Wave generator and harmonic reducer with same

Abstract

The invention provides a wave generator and a harmonic reducer with the same, and the wave generator comprises a main body part which is rotatably arranged; the plurality of rotating parts are annularly arranged on the main body part at intervals around a rotating shaft of the main body part, and each rotating part has a rotating state of rotating relative to the main body part and a fixed state of being fixed with the main body part; an eccentric distance is formed between a rotating shaft of the rotating part and a symmetric shaft of the rotating part; and the flexible ring is arranged on the multiple rotating pieces in a sleeving mode, the flexible ring has radial deformation, and the flexible ring is matched with the outer edges of the multiple rotating pieces in shape. Through the technical scheme provided by the invention, the technical problem that the profile of the harmonic reducer is inconvenient to change in the prior art can be solved.

Description

Technical Field

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

[0002] At present, harmonic reducers are precision reducers used in the joints of industrial robots. Harmonic reducers usually include three major components: flexible wheel, rigid wheel and wave generator. The rotation of the wave generator causes the flexible wheel to produce periodic wave deformation, forcing the flexible wheel and the rigid wheel to mesh with each other with a small tooth difference, thereby realizing the transmission of motion and power. Among them, the wave generator and the flexible wheel are the key parts and vulnerable parts in the harmonic reducer, and often fail in precision and fatigue before other parts.

[0003] In the harmonic reducer of the prior art, the wave generator is assembled by a cam and a flexible bearing, and the contour of the wave generator is fixed, that is, a wave generator has only one fixed profile. The wave generator of the harmonic reducer cannot change its profile when facing different working conditions. Summary of the invention

[0004] The main purpose of the present invention is to provide a wave generator and a harmonic reducer having the same, so as to solve the technical problem in the prior art that it is inconvenient to change the profile of the harmonic reducer.

[0005] In order to achieve the above object, according to one aspect of the present invention, a wave generator is provided, comprising:

[0006] A main body portion is rotatably arranged;

[0007] A plurality of rotating members, the plurality of rotating members are arranged on the main body at annular intervals around the rotating axis of the main body, each of the rotating members has a rotating state of rotating relative to the main body and a fixed state fixed to the main body, and the rotating axis of the rotating member has an eccentric distance from the symmetry axis of the rotating member;

[0008] A flexible ring is sleeved on the plurality of rotating members, the flexible ring has radial deformation, and the flexible ring is adapted to the shape of the outer edges of the plurality of rotating members.

[0009] Further, the main body is provided with a first connection part, and the rotating member is provided with a second connection part; one of the first connection part and the second connection part is a connection hole, and the other is a connection shaft for being inserted in the connection hole; the wave generator also includes:

[0010] An adjusting member is adjustably arranged at the connecting hole, so as to be spaced apart from the connecting shaft in the connecting hole so that the rotating member is in the rotating state, or to abut against the connecting shaft in the connecting hole so that the rotating member is in the fixed state.

[0011] Furthermore, the connecting shaft is provided on the main body; the connecting hole is provided on the rotating member; the rotating member includes a main body and a protruding portion which are connected to each other, the main body and the protruding portion are arranged along the axial direction of the connecting hole, the outer edge of the main body protrudes from the outer edge of the protruding portion, and the adjusting member is adjustably arranged on the peripheral wall of the protruding portion.

[0012] Further, the connecting shaft and the connecting hole are clearance-fitted; and / or,

[0013] The distances between the plurality of connecting shafts or the plurality of connecting holes and the rotation axis of the main body are equal; and / or,

[0014] The plurality of connection shafts or the plurality of connection holes are evenly distributed around the rotation axis of the main body.

[0015] Furthermore, each of the rotating parts can be detachably arranged on the main body.

[0016] Furthermore, the flexible ring has an annular groove, and along the axial direction of the flexible ring, the annular groove has an arc-shaped wall; along the extension direction of the rotation axis of each rotating member, each rotating member has an arc surface matched with the arc-shaped wall.

[0017] Furthermore, the wave generator has an initial state and a deformed state; when the wave generator is in the initial state, the outer edges of the multiple rotating parts are circular; when the wave generator is in the deformed state, the outer edges of the multiple rotating parts have at least two protrusions.

[0018] Further, the flexible ring is made of high carbon chromium bearing steel; and / or,

[0019] The main body is made of steel; and / or,

[0020] The rotating member is made of steel.

[0021] Further, the main body is a first round wheel; and / or,

[0022] The rotating member is a second circular wheel.

[0023] According to another aspect of the present invention, there is provided a harmonic reducer, comprising:

[0024] The wave generator provided above;

[0025] The outer edge of the wave generator is fitted with the inner hole of the flexible wheel.

[0026] By applying the technical solution of the present invention, by making at least some of the multiple rotating parts in a rotating state, the rotation angle of at least some of the rotating parts can be adjusted, thereby adjusting the shape of the outer edge surrounded by the multiple rotating parts. The flexible ring has radial deformation ability, thereby enabling the flexible ring to be adaptively adjusted and changed along with the shape of the outer edges of the multiple rotating parts, so that the flexible ring can always be tightly attached to the outer edges of the multiple rotating parts, thereby facilitating changing the profile of the wave generator to adapt to different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 A partial structural schematic diagram of a harmonic reducer provided according to an embodiment of the present invention is shown;

[0029] Figure 2 An exploded view of a wave generator provided according to an embodiment of the present invention is shown;

[0030] Figure 3 A schematic structural diagram of a wave generator provided according to an embodiment of the present invention is shown;

[0031] Figure 4 It shows a schematic structural diagram of a rotating member provided according to an embodiment of the present invention;

[0032] Figure 5 shows a cross-sectional view of a rotating member provided according to an embodiment of the present invention;

[0033] Figure 6 A schematic diagram showing the structure of a wave generator provided in an embodiment of the present invention when it is in an initial state;

[0034] Figure 7 A schematic structural diagram of a wave generator provided according to an embodiment of the present invention when in a deformed state is shown.

[0035] The above drawings include the following reference numerals:

[0036] 10. Main body; 11. First connecting portion; 12. Input hole;

[0037] 20. Rotating member; 21. Second connecting portion; 22. Arc surface; 23. Main body; 24. Protruding portion; 25. Top screw hole;

[0038] 30. flexible ring; 31. annular groove;

[0039] 40. Adjustment parts;

[0040] 50. Flexspline;

[0041] 60. Steel wheels;

[0042] 70. Rigid bearings. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] like Figures 1 to 7 As shown, the first embodiment of the present invention provides a wave generator, which includes: a main body 10, a plurality of rotating members 20 and a flexible ring 30, wherein the main body 10 is rotatably arranged. The plurality of rotating members 20 are arranged on the main body 10 in an annular manner around the rotating axis of the main body 10, and each rotating member 20 has a rotating state of rotating relative to the main body 10 and a fixed state fixed to the main body 10, and the rotating axis of the rotating member 20 has an eccentric distance from the symmetry axis of the rotating member 20. The flexible ring 30 is sleeved on the plurality of rotating members 20, and the flexible ring 30 has radial deformation, and the flexible ring 30 is adapted to the shape of the outer edges of the plurality of rotating members 20.

[0045] By using the wave generator provided in this embodiment, by making at least some of the rotating members 20 in a rotating state, it is possible to adjust the rotation angle of at least some of the rotating members 20, so that the shape of the outer edge formed by the splicing of the multiple rotating members 20 can be adjusted. The flexible ring 30 has radial deformation ability, so that the flexible ring 30 can be adaptively adjusted and changed along with the shape of the outer edge of the multiple rotating members 20, so that the flexible ring 30 can always be closely attached to the outer edge of the multiple rotating members 20, so as to facilitate the change of the profile of the wave generator to adapt to different working conditions. This design enables the wave generator to generate different profiles, thereby realizing high-precision transmission in the harmonic reducer, and is suitable for robot joints, precision machine tools and other occasions that require high-precision positioning and control. Therefore, the wave generator provided in this embodiment can solve the technical problem of the inconvenience of changing the profile of the harmonic reducer in the prior art.

[0046] Specifically, “the rotation axis of the rotating member 20 and the symmetry axis of the rotating member 20 have an eccentric distance” can be understood as the rotation axis of the rotating member 20 and the symmetry axis of the rotating member 20 are arranged at an interval.

[0047] The relative rotation of the main body 10 and the plurality of rotating members 20, coupled with the deformation of the flexible ring 30, can change the profile of the wave generator. This movement can achieve precise transmission control, effectively improving the positioning accuracy and transmission efficiency of the harmonic reducer. In the robot joint, this high-precision transmission capability can achieve smoother and more accurate motion control, improving the flexibility and response speed of the robot.

[0048] In this embodiment, a first connection part 11 is provided on the main body 10, and a second connection part 21 is provided on the rotating member 20; one of the first connection part 11 and the second connection part 21 is a connection hole, and the other is a connection shaft for inserting into the connection hole. The wave generator also includes an adjusting member 40, which is adjustably arranged at the connection hole, so as to be spaced apart from the connection shaft in the connection hole so that the rotating member 20 is in a rotating state, or to abut against the connection shaft in the connection hole so that the rotating member 20 is in a fixed state. With such a structural arrangement, the state of the rotating member 20 can be flexibly adjusted through the arrangement of the adjusting member 40, thereby changing the output characteristics of the wave generator, improving the adaptability and flexibility of the device, and being suitable for adjustment of various loads and operating conditions. For example, in an industrial robot, the output characteristics of the wave generator can be adjusted according to different workloads and speed requirements to achieve optimal transmission efficiency and stability.

[0049] Specifically, the main body 10 is provided with a connecting shaft; the rotating member 20 is provided with a connecting hole; the rotating member 20 includes a main body 23 and a protruding portion 24 connected to each other, the main body 23 and the protruding portion 24 are arranged along the axial direction of the connecting hole, the outer edge of the main body 23 protrudes from the outer edge of the protruding portion 24, and the adjusting member 40 is adjustable and penetrates the peripheral wall of the protruding portion 24. This structural design enables the wave generator to achieve rapid adjustment of the rotating member 20 while maintaining high-precision transmission, which is convenient for maintenance and adjustment, and is particularly suitable for occasions where the rotating member 20 needs to be adjusted frequently, so as to better adjust the profile of the wave generator.

[0050] In this embodiment, the connecting shaft and the connecting hole are clearance-fitted so that the connecting shaft can rotate smoothly in the connecting hole, thereby ensuring the balance and stability of the wave generator, reducing vibration and noise during operation, and improving transmission efficiency. It is suitable for precision transmission occasions requiring low noise and high stability.

[0051] Specifically, the distances between the plurality of connection shafts or the plurality of connection holes and the rotation axis of the main body 10 are equal, so that the reference rotation position of each rotating member 20 can be known, thereby facilitating better adaptation of each rotating member 20 to new adjustments.

[0052] Specifically, a plurality of connection shafts or a plurality of connection holes are evenly distributed around the rotation axis of the main body 10 , so that the reference rotation position of each rotating member 20 can be known, thereby facilitating better adaptation of each rotating member 20 to new adjustments.

[0053] In this embodiment, each rotating member 20 is detachably arranged on the main body 10. This design makes the maintenance and adjustment of the wave generator more convenient, and the worn rotating member 20 can be quickly replaced, thereby extending the service life of the equipment, and is suitable for occasions requiring long-term stable operation.

[0054] Specifically, the flexible ring 30 has an annular groove 31, and the annular groove 31 has an arc-shaped wall along the axial direction of the flexible ring 30; and each rotating member 20 has an arc surface 22 that matches the arc-shaped wall along the extension direction of the rotation axis of each rotating member 20. This design makes the contact between the flexible ring 30 and the rotating member 20 more stable, reduces friction and wear, improves transmission efficiency and precision, and is suitable for high-precision, low-friction precision transmission occasions.

[0055] It should be noted that “the extending direction of the rotation axis of the rotating member 20 ” can be understood as the axial direction of the rotation axis of the rotating member 20 .

[0056] In this embodiment, the wave generator has an initial state and a deformed state; when the wave generator is in the initial state, the outer edges of the plurality of rotating members 20 are circular; when the wave generator is in the deformed state, the outer edges of the plurality of rotating members 20 have at least two protrusions. This design enables the wave generator to switch between different states, thereby changing the profile, transmission ratio and transmission characteristics of the wave generator, improving the flexibility and adaptability of the device, and is suitable for occasions where the transmission characteristics need to be adjusted according to different working conditions, such as the transmission system in an industrial automation production line.

[0057] Specifically, when the wave generator is in a deformed state, the wave generator is in a working state, and the outer edges of the plurality of rotating members 20 have at least two protrusions; when the outer edges of the plurality of rotating members 20 form two protrusions, the corresponding profile is an ellipse. When the wave generator is in an initial state, the wave generator is not working at this time.

[0058] Specifically, the flexible ring 30 is made of high-carbon chromium bearing steel, which ensures the strength and durability of the wave generator while improving the transmission efficiency and accuracy. It is suitable for precision transmission occasions requiring high strength and high accuracy, such as the transmission system in high-performance robot joints.

[0059] Specifically, the main body 10 is made of steel, which can reduce the manufacturing cost.

[0060] Specifically, the rotating member 20 is made of steel, which can reduce the manufacturing cost.

[0061] In this embodiment, the main body 10 is a first round wheel, which can also be called a large round wheel. This design makes the structure of the wave generator more compact, reduces the occupied space, and improves the transmission efficiency. It is suitable for precise transmission occasions that require compact structure and high efficiency, such as the transmission system in a small precision machine tool. At the same time, the round wheel structure is easy to produce and manufacture.

[0062] The rotating member 20 is a second round wheel, which can also be called a small round wheel. This design makes the structure of the wave generator more compact, reduces the occupied space, and improves the transmission efficiency. It is suitable for occasions requiring compact structure and high efficiency precision transmission, such as the transmission system in a small precision machine tool. At the same time, the round wheel structure is easy to produce and manufacture.

[0063] Compared with the traditional wave generator which is assembled by a cam and a flexible bearing, the wave generator of the present invention comprises a flexible ring 30, a plurality of rotating parts 20 and a main body 10, and the flexible ring 30, the plurality of rotating parts 20 and the main body 10 are assembled, wherein the plurality of rotating parts 20 and the main body 10 are assembled together in an eccentric manner, and the flexible ring 30 is sleeved on the outer periphery of the plurality of rotating parts 20, and the profile of the wave generator can be arbitrarily changed by rotating the angle of the rotating parts 20; and the rotating parts 20 of the wave generator of this scheme can be disassembled and maintained separately, the production and processing are simple, the manufacturing cost is low, and it can be used permanently.

[0064] Specifically, a connecting hole is provided on the small round wheel, the center of the connecting hole does not coincide with the center of the small round wheel, and there is an eccentric distance e between the center of the connecting hole and the center of the small round wheel; the small round wheel and the large round wheel are matched together through the connecting hole and the connecting shaft, the connecting shaft is evenly distributed circumferentially on the large round wheel, the number of the connecting shaft is consistent with the number of the small round wheels, the connecting hole and the connecting shaft are clearance fit, the small round wheel can be eccentrically rotated around the connecting shaft, after the small round wheel is rotated to a suitable position, the top screw (corresponding to the adjusting part 40) can be locked into the top screw hole 25, the small round wheel and the large round wheel are fixed, so that the small round wheel and the large round wheel no longer move relative to each other, the material of the small round wheel and the large round wheel can be ordinary metal steel, preferably 45# steel, 45# steel has good mechanical properties, is easy to process and is cheap. A flexible ring 30 is arranged outside the plurality of small round wheels, and a smooth annular groove 31 is arranged on the inner surface of the flexible ring 30. A smooth arc surface 22 is arranged on the outer peripheral surface of the small round wheel. The arc surface 22 of the small round wheel and the annular groove 31 on the flexible ring 30 are adapted to arrange the small round wheel sleeve inside the flexible ring 30. The flexible ring 30 allows radial deformation, and the material is preferably high carbon chromium bearing steel, which has high hardness and high wear resistance.

[0065] After the wave generator of this scheme is assembled, Figure 6As shown, the profile of the wave generator is the outer contour of the flexible ring 30. In the initial state, the flexible ring 30 is circular. The profile of the wave generator is circular because the small round wheel is installed eccentrically. At this time, the angle of rotating the small round wheel can cause the flexible ring 30 to produce radial deformation. The rotation angles of the two adjacent small round wheels are different, and the radial distances R from the arc surface 22 of the small round wheel to the center of the large round wheel are different, so that the amount of radial deformation of the flexible ring 30 is different; when the angle of rotating the small round wheel makes the radial distance R from the arc surface 22 of the two small round wheels to the center of the large round wheel the largest among all the small round wheels, the radial outward deformation generated at the contact position of the flexible ring 30 with the two small round wheels is the largest compared to the radial outward deformation generated at the contact position of the other small round wheels with the flexible ring 30 (when the radial distance R from the arc surface 22 of the small round wheel to the center of the large round wheel is the largest among all the small round wheels, the small round wheel supports the flexible ring 30 to the greatest extent, and the radial deformation is the largest, which will produce the major axis of the ellipse.), as shown in FIG. Figure 7 As shown, the wave generator generates a long axis; when the angle of the small round wheels is rotated so that the radial distance R from the arc surface 22 of two of the small round wheels to the center of the large round wheel is the smallest among all the small round wheels, the radial inward deformation generated at the contact position between the flexible ring 30 and the two small round wheels is the largest compared to the radial inward deformation generated at the contact position between the other small round wheels and the flexible ring 30, as shown in FIG. Figure 7 As shown, the wave generator generates a short axis. At this time, the profile of the wave generator is an ellipse, which is the profile of a traditional wave generator. This solution can change the radial distance R from the arc surface of each small round wheel to the center of the large round wheel by rotating the angle of the small round wheel, and can arbitrarily change the profile of the wave generator.

[0066] When the wave generator needs to change its profile, it only needs to loosen the top screw and rotate the small round wheel at a certain angle to change the profile of the wave generator. After changing the profile, tighten the top screw.

[0067] The input hole 12 on the large round wheel cooperates with the input end motor shaft, and the outer contour of the wave generator fits with the inner hole of the flexible wheel 50, that is, the outer contour of the flexible ring 30 fits with the inner hole of the flexible wheel 50. The input shaft drives the wave generator to rotate, causing the flexible wheel 50 to produce periodic wave deformation, forcing the flexible wheel 50 to engage with the rigid wheel with a small tooth difference, thereby realizing the transmission of motion and power.

[0068] The harmonic reducer wave generator of the present scheme can cope with different working conditions by changing the profile, so that the rigid wheel teeth and the flexible wheel 50 teeth maintain a normal meshing state, thereby increasing the life of the harmonic reducer. For example, when the harmonic reducer faces heavy load conditions, the small circular wheel near the long axis is rotated to increase the radial distance R from the arc surface 22 to the center of the large circular wheel, and the radial outward deformation of the flexible ring 30 near the long axis increases. The wave generator profile near the long axis is fuller, and the meshing area of ​​the rigid wheel teeth and the flexible wheel teeth 50 increases, that is, the number of teeth participating in the meshing at the same time increases, thereby reducing the load impact on a single tooth, thereby increasing the life of the harmonic reducer.

[0069] The harmonic reducer wave generator of this scheme can also change the waveform to achieve three waves and four waves to cope with special working conditions. In the initial state, the flexible ring 30 is circular, and the outline of the wave generator is circular. Because the small round wheel is installed eccentrically, rotating the angle of the small round wheel at this time can cause the flexible ring 30 to produce radial deformation; the rotation angles of adjacent small round wheels are different, and the radial distances R from the arc surface 22 of the small round wheel to the center of the large round wheel are different, causing the flexible ring 30 to produce different amounts of radial deformation; when the angle of the small round wheel is rotated so that the radial distance R from the arc surface 22 of two of the small round wheels to the center of the large round wheel is the largest among all the small round wheels, the radial outward deformation produced at the contact position between the flexible ring 30 and the two small round wheels is the largest compared to the radial outward deformation produced at the contact position between the other small round wheels and the flexible ring 30, such as Figure 7 As shown, the wave generator generates a long axis; when the angle of the small round wheels is rotated so that the radial distance R from the arc surface 22 of two of the small round wheels to the center of the large round wheel is the smallest among all the small round wheels, the radial inward deformation generated at the contact position between the flexible ring 30 and the two small round wheels is the largest compared to the radial inward deformation generated at the contact position between the other small round wheels and the flexible ring 30, as shown in FIG. Figure 7 The wave generator shown produces a short axis. Figure 6 As shown, the wave generator profile is circular in the initial state. By rotating the angle of the small round wheel, the wave generator profile changes to produce a long and short axis as shown in Figure 7 At this time, it is a double wave, which is also the most commonly used on the market, that is, the wave generator forms a bulge (long axis / wave) every 180° along the circumferential direction; so the angle of the small round wheel is rotated to form a wave every 120°, which becomes a three-wave generator. It can be understood that the wave generator has several waves (bulges), which is the harmonic reducer. The traditional wave generator is a double wave, which can be understood as the long axis of the ellipse. In the circumferential direction, the long axis forms a wave every 180°. The traditional wave generator is an elliptical structure, which is a double wave. Similarly, the wave generator in this embodiment can also realize a three-wave profile or a four-wave profile. The three-wave profile corresponds to forming a wave every 120°, and the four-wave profile corresponds to forming a wave every 90°.

[0070] The wave generator structure of the present scheme is composed of a circular structure. The large circular wheel and the small circular wheel are simple to process and low in cost. The wave generator of the present scheme can be disassembled and repaired. After the wave generator of the present scheme has been running for a long time, it can be disassembled and inspected. If there are seriously worn parts, they can be replaced with new ones. The wave generator of the present scheme is easy to disassemble and assemble, and can be used permanently, which greatly reduces the manufacturing cost.

[0071] The second embodiment of the present invention provides a harmonic reducer, which includes: the wave generator and the flexible spline 50 provided above, wherein the outer edge of the wave generator fits with the inner hole of the flexible spline 50. Specifically, the harmonic reducer also includes a steel wheel 60 and a rigid bearing 70.

[0072] This harmonic reducer combines the high-precision transmission characteristics of the wave generator and the elastic deformation characteristics of the flexible wheel. It can achieve a large transmission ratio and high-efficiency deceleration while maintaining high precision. It is suitable for precision deceleration occasions that require high precision, large transmission ratio, and high efficiency, such as high-precision servo systems, precision positioning systems, etc. In addition, through optimized design and material selection, the harmonic reducer also has the advantages of low noise, low vibration, and long life, which can significantly improve the performance and reliability of the equipment.

[0073] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: solve the problem of difficult processing and high manufacturing cost of the wave generator; solve the problem of difficult maintenance of the wave generator. The profile of the wave generator of the present invention can be changed arbitrarily; the wave generator of the present invention does not have a traditional cam and a flexible bearing, but is replaced by a circular wheel structure, which is simple to process and has a low manufacturing cost; the wave generator of the present invention can be disassembled for easy maintenance; when the harmonic reducer of the present invention faces different working conditions, the profile of the wave generator can be adjusted by rotating the angle of the small circular wheel, so that the rigid wheel teeth and the flexible wheel teeth maintain a normal meshing state, thereby increasing the life of the harmonic reducer.

[0074] 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, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0075] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0076] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0077] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. 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 figure. For example, if the device in the accompanying 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.

[0078] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wave generator, characterized in that: include: A main body (10) is rotatably arranged; a plurality of rotating members (20), the plurality of rotating members (20) being arranged on the main body (10) at annular intervals around the rotating axis of the main body (10), each of the rotating members (20) having a rotating state of rotating relative to the main body (10) and a fixed state of being fixed to the main body (10), and the rotating axis of the rotating member (20) having an eccentric distance from the symmetry axis of the rotating member (20); A flexible ring (30) is sleeved on the plurality of rotating members (20), the flexible ring (30) has radial deformation, and the flexible ring (30) is adapted to the shape of the outer edges of the plurality of rotating members (20).

2. The wave generator according to claim 1, characterized in that The main body (10) is provided with a first connecting portion (11), and the rotating member (20) is provided with a second connecting portion (21); one of the first connecting portion (11) and the second connecting portion (21) is a connecting hole, and the other is a connecting shaft for being inserted into the connecting hole; the wave generator further comprises: An adjusting member (40) is adjustably arranged at the connection hole, so as to be spaced apart from the connection shaft in the connection hole so that the rotating member (20) is in the rotational state, or to abut against the connection shaft in the connection hole so that the rotating member (20) is in the fixed state.

3. The wave generator according to claim 2, characterized in that The connecting shaft is arranged on the main body (10); the connecting hole is arranged on the rotating member (20); the rotating member (20) comprises a main body (23) and a protruding portion (24) which are connected to each other, the main body (23) and the protruding portion (24) are arranged along the axial direction of the connecting hole, the outer edge of the main body (23) protrudes from the outer edge of the protruding portion (24), and the adjusting member (40) is arranged on the peripheral wall of the protruding portion (24) in an adjustable manner.

4. The wave generator according to claim 2, characterized in that The connecting shaft and the connecting hole are clearance-fitted; and / or, The distances between the plurality of connecting shafts or the plurality of connecting holes and the rotation axis of the main body (10) are equal; and / or, The plurality of connection shafts or the plurality of connection holes are evenly distributed around the rotation axis of the main body (10).

5. The wave generator according to claim 1, characterized in that Each of the rotating parts (20) is detachably arranged on the main body (10).

6. The wave generator according to claim 1, characterized in that The flexible ring (30) has an annular groove (31), and along the axial direction of the flexible ring (30), the annular groove (31) has an arc-shaped wall; along the extension direction of the rotation axis of each rotating member (20), each rotating member (20) has an arc surface (22) adapted to the arc-shaped wall.

7. The wave generator according to claim 1, characterized in that The wave generator has an initial state and a deformed state; when the wave generator is in the initial state, the outer edges of the plurality of rotating members (20) are circular; when the wave generator is in the deformed state, the outer edges of the plurality of rotating members (20) have at least two protrusions.

8. The wave generator according to claim 1, characterized in that The flexible ring (30) is made of high carbon chromium bearing steel; and / or, The main body (10) is made of steel; and / or, The rotating member (20) is made of steel.

9. The wave generator according to claim 1, characterized in that The main body (10) is a first round wheel; and / or, The rotating member (20) is a second circular wheel.

10. A harmonic reducer, characterized in that: include: The wave generator according to any one of claims 1 to 9; The flexible wheel (50) has an outer edge of the wave generator that fits with an inner hole of the flexible wheel (50).

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