's hollow inner rotor. The motor's outer stator, coupled to cap-shaped bevel gears at both ends, serves as the stationary component. By utilizing the antisymmetric deformation at both ends of the composite flexible cylinder, half of the motor's input torque is proportionally amplified by two back-to-back, parallel internal meshing harmonic transmission components with identical structural parameters. After superposition of the composite flexible cylinder's constant-circular midsection, half of the motor's input torque is output through a variable-stiffness coupling formed by its inner gear ring and hollow toothed shaft. Three waveform calculation formulas and curvature inflection point values ​​for the composite flexible cylinder are presented. Because the composite flexible cylinder's wall thickness is effectively reduced and no circularity constraint is required for its midsection, its elastic deformation energy and frictional power consumption are reduced, resulting in high transmission efficiency.

Description

Technical Field

[0001] This invention belongs to the field of mechanical transmission technology, particularly to a parallel, high-efficiency, composite flexible-cylinder internal harmonic transmission in five motor rotors. It proposes a concept and technical method for achieving back-to-back parallel operation of two internal harmonic transmission components sharing a composite flexible cylinder through electromechanical integration. Furthermore, by integrating some static and dynamic components, reducing non-operational material in flexible components, and offsetting elastic deformation forces within the dynamic components, the transmission's total deformation energy consumption and frictional work losses are reduced. By integrating the transmission into the rotor of the motor, the drive source, this active internal radial harmonic transmission boasts a compact structure, small size, and high transmission efficiency. Background Art

[0002] Harmonic reducers have the characteristics of small size, large transmission ratio, high transmission accuracy and light weight. They are the core transmission components of automatic control devices such as robots, mechanical equipment and medical equipment. As more and more equipment develops towards automation and intelligence, higher and higher requirements are placed on the performance of harmonic reducers. At present, the common commercial harmonic reducers on the market are radial harmonic reducers with single external meshing harmonic transmission components, while the descriptions of radial harmonic reducers with single internal meshing harmonic transmission components [1, 2] or face-to-face parallel internal meshing radial harmonic reducers in motor rotors [2] are only found in patent literature.

[0003] Unlike conventional transmissions, the core principle of a harmonic reducer is to utilize the elastic deformation of flexible components during operation to generate harmonic motion to transmit motion and power. The internally meshing radial harmonic reducer, which has been published in patent literature, primarily consists of a radial non-circular concave hole wave generator, a flexible bearing, a flexspline with an internal gear ring at the end, and a rigid wheel with external teeth of the same modulus. The flexible bearing is embedded in the non-circular concave hole of the wave generator and mounted on the flexspline. When the wave generator is in operation, it causes the flexspline to undergo controllable elastic deformation, allowing the teeth of the internal gear rings at the two short shaft ends of the deformed flexspline to simultaneously mesh with the outer teeth of the rigid wheel. Due to the small tooth difference between the rigid and flexsplines, the inner teeth at the long axis of the deformed flexspline completely disengage from the outer teeth of the rigid wheel, forcing the flexspline to generate harmonic deformation motion to transmit motion and torque, thereby achieving a large reduction ratio.

[0004] The flexible bearing inner ring and flexspline are the two core flexible components of an internally meshing radial harmonic reducer, yet they are manufactured as separate parts. Both retain elastic wall thicknesses required for independent part processing but not required for operation. However, these elastic wall thicknesses also produce elastic deformation during reducer operation, consuming energy. The flexible bearing outer ring, however, was manufactured as a circular shape before the wave generator was incorporated. However, after this, the outer ring adopts the same non-circular, concave shape as the wave generator and is subject to assembly bending stresses. The curvature of the grooves in the radial sections of the inner raceway is also altered by the non-circular wave generator, affecting the high-speed operation and force of the bearing rolling elements. The assembly of these discrete parts inevitably increases the number of interfaces in the force or torque transmission path, complicating the constraints between the components and reducing their structural strength.

[0005] Patent CN 105090372 A[1] discloses a novel harmonic gear transmission device with an external wave generator, which adopts a wine glass-shaped flexible wheel; while patent US 7,409,891 B2[2] discloses a radial harmonic reducer with a pulley drive and a single internal meshing harmonic transmission component in the motor rotor and a radial harmonic reducer with a face-to-face parallel internal meshing double harmonic transmission component in the motor rotor. The three reducers of the latter all adopt an internal meshing harmonic transmission component of a top hat-shaped flexible wheel. Therefore, the two patents have the same problem as the existing flexible wheel type harmonic reducer, that is, the internal gear ring end of the flexible wheel generates harmonic deceleration motion and amplifies torque, while the torque output of the other end of the flexible wheel must rely on the diaphragm structure such as its cup bottom or hollow flange cap brim to play a circular constraint role. These constraint structures consume elastic deformation energy to generate or limit the deformation of the flexible wheel during operation. This is one of the main reasons for the low transmission efficiency of the existing flexible wheel type harmonic reducer. The latter's radial harmonic reducer with face-to-face parallel internal meshing double harmonic drive components in the motor rotor simply connects the inner gear ring ends of the internal meshing harmonic drive components of two top-hat-shaped flexible wheels face-to-face in parallel in the middle of the motor's inner rotor, and drives them with the same wave generator. The torque output at both ends still relies on the hollow flanged cap brim diaphragm structure to maintain the circular constraint, so it only increases the transmission power of the reducer but does not improve its efficiency.

[0006] Reference [2] states that when the points on the circumference of the open end of the flexible wheel rotate, they swing outward and inward with the cross-section point of the cap on the respective flexible wheel busbar as the center of the circle, and the swing value is the largest. That is, the swing values ​​of the axial points of the spur gear ring at the end portion are not equal. However, the teeth on the rigid and flexible wheels are processed as spur gears parallel to the axis, resulting in additional elastic constraints when the rigid and flexible wheels are engaged at the short shaft end, and increasing the sliding friction and wear of the meshing tooth surface. Patent CN 117847173 A [3] discloses a back-to-back parallel high-efficiency composite flexible cylinder external meshing radial harmonic reducer that uses the internal bevel gear meshing method to perform harmonic meshing on the oblique end face, so as to fully utilize the elastic material of the flexible cylinder end, increase the meshing area and reduce the deformation energy consumption here.

[0007] In existing flexspline harmonic reducers, the wave generator, flexible bearing, and flexspline are independent components. The high-speed waveform of the wave generator, combined with the meshing of the rigid and flexspline teeth with a small tooth difference, converts the radial rotation wave of the flexspline's high-speed moving ring into harmonic motion of the low-speed moving ring and the flexspline. Due to the single harmonic drive assembly, the expansion and contraction of the flexspline's open end, and the different torsional stiffnesses of the flexspline and the flexspline's low-speed moving ring, the radial elastic deformation force of the flexspline and flexspline, which compress the three components, is inevitably transmitted radially and axially through the interfaces between these three components to the wave generator's input bearing system and the flexspline's output bearing system. This generates significant frictional power consumption and heat in the two supporting bearing systems with independent rotational degrees of freedom.

[0008] Since the radial displacement of the wave generator that determines the engagement and disengagement of the rigid and flexspline teeth in the existing flexspline harmonic reducer is generally several times greater than the clearance of conventional rolling bearings, the retainer of the flexible bearing is forced to move or deform radially, and there is a large radial movement between it and the balls. Although grease is used for lubrication, the high-speed centrifugal motion of the balls often throws off the grease, which can easily cause lubrication failure. Summary of the Invention

[0009] To address the aforementioned shortcomings of the prior art, the present invention provides five parallel, high-efficiency, composite flexible-cylinder internal-meshing harmonic transmissions for motor rotors. The core principle is to utilize a thin-walled composite flexible cylinder with integrated outer raceways and inner bevel gear rings of flexible bearing inner rings on both ends, and a spur gear ring integrated on the central inner wall. The antisymmetric deformation generated by the rotation of two rolling wave generators of the same structural dimensions, but with the semi-minor axis of one end coplanar with the semi-major axis of the other end, fixed to the ends of the motor's hollow inner rotor, generates a proportional amplification of half of the high-speed rotational torque input to the transmission via two internal-meshing radial harmonic drive assemblies with the same module and tooth number difference, operating back-to-back and sharing the composite flexible cylinder. The amplified low-speed rotational torques of the same direction at both ends are superimposed on the constant-circular midsection of the composite flexible cylinder and then output through a tooth-free, variable-stiffness coupling formed by the gear rings on the composite flexible cylinder's inner wall and the gears on the hollow shaft.

[0010] The parallel, high-efficiency, composite flexible-cylinder internal meshing harmonic transmission in the motor rotor consists of a dynamic component, a static component, and a variable-stiffness toothed coupling output element compactly arranged in both radial and axial directions. The dynamic component comprises the aforementioned thin-walled composite flexible cylinder, coupled to two rolling wave generators with identical structural dimensions, fixed to each end of the motor's hollow inner rotor, each with its semi-major axis aligned in the same axial plane as the semi-minor axis of the other. Two rigid end caps, each with integrated bevel gears, are fixed to the motor's external stator, forming the static component. Taking advantage of the composite flexible cylinder's characteristic of maintaining a circular cross-section during operation—namely, no radial displacement at any point along the circumference of the cylinder wall, but only slight deflection—an internal spur gear is integrated into the inner wall of this section. This, along with a rigid herringbone spur gear with the same module and number of teeth on the hollow shaft, forms a coupling output element with low axial stiffness and high circumferential stiffness. The two parallel bevel gear wheels and the inner bevel gear rings at both ends of the composite flexible cylinder have the same module and tooth number difference. In the inward-contracted arc sections of the semi-minor shaft ends at both ends of the composite flexible cylinder, the bevel teeth of the bevel gear wheels and some of the bevel teeth of the non-conical gear rings of the composite flexible cylinder are meshed in a bevel gear manner. This achieves the purpose of fully utilizing the elastic material at the end of the composite flexible cylinder after unified optimization of the three functions of thin-walled cylinder deformation, gear meshing and bearing support, increasing the meshing area and reducing deformation and friction energy loss at this location.

[0011] The cross-top section of the herringbone teeth of the variable-rigidity toothed coupling output member must be located on the middle section of the composite flexible cylinder, and the generatrix of the top and root of the two-character straight teeth in the tooth length direction is respectively parallel to the generatrix of the tooth profile of the inner bevel gear ring at both ends of the composite flexible cylinder at the maximum indentation angle; the low-speed rotational torque is output through the meshing transmission of the variable-rigidity toothed coupling, which can reduce the constraint of the output coupling on the different micro-deflection deformations at various circumferential points in the middle section of the composite flexible cylinder and the deformation of nearby points, effectively reducing the constraint energy consumption here; the radial and axial external forces outside the rotational torque output end are borne by a pair of angular contact ball bearings between the hollow toothed shaft and the fixed end cover.

[0012] There are two types of rolling wave generators: one type consists of a wave generator with the same structural dimensions fixedly connected at both ends of the motor's hollow inner rotor, but with the semi-major axis at one end coplanar with the semi-minor axis at the other end, and an inner surface with the inner raceway of a flexible bearing outer ring, capable of generating two or three sets of equal concave bending waves. This wave generator is assembled through two identical equal-diameter ball-cage assemblies; the other type is assembled from a retainer of the same structural dimensions fixedly connected at both ends of the motor's hollow inner rotor, its unequal-diameter ball sets in its pockets, and two thick-walled circular raceway bearing outer rings that have no circumferential constraints but must withstand the radial forces of the unequal-diameter ball sets. In the latter type, the diameter and circumferential relative position of the unequal-diameter balls in the two unequal-diameter ball sets driven to orbit by the retainer remain unchanged during operation. The outer envelope of the ball set is a circle, and the inner envelope can be two or three sets of equal concave bending waves. Therefore, the inner envelope of the two unequal-diameter ball sets ensures that the semi-major axis at one end is coplanar with the semi-minor axis at the other end.

[0013] Taking advantage of the fact that each point on the circumference of the composite flexible cylinder port rotates with the mid-section point on the generatrix where each point is located as the center of the circle, and the swing value is the largest, that is, the swing values ​​of each axial point on the end bevel gear ring teeth are not the same, the tooth length direction generatrix of the steel wheel tooth root that meshes with the bevel gear in the oblique end face must be designed to be parallel to the outer contour generatrix of the bevel gear at the maximum inward shrinkage angle of the composite flexible cylinder, and the tooth length direction generatrix of the steel wheel tooth top must be designed to be parallel to the outer contour generatrix of the bevel gear at the maximum outward expansion angle of the composite flexible cylinder; in this case, with the help of tooth end chamfering, the wave generator is used to generate the half-length 1 / 3 or less of the difference between the shaft and the semi-minor axis is the disengagement clearance, and 2 / 3 or more of the length difference is used as the bevel gear meshing height to increase the meshing area. By sharing part of the rib material of the inner ring raceway of the composite flexible cylinder bearing, the material consumption of the flexible cylinder end is effectively reduced, which can maximize the meshing area and reduce the deformation energy consumption of the composite flexible cylinder at this location. The semi-cone angle of the inner bevel gear ring at the end of the composite flexible cylinder needs to be determined by comprehensively considering factors such as the length / diameter ratio of the composite flexible cylinder, the bottom diameter and groove curvature of the bearing inner ring raceway, and the semi-major axis length / semi-minor axis length of the non-circular concave wave generator.

[0014] The moving parts of the transmission and the inner rotor of the motor are supported or suspended outside the two rigid wheels by the meshing of the inward-contracted arc-segment gear teeth at the semi-short shaft ends of the composite flexible cylinder due to the multiple groups of antisymmetric deformations at both ends of the composite flexible cylinder, and are coaxial with the two rigid wheels. The axial displacement of the ball-cage assembly is constrained by the outward and inward deformations of the composite flexible cylinder ports, as well as the meshing constraints of the axisymmetric rigid wheels and composite flexible cylinder bevel gears. In addition, the hollow shaft supported by the angular contact ball bearing can assist in constraining the radial and axial displacements of the inner rotor through the cross-section of the composite flexible cylinder via a variable-rigidity toothed coupling. Therefore, no bearing support is required between the stator and rotor of the motor, thereby The required number of bearings is reduced, the structure of the reducer is simplified, and unnecessary friction loss and temperature rise are reduced. The partition between the motor compartment and the transmission compartment can be solved by a pair of sealing rings between the moving parts and the end covers. Of course, the moving parts of the transmission and the inner rotor of the motor can also be radially supported in the two end covers by a pair of deep groove ball bearings with sealing rings to ensure that they run coaxially with the two rigid wheels and also separate the motor compartment from the transmission compartment. Because the elastic deformation forces on the two internally meshing radial harmonic drive components working back-to-back in parallel and sharing the same composite flexible cylinder offset each other in the moving parts, there is no axial force on the deep groove ball bearings.

[0015] The two types of rolling wave generators make the composite flexible tube generate two or three sets of equally curved wave surfaces with the semi-major axis at one end and the semi-minor axis at the other end coplanar. The cylindrical coordinate calculation formula is:

[0016] ,

[0017] in, R= ( r o + r i) / 2 is the constant circle radius of the middle section of the thin-walled composite flexible tube, r o is the length of the semi-major axis of the end face of the composite flexible tube, r i is the length of the semi-minor axis of the composite flexible tube end face, L is the length of the composite flexible tube; for a composite flexible tube with n curved waveform groups, the curvature inflection point value at the semi-minor axis is 1 / n 2 , when ε = ( R - r i ) / r i When the curvature inflection point value is less than this, in the inward-contracted arc section of the semi-minor axis ends of the composite flexible cylinder, the bevel gears on the rigid end caps and the partial teeth on the deformed non-circular internal bevel gear ring at the end of the composite flexible cylinder mesh in a radially conical manner; when ε is greater than the curvature inflection point value, the same partial bevel teeth will mesh in a radially recurved manner, and the number of meshing teeth will be less than that in the radially conical manner.

[0018] In the second type of rolling wave generator, two or three groups of curved surfaces at both ends of the composite flexible cylinder are rolled out to their inner envelope shape by balls of unequal diameter. The deformation at the contact point between each ball and the composite flexible cylinder remains constant, thereby controlling the sequential rotation of each curved deformed surface along the circumference, with the deformation varying from zero to small, then large, then back to small, and then back to zero, repeating over and over again. The radial forces acting on all balls are borne by the freely rotating outer ring of the thick-walled circular raceway bearing, but the net force acting thereon is zero. Unlike the first type of rolling wave generator, the retainer of this type of rolling wave generator exhibits no radial curvature, and the radial play of the unequal diameter balls is extremely small. Therefore, solid oil lubrication can be used to prevent grease from being thrown off by the high-speed centrifugal motion of the balls and to improve resistance to abrasive contamination. When the curvature of the semi-minor axis end of each group of curved wave surfaces is less than the corresponding inflection point value, this type of rolling wave generator can change the constant circle radius of the composite flexible cylinder's central cross-section without increasing the reducer's volume by adjusting the spacing between the balls, or the number of balls, or the ball diameter. This allows the number of tooth differences to be varied, thereby changing the reduction ratio. Because the original flexible wheel type internal meshing harmonic reducer or face-to-face parallel internal meshing harmonic reducer lacks the constraints of the elastic membrane structure such as the cup bottom or hollow flange cap brim at the output end of the flexible wheel, which plays the role of maintaining the circular output, there is no deformation energy consumption during operation; also because the flexible cylinder with bevel gear ring and the two flexible bearing inner rings are combined into one flexible part, the wall thickness of the elastic parts required by the original independent parts due to the processing technology but not required during operation is greatly reduced, and the multi-directional friction between the independent parts during operation is eliminated, so the deformation energy and friction work loss of the most core flexible parts in the harmonic transmission during operation can be greatly reduced; compared with the flexible wheel type internal meshing harmonic reducer or face-to-face parallel internal meshing harmonic reducer with only a single harmonic transmission component, under the same input power, the two internal meshing harmonic transmission components working back to back in parallel are loaded by half, and under the same flexible part bending and torsional stiffness and wall thickness conditions, the elastic part wall thickness of the latter can be less than half of that of the former. The above-mentioned features can effectively improve the transmission efficiency of the transmission, reduce the temperature rise during operation and the failure rate of the flexible parts.

[0019] Since the number of teeth on the inner bevel gear ring on the composite flexible cylinder is slightly greater than the number of teeth on the bevel gears on the two rigid end covers, when the former only produces two sets of orthogonal anti-symmetric deformations, if the difference in the number of teeth between the two is an odd multiple of 2, the two bevel gears on the latter need to be installed with a circumferential offset of half a tooth in order to work correctly; but if the difference in the number of teeth is an even multiple of 2, the latter does not need to be installed with a circumferential offset; when the former only produces three sets of anti-symmetric deformations, if the difference in the number of teeth between the two is an odd multiple of 3, the two bevel gears on the latter need to be installed with a circumferential offset of half a tooth in order to work correctly; but if the difference in the number of teeth is an even multiple of 3, the latter does not need to be installed with a circumferential offset; if the former is forced to produce more sets of anti-symmetric deformations, the offset installation conditions of the two bevel gears are similar. The ball-cage assembly is only subject to the forces of deformation of the composite flexible cylinder and meshing of the rigid gear teeth between the high-speed rotating inner rotor and the composite flexible cylinder raceway. Because these forces are solely dependent on the composite flexible cylinder's structural dimensions, material, and output torque, and as internal forces, they are relatively stable and predictable. The supporting bearings of the hollow shaft connected to the variable-rigidity toothed coupling, while subject to highly variable external forces, operate at low speeds, well within the typical operating range of rolling bearings, and offer ample installation space. In other words, from the high-speed motor input to the transmission's high-reduction-ratio output, a single pair of broadly defined composite flexible bearings and a pair of angular contact ball bearings comprehensively accomplish deformation reduction, "suspending" the moving parts and the motor's inner rotor. These bearings share internal and external loads of varying nature and operate at both high and low speeds, ensuring a clear division of labor while also cooperating to support various structural components.

[0020] Even if the dynamic and static components of the transmission are not integrated accordingly but assembled from discrete parts, the word "compound" can be removed from the name. The functions and advantages of the back-to-back parallel compound flexible-cylinder internal meshing harmonic transmission are still there, except that the radial size is larger, there are more interfaces in the force or torque transmission path, and the transmission efficiency is slightly reduced. However, its manufacturing process is relatively more mature and simple.

[0021] The transmission can also be used in reverse to become a speed increaser, which can convert low-speed, high-torque input into high-speed, low-torque output. Therefore, as long as the inner rotor motor is replaced with a generator, a parallel high-efficiency composite flexible cylinder internal meshing harmonic speed increaser can be realized, thereby increasing the speed of low-speed mechanical energy and converting it into electrical energy output. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of a preferred embodiment of the present invention - a parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in a motor rotor using a first-class rolling wave generator to generate two sets of curved waveforms, and its three radial cross-sectional structures;

[0023] Figure 2This is a schematic diagram of the structure of a parallel high-efficiency composite flexible cylinder internal meshing harmonic transmission in a motor rotor using a second type rolling wave generator to generate two sets of curved waveforms, and a generalized composite flexible bearing structure with a group of unequal diameter balls driven by a cage to revolve;

[0024] Figure 3 This is a schematic radial cross-sectional view of the structure of the parallel-type high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor of the present invention, which uses the second type rolling wave generator to generate three sets of curved waveforms, and the structure within the unequal diameter ball group driven by the cage to revolve;

[0025] Figure 4 1 is a schematic radial cross-sectional view of the structure within the wave generator of the present invention, which uses the first type of rolling wave generator to generate three sets of curved waveforms;

[0026] Figure 5 This is a three-dimensional schematic diagram of the composite flexible tube of the present invention generating two to four sets of curved wave-shaped surfaces with the semi-major axis at one end and the semi-minor axis at the other end being coplanar, and the curved shape of the inward-contracted arc segment at the semi-minor axis end. R - r i ) / r i The law of value change;

[0027] Figure 6 The diagram is a schematic diagram comparing the structures of the present invention in which a pair of deep groove ball bearing radial supports with sealing rings are added between the moving component and the static component and whether they are integrated or not. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] In the following description, specific details, such as certain internal procedures and techniques, are provided for purposes of illustration and not limitation to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0030] In response to the problems described in the background art, the present invention will describe a parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in a motor rotor in combination with five embodiments.

[0031] Example 1

[0032] like Figure 1As shown, this embodiment provides a parallel, high-efficiency, composite flexible-cylinder internal meshing harmonic transmission in a motor rotor that utilizes a first-class rolling wave generator to generate two sets of curved waveforms. In this embodiment, the transmission comprises a dynamic component, a static component, and a variable-rigidity toothed coupling output member, compactly arranged radially and axially. The integrated moving part consists of a thin-walled composite flexible cylinder 9 with the outer raceway and inner bevel gear ring of the flexible bearing inner ring integrated on the outer surfaces of both ends, and a straight gear ring integrated on the inner wall of the middle part. It is also connected to the ends of the hollow inner rotor 12 of the motor embedded with permanent magnets 13 by bolts 4. It has the same structural dimensions, but the semi-major axis at one end is coplanar with the semi-minor axis at the other end, and the inner surface has the inner raceway of the flexible bearing outer ring, which can generate two sets of concave bending waves. The wave generator 11 is composed of two identical equal-diameter ball-cage assemblies 10. The two rigid end caps 3 with integrated bevel gears are fixed to the housing 2 with the motor outer stator 15 by bolts 1, forming the static part. The power cord 14 passes through the wall hole of the left end cap 3 to be electrically connected to the outer stator 15.

[0033] like Figure 1 As shown in the FF cross-sectional view, a spur gear ring is integrated into the inner wall of the middle section of the constant circle of the composite flexible cylinder 9. This spur gear ring, together with the rigid herringbone spur gear of the same module and number of teeth on the hollow shaft 7, forms a connection output member with low axial stiffness and high circumferential stiffness. The cross-top section of the herringbone gear must be located on the middle section of the composite flexible cylinder 9, and the generatrix of the tooth length direction of the herringbone spur gear top and root is parallel to the generatrix of the tooth profile of the inner bevel gear ring at the maximum indentation angle at both ends of the composite flexible cylinder 9. The inner spur gear ring and the large ends of the inner bevel gear ring at both ends of the composite flexible cylinder 9 can have the same tooth profile and the same number of teeth, or different tooth profiles and different numbers of teeth. The radial and axial external forces on the hollow shaft 7 are borne by a pair of angular contact ball bearings 6 between the hollow shaft 7 and the rigid end cover 3. The pair of bearings 6 are positioned and pre-tightened on the hollow shaft 7 by a pair of nuts 8.

[0034] like Figure 1As shown in the DD and EE cross-sections in FIG, the two bevel gear wheels 3 have the same module and tooth number difference as the inner bevel gear rings at both ends of the composite flexible cylinder 9. In the inwardly contracted arc sections of the semi-minor shaft ends at both ends of the composite flexible cylinder 9, the bevel teeth of the bevel gear wheels 3 mesh with the partial bevel teeth of the non-conical gear rings of the composite flexible cylinder 9 in a bevel gear manner. That is, as shown in the functional block diagram, these two harmonic drive components are actually connected in parallel to perform the same proportional deceleration operation. Due to the two sets of orthogonal anti-symmetric deformations at both ends of the composite flexible cylinder 9, the moving part is supported by the meshing of the inward-contracted arc segment gear teeth at the semi-minor shaft ends of the latter, or is suspended outside the bevel teeth of the two rigid wheels 3, and is coaxial with the two rigid wheels; the axial displacement of the ball-cage assembly 10 is constrained by the two sets of outward and inward deformations at the two ends of the composite flexible cylinder 9, and the meshing of the axially symmetrical bevel gears of the rigid wheel 3 and the composite flexible cylinder 9, and the hollow shaft 7 supported by a pair of angular contact ball bearings 6 can also play an auxiliary constraining function through the middle section of the composite flexible cylinder 9 through the variable stiffness toothed connecting piece. Therefore, there is no need for bearing support between the stator and rotor of the motor, and the partition between the motor compartment and the transmission compartment can be solved by a pair of sealing rings 5 ​​between the moving part and the end cover.

[0035] like Figure 1 As shown, the tooth length direction generatrix of the bevel gear wheel 3 tooth root must be parallel to the outer contour generatrix of the bevel gear at the maximum inward shrinkage angle of the composite flexible cylinder 9, while the tooth length direction generatrix of the tooth top of the bevel gear wheel 3 must be parallel to the outer contour generatrix of the bevel gear at the maximum outward expansion angle of the composite flexible cylinder 9; with the help of tooth end chamfering, 1 / 3 or less of the difference between the semi-major axis length and the semi-minor axis length of the wave generator is used as the disengagement clearance, and 2 / 3 or more of the length difference is used as the bevel gear meshing height to increase the meshing area.

[0036] Example 2

[0037] The parallel high-efficiency composite flexible cylinder internal meshing harmonic transmission in the motor rotor using the second type rolling wave generator to generate two sets of curved waveforms and the generalized composite flexible bearing structure of the unequal diameter ball group driven by the cage is as follows: Figure 2As shown, the transmission described in this embodiment is still composed of a dynamic component, a static component, and a variable-rigidity toothed coupling output member, all compactly arranged in both radial and axial directions. The integrated dynamic component comprises a thin-walled composite flexible cylinder 39 with an outer raceway and inner bevel gear ring integrated on both ends of the outer surface of the flexible bearing inner ring, and a spur gear ring integrated on the inner wall of the middle portion. It is assembled with a retaining frame of the same structural dimensions, bolted 34 to both ends of a hollow inner rotor 42 of a motor embedded with permanent magnets 43, and an unequal-diameter ball set 40 in its pocket, and two thick-walled circular raceway bearing outer rings 41 that are free of circumferential constraints but must withstand the radial forces of the unequal-diameter ball set. The two rigid bevel gears are integrated. The end cover 33 is fixed to the outer casing 32 with the outer stator 45 of the motor by bolts 31, forming a static component; a pair of sealing rings 35 are used to separate the motor compartment from the transmission compartment between the static and dynamic components; the radial and axial external forces on the hollow shaft 37 are borne by a pair of angular contact ball bearings 36 between the hollow shaft 37 and the rigid end cover 33, and the pair of bearings 36 are positioned and pre-tightened on the hollow shaft 37 by a pair of nuts 38; the power cord 44 passes through the wall hole of the left end cover 33 and is electrically connected to the outer stator 45.

[0038] Figure 2 Figure b shows a schematic diagram of a generalized composite flexible bearing structure featuring a retainer-driven, unequal-diameter ball assembly. The circumferential relative positions of the unequal-diameter balls in the two retainer-driven, revolving balls 40 can be unequally spaced but remain fixed at all times. The outer envelope of the ball assembly is a circle, rolling on the circular raceway of the thick-walled bearing outer ring 41. While the outer ring 41 is axially restrained by the retainer's side surfaces and a clamp 46 embedded in the inner wall of the motor's hollow rotor, it is not constrained in circumferential rotation and can rotate at high speeds while withstanding the radial forces of the unequal-diameter ball assembly. The inner envelope of the ball assembly 40 is two sets of inwardly concave bending waves, rolling on the outer raceways of the flexible bearing inner rings integrated into the outer surfaces of the composite flexible cylinder 39 at both ends. These two inner envelopes ensure orthogonal, antisymmetric deformation, with the semi-major axis at one end coplanar with the semi-minor axis at the other end. The orthogonal curved surfaces at both ends of the composite flexible cylinder 39 are deformed by the rolling of balls 40 of unequal diameter. The deformation at the contact point between each ball and the composite flexible cylinder 39 remains constant, thereby controlling the sequential circumferential rotation of each curved deformed surface, with the deformation increasing from zero to small, then back to small, and then back to zero, repeating over and over again. Because the radial and circumferential relative positions of the balls remain unchanged during operation, the cage experiences no radial movement or deformation, and the radial play between it and the balls is minimal. Therefore, solid oil lubrication can be used to prevent grease from being thrown off by the high-speed centrifugal motion of the balls and to increase resistance to abrasive contamination. The radial forces acting on all balls must be borne by the freely rotating thick-walled circular raceway outer ring 41, but the net force thereon is zero.

[0039] Example 3

[0040] Figure 3A radial cross-sectional view of a parallel, high-efficiency, composite flexible-cylinder internal meshing harmonic transmission in a motor rotor that uses a second-class rolling wave generator to generate three sets of curved waveforms, and its internal structure, driven by a retainer and orbiting unequal-diameter ball groups, is provided. The transmission described in this embodiment is still compactly composed of a moving component, a stationary component, and a variable-rigidity toothed coupling output member in both radial and axial directions. The integrated moving component comprises a thin-walled composite flexible cylinder 59, with the outer raceway and inner bevel gear ring integrated on both ends of the flexible bearing inner ring, and a spur gear ring integrated on the central inner wall. This is assembled with a retainer of the same structural dimensions, bolted to both ends of a hollow motor rotor 62 embedded with permanent magnets 63, and the unequal-diameter ball groups 60 in its pockets, along with two thick-walled circular bearing outer rings 61 that are free of circumferential constraints but must withstand the radial forces of the unequal-diameter ball groups. The two rigid bevel gears are integrated. The end cover 53 is fixed to the outer casing 52 with the outer stator 65 of the motor by bolts 51, forming a static component; a pair of sealing rings 55 are used to separate the motor compartment from the transmission compartment between the static and dynamic components; the radial and axial external forces on the hollow shaft 57 are borne by a pair of angular contact ball bearings 56 between the hollow shaft 57 and the rigid end cover 53, and the pair of bearings 56 are positioned and pre-tightened on the hollow shaft 57 by a pair of nuts 58; the power cord 64 passes through the wall hole of the left end cover 53 and is electrically connected to the outer stator 65.

[0041] Figure 3The GG cross-section in the figure shows the radial cross-section of the structure within the unequal-diameter ball sets driven by the retainer. The figure shows that the composite flexible cylinder 59 has three sets of curved waves, namely, three semi-major axes and three semi-minor axes. They mesh with the teeth of the rigid wheel 53 at the three semi-minor axis ends and disengage at the three semi-major axis ends of the rigid wheel 53. The outer envelopes of the two unequal-diameter ball sets 60 driven by the retainer are circular, rolling on the circular raceway of the thick-walled bearing outer ring 61. Although the bearing outer ring 61 is axially restrained by the sides of the retainer 60 and the clamp 66 embedded in the inner wall of the motor's hollow rotor, it is not constrained in circumferential rotation and can rotate at high speed while bearing the radial forces of the unequal-diameter ball sets. The inner envelopes of the ball sets 60 are three sets of inwardly concave curved waves, rolling on the outer raceways of the flexible bearing inner rings integrated into the outer surfaces of the composite flexible cylinder 59 at both ends. Therefore, the two inner envelopes ensure antisymmetric deformation, with the semi-major axis at one end coplanar with the semi-minor axis at the other end. The three sets of curved profiles at both ends of the composite flexible cylinder 59 are deformed by rolling balls 60 of varying diameters. The deformation at the contact point between each ball and the composite flexible cylinder 59 remains constant, thereby controlling the sequential circumferential rotation of each curved deformed surface, with the deformation increasing from zero to small, then back to small, and then back to zero, repeating over and over again. Because the radial and circumferential relative positions of the balls remain unchanged during operation, the cage experiences no radial movement or deformation, and the radial play between it and the balls is minimal. Therefore, solid oil lubrication can be used to prevent grease from being thrown off by the high-speed centrifugal motion of the balls and to increase resistance to abrasive contamination. The radial forces acting on all balls must be borne by the freely rotating thick-walled circular raceway outer ring 61, but the net force thereon is zero.

[0042] If press Figure 3 The HH section position in the GG section diagram is exactly the same as the entire cross-sectional structure of the transmission. Figure 2 When the curvature of each point on the three sets of curved wave-shaped surfaces of the composite flexible cylinder 59 is concave, it meshes coaxially with the conical teeth of the rigid pulley in the radial direction. Therefore, by adjusting the spacing between the balls of the unequal-diameter ball set 60 near the semi-major axis end, or the number of balls to the same ball diameter, the constant circle radius R of the cross-section of the composite flexible cylinder 59 can be changed without increasing the volume of the transmission, thereby varying the number of teeth difference between the rigid pulley and the flexible pulley, and thus changing the reduction ratio.

[0043] Example 4

[0044] like Figure 4 As shown, this embodiment only provides a radial cross-sectional schematic diagram of the internal structure of a wave generator that uses a first-class rolling wave generator to generate three sets of bending waveforms. The rolling wave generator is composed of a wave generator 81 with the same structural dimensions at both ends, but with the semi-major axis at one end and the semi-minor axis at the other end coplanar, and with a flexible bearing outer ring inner raceway on the inner surface, capable of generating three sets of concave bending waves, through two identical equal-diameter ball-cage assemblies 80; Figure 4As can be seen in the figure, the composite flexible cylinder 59 also generates three sets of curved waveforms with the wave generator 81, namely, three semi-major axes and three semi-minor axes. It meshes with the rigid wheel 53 at the three semi-minor axis ends and disengages at the three semi-major axis ends. The three sets of curved profiles at both ends of the composite flexible cylinder 59 are formed by the wave generator 81 rolling out the three sets of inwardly concave curved waves formed by the equal-diameter ball group 80. However, the deformation at the contact point between each ball and the composite flexible cylinder 59 changes with the circumferential position of the ball. In addition, due to the radial movement or deformation of the retaining frame and the large radial play between it and the balls, solid oil lubrication is not possible. Since the positions of the equal-diameter balls 80 and the three sets of inwardly concave curved waves at both ends of the composite flexible cylinder 59 are not fixed, it is impossible to increase the constant circle radius R of the cross section of the composite flexible cylinder 59 without increasing the volume of the reducer. Figure 4 The external structure is exactly the same Figure 1 , no further description will be given.

[0045] Figure 5 The three-dimensional shapes of two to four groups of curved wave surfaces with the semi-major axis at one end and the semi-minor axis at the other end of the composite flexible tube are given, and the bending shapes of the inward-contracted arc segments at the semi-minor axis ends are given. R - r i ) / r i The law of value change, the horizontal column is n=2~4 groups of curved wave surfaces, the vertical column is these three groups of curved wave surfaces with ( R - r i ) / r i The law of value change, Figure 5 a gives the cylindrical coordinates and its variable x, It can be clearly seen from the figure that when ( R - r i ) / r i <1 / n 2 When , the ends of each semi-minor axis are concave; and when ( R - r i ) / r i =1 / n 2 When , the ends of each semi-minor axis are straight lines; but when ( R - r i ) / r i >1 / n 2 When , each semi-minor axis end is convex.

[0046] Example 5

[0047] Figure 6A schematic diagram comparing the structures of the moving and static components with a pair of deep groove ball bearings with sealing rings added for radial support, and their integration with or without integration, is provided. The left side shows this embodiment, an improvement over the first embodiment. A pair of deep groove ball bearings 5c with sealing rings are radially supported between the moving and static components, between two end caps 3c and a wave generator 11c, whose semi-major axis is coplanar with the semi-minor axis, whose inner surface features a flexible bearing outer ring inner raceway, and which can generate two sets of inwardly concave bending waves. This ensures coaxial operation of the two components and also isolates the motor compartment from the transmission compartment. Because the elastic deformation forces of the two internally meshing harmonic drive components operating back-to-back in parallel and sharing a common composite flexible cylinder cancel each other out within the moving component, there is no axial force on the pair of deep groove ball bearings 5c.

[0048] Figure 6 The right side shows a parallel composite flexible cylinder internal meshing harmonic transmission without corresponding integration of the moving and static components. Instead, separate components are assembled into this transmission. The moving and static components are radially supported by a pair of deep groove ball bearings 5d with sealing rings, located between the two end covers 3d and a wave generator 11d, which has a semi-major axis at one end and a semi-minor axis at the other end, an inner surface with an inner raceway of the flexible bearing outer ring, and can generate two sets of concave bending waves. This ensures the coaxial operation of the two components and also separates the motor compartment from the transmission compartment. Because the elastic deformation forces on the two internal meshing harmonic transmission components working back-to-back in parallel using the same composite flexible cylinder cancel each other out in the moving component, there is no axial force on the pair of deep groove ball bearings 5d. The thin-walled composite flexible cylinder 9d has internal spur gears integrated only on the inner surfaces of the two ends and the inner wall of the middle, while the two flexible bearings consist of the same equal-diameter ball-cage assembly 10, thin-walled inner ring 16, and thin-walled outer ring 17. The rest of the parallel composite flexible cylinder internal meshing harmonic transmission in the motor rotor is the same. Figure 1 , no further details are given.

[0049] contrast Figure 6 It can be seen from the left and right figures that their basic functions and advantages have not changed, but the number of parts is different and the shapes are slightly different. The diameter and axial dimensions of the right figure are larger than those of the left figure. In addition, there are more interfaces in the force or torque transmission path in the right figure, so its transmission efficiency is lower than that of the structure in the left figure.

[0050] The above describes in detail five preferred embodiments of the present invention. In fact, some of the concepts among them can be used interchangeably. For example, the herringbone spur gear ring integrated on the inner wall of the cross-section of the composite flexible cylinder, which, together with the rigid spur gear with the same module and number of teeth on the hollow shaft, forms a low axial stiffness and high circumferential stiffness connection output member.

[0051] It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solution that can be derived by those skilled in the art based on the concepts of the present invention through logical analysis, reasoning, or limited experimentation based on the existing technology should be within the scope of protection defined by the claims.

[0052] References

[0053] [1] Wang Yuejun, “A new type of harmonic gear transmission device with external wave generator”, Chinese invention patent CN105090372 A.

[0054] [2] Yoshinari Takemura, “DRIVE UNIT WITH REDUCER” US Pat. No. 7,409,891 B2.

[0055] [3] Chen Xiaoyang, Chen Xiangyu, Shen Xuejin and Qiu Liangwei, “Parallel high-efficiency composite flexible-cylinder harmonic reducer with built-in outer rotor motor”, Chinese invention patent CN 117847173 A.

Claims

1. The parallel high-efficiency composite flexible cylinder internal meshing harmonic transmission in the motor rotor is characterized by: A thin-walled composite flexible cylinder, featuring an outer raceway and inner bevel gear ring integrated on the outer surfaces of flexible bearing inner rings at both ends, and a spur gear ring integrated on the inner wall of the center portion, generates antisymmetric deformation due to the rotation of rolling wave generators (of the same structural dimensions, but with the semi-minor axis at one end coplanar with the semi-major axis at the other end) fixedly attached to both ends of the hollow inner rotor of the motor. This generates a proportional amplification of half of the high-speed rotational torque input to the transmission by two internally meshing radial harmonic drive assemblies, each with the same module and tooth number difference and utilizing the same type of rolling wave generator, operating back-to-back and in parallel, sharing the composite flexible cylinder. The amplified low-speed rotational torques of the same direction at both ends are superimposed on the constant-circular midsection of the composite flexible cylinder and then output by a tooth-difference-free variable-stiffness coupling formed by the spur gear rings on the inner wall of the composite flexible cylinder and the gears on the hollow shaft.

2. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 1, characterized in that: The transmission is composed of a dynamic component, a static component and a variable-rigidity toothed coupling output member compactly arranged in the radial and axial directions. The dynamic component is composed of a thin-walled composite flexible cylinder, which is respectively connected to two types of rolling wave generators with the same structural dimensions and the same number of curved waveforms, but the semi-minor axis at one end must be in the same axial plane as the semi-major axis at the other end. The two rigid end covers with integrated bevel gears are fixed to the outer stator of the motor to form the static component. The bevel gears on the two rigid end covers have the same module and tooth number difference as the inner bevel gear rings at both ends of the composite flexible cylinder. In the inward-contracted arc section of the semi-minor axis ends of the composite flexible cylinder, the bevel gears on the rigid end covers mesh with some teeth on the non-circular inner bevel gear ring after deformation at the end of the composite flexible cylinder in a bevel gear manner.

3. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 1 or 2, characterized in that: A spur gear ring is integrated on the inner wall of the middle section of the constant circle of the composite flexible cylinder. It and the rigid herringbone spur gear with the same module and the same number of teeth on the hollow shaft form a connection output component with low axial stiffness and high circumferential stiffness. The cross section of the herringbone spur teeth must be located on the middle section of the composite flexible cylinder, and the angle between the top and the root of the herringbone spur teeth in the direction of tooth length is parallel to the tooth profile generatrix of the inner bevel gear rings at the maximum indentation angle at both ends of the composite flexible cylinder. The inner wall spur gear ring and the small end of the inner bevel gear rings at both ends of the composite flexible cylinder have the same tooth profile and the same number of teeth, or different tooth profiles and different numbers of teeth. The hollow shaft is supported in two rigid end caps by a pair of angular contact ball bearings to withstand the radial and axial external forces outside the output end.

4. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 1 or 2, characterized in that: There are two types of rolling wave generators. The first type consists of wave generators of the same structural dimensions, fixedly connected at both ends of the motor's hollow inner rotor, with the semi-major axis at one end coplanar with the semi-minor axis at the other end. The generators have an inner surface with a flexible bearing outer ring inner raceway, and are capable of generating two or three sets of equal concave bending waves. These wave generators are assembled through two identical equal-diameter ball-cage assemblies. The second type of rolling wave generator consists of a retainer of the same structural dimensions, fixedly connected at both ends of the motor's hollow inner rotor, a set of unequal-diameter balls in its pockets, and two thick-walled circular bearing outer rings that are free of circumferential constraints but must withstand the radial forces of the unequal-diameter ball sets. The latter type of rolling wave generator, driven by the retainer to orbit, maintains the relative circumferential position of the balls in the two unequal-diameter ball sets during operation. The outer envelope of the ball set is a circle, and the inner envelope can be two or three sets of equal concave bending waves. Therefore, the two inner envelopes ensure that the semi-major axis at one end is coplanar with the semi-minor axis at the other end.

5. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 1 or 2, characterized in that: The tooth length direction generatrix of the bevel gear tooth root on the rigid end cover must be parallel to the outer contour generatrix of the inner bevel gear ring at the maximum inward shrinkage angle of the composite flexible cylinder, and the tooth length direction generatrix of the bevel gear tooth top on the rigid end cover must be parallel to the outer contour generatrix of the inner bevel gear ring at the maximum outward expansion angle of the composite flexible cylinder; with the help of tooth end chamfer, 1 / 3 or less of the difference between the semi-major axis length and the semi-minor axis length of the wave generator is used as the disengagement clearance, and 2 / 3 or more of the length difference is used as the bevel gear meshing height to increase the meshing area.

6. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 2, 3, 4 or 5, characterized in that: Due to the multiple groups of antisymmetric deformations at both ends of the composite flexible cylinder, the moving parts of the transmission are supported by the meshing of partial gear teeth on the inward-contracted arc sections of the semi-minor shaft ends of the latter, or suspended on the outside of the bevel gear teeth on the two rigid end covers, and are coaxial with the two bevel gears. The axial displacement of the ball-cage assembly is constrained by the outward and inward deformations of the various groups at the two ends of the composite flexible cylinder, as well as the partial meshing of the teeth on the bevel gears on the axially symmetrical rigid end covers and the deformed non-circular inner bevel gear rings at the ends of the composite flexible cylinder. The hollow shaft supported by the angular contact ball bearings plays an auxiliary constraining role through the variable stiffness toothed coupling through the middle section of the composite flexible cylinder. Therefore, there is no need for bearing support between the stator and rotor of the motor, and the separation between the motor compartment and the transmission compartment can be solved by the sealing ring between the moving parts and the end covers. The moving parts of the transmission can also be radially supported in the two rigid end covers by a pair of deep groove ball bearings with sealing rings to ensure that they rotate coaxially with the two bevel gears and to additionally separate the motor compartment from the transmission compartment.

7. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 2 or 4, characterized in that: The two types of rolling wave generators make the composite flexible tube generate two or three sets of equally curved wave surfaces with the semi-major axis at one end and the semi-minor axis at the other end coplanar. The cylindrical coordinate calculation formula is: Γ x n = R + 2 x - L 2 L r o - r i cos n , x ∈ 0 L ∈ 0 2 π n = 2 3 4 . . . yes bend song Wave shape type Group number , in, R= ( r o + r i ) / 2 is the constant circle radius of the middle section of the thin-walled composite flexible tube, r o is the length of the semi-major axis of the end face of the composite flexible tube, r i is the length of the semi-minor axis of the composite flexible tube end face, L is the length of the composite flexible tube; for a composite flexible tube with n curved waveform groups, the curvature inflection point value at the semi-minor axis is 1 / n 2 , when ε = ( R - r i ) / r i When the curvature inflection point value is less than this, in the inward-contracted arc section of the semi-minor axis ends of the composite flexible cylinder, the bevel gears on the rigid end caps and the partial teeth on the deformed non-circular internal bevel gear ring at the end of the composite flexible cylinder mesh in a radially conical manner; when ε is greater than the curvature inflection point value, the same partial bevel teeth will mesh in a radially recurved manner, and the number of meshing teeth will be less than that in the radially conical manner.

8. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 7, characterized in that: For the second type of rolling wave generator, the two or three groups of bending waveforms at both ends of the composite flexible tube are rolled out of their inner envelope shape by the rolling of the unequal diameter balls. The deformation of the contact point between each ball and the composite flexible tube remains unchanged, thereby controlling the rotation of each bending deformation point on the composite flexible tube in the circumferential direction. The deformation of any point is from zero to small, then to large, then back to small and back to zero, over and over again; the radial force on all balls is borne by the freely rotating thick-walled circular raceway bearing outer ring, but the resultant force on it is zero; unlike the first type of rolling wave generator, the cage of this type of rolling wave generator has no radial bending and the radial play of the unequal diameter balls is extremely small, and can be lubricated with a solid oil solution; without changing r i Under the condition of unequal diameter balls, the ball spacing or the number of balls can be adjusted to change the ball diameter. r o , so that the tooth difference between the bevel gear ring inside the composite flexible cylinder and the bevel gear on the rigid end cover is different, thereby changing the reduction ratio.

9. The parallel high-efficiency composite flexible-cylinder internal meshing harmonic transmission in the motor rotor according to claim 1, 2 or 7, characterized in that: Since the number of teeth on the inner bevel gear rings at both ends of the composite flexible cylinder is slightly greater than the number of teeth on the bevel gears on the rigid end covers, when the former only produces two sets of orthogonal antisymmetric deformations, when the difference in tooth number between the two is an odd multiple of 2, the bevel gears on the two rigid end covers need to be installed with a circumferential offset of half a tooth to work correctly; when the difference in tooth number is an even multiple of 2, the latter does not need to be installed with a circumferential offset; when the former only produces three sets of antisymmetric deformations, when the difference in tooth number between the two is an odd multiple of 3, the bevel gears on the two rigid end covers also need to be installed with a circumferential offset of half a tooth to work correctly; but when the difference in tooth number is an even multiple of 3, the latter does not need to be installed with a circumferential offset.

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