Wave generator and harmonic reducer having the same

Abstract

The application provides a wave generator and a harmonic reducer with the same, which comprises a main body part rotatably arranged; a plurality of rotating parts which are annularly and spacedly arranged on the main body part around a rotating shaft of the main body part, each of the rotating parts has a rotating state relative to the main body part and a fixed state relative to the main body part, and a rotating shaft of the rotating part has an eccentric distance relative to an axis of symmetry of the rotating part; and a flexible ring which is sleeved on the plurality of rotating parts, has a radial deformation, and is matched with a shape of an outer edge of the plurality of rotating parts. The application can solve the technical problem that the profile of the harmonic reducer cannot be changed in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harmonic reducer, in particular to a wave generator and a harmonic reducer with the same. BACKGROUND

[0002] At present, the harmonic reducer is a precision reducer applied to the joint of an industrial robot. The harmonic reducer generally comprises three components, i.e., a flexspline, a rigid spline and a wave generator. The wave generator is rotated to cause the flexspline to produce periodic wave deformation, so as to force the flexspline and the rigid spline to mesh with each other in a small tooth difference, thereby realizing the transmission of motion and power. The wave generator and the flexspline are key parts and vulnerable parts of the harmonic reducer, and the precision failure and fatigue failure of the wave generator and the flexspline often occur before other components.

[0003] The wave generator of the prior art harmonic reducer is assembled by a cam and a flexible bearing. The profile of the wave generator is fixed and unchangeable, that is, there is only one fixed profile for one type of wave generator. The profile of the wave generator of the harmonic reducer cannot be changed when facing different working conditions. SUMMARY

[0004] The main purpose of the present application is to provide a wave generator and a harmonic reducer with the same, so as to solve the technical problem that the profile of the harmonic reducer cannot be changed in the prior art.

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

[0006] a main body part, which is rotatably arranged;

[0007] a plurality of rotating parts, which are arranged on the main body part in a ring shape and at intervals around the rotation axis of the main body part, each of the rotating parts has a rotating state relative to the main body part and a fixed state relative to the main body part, and the rotation axis of the rotating part has an eccentric distance relative to the symmetry axis of the rotating part;

[0008] a flexible ring, which is sleeved on the plurality of rotating parts, has radial deformation, and is adapted to the shape of the outer edge of the plurality of rotating parts.

[0009] Further, the main body part is provided with a first connecting part, and the rotating part is provided with a second connecting part. One of the first connecting part and the second connecting part is a connecting hole, and the other is a connecting shaft inserted into the connecting hole. The wave generator further comprises:

[0010] An adjusting member is adjustably arranged at the connecting hole to be spaced apart from the connecting shaft in the connecting hole to make the rotating member in the rotating state, or to be in abutment with the connecting shaft in the connecting hole to make the rotating member in the fixed state.

[0011] Further, the main body part is provided with the connecting shaft; the rotating member is provided with the connecting hole; the rotating member comprises a body part and a protruding part connected with each other, the body part and the protruding part are arranged along the axial direction of the connecting hole, the outer edge of the body part is protruded from the outer edge of the protruding part, and the adjusting member is adjustably arranged through the circumferential wall of the protruding part.

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

[0013] The distance between the plurality of connecting shafts or the plurality of connecting holes and the rotating shaft of the main body part is equal; and / or,

[0014] The plurality of connecting shafts or the plurality of connecting holes are uniformly distributed around the rotating shaft of the main body part.

[0015] Further, each of the rotating members is detachably arranged on the main body part.

[0016] Further, the flexible ring has an annular groove, along the axial direction of the flexible ring, the annular groove has an arc-shaped wall; along the extending direction of the rotating shaft of each of the rotating members, each of the rotating members has an arc surface matched with the arc-shaped wall.

[0017] Further, the wave generator has an initial state and a deformed state; when the wave generator is in the initial state, the outer edge of the plurality of rotating members is circular; when the wave generator is in the deformed state, the outer edge of the plurality of rotating members has at least two protrusions.

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

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

[0020] The rotating member is made of steel.

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

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

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

[0024] The wave generator provided above;

[0025] A flexible ring, an outer edge of the wave generator is fitted with an inner hole of the flexible ring.

[0026] By means of the technical scheme, at least part of the rotating members are in a rotating state, the rotating angle of the rotating members can be adjusted, the shape of the outer edge formed by the rotating members is adjusted, the flexible ring has a radial deformation ability, the flexible ring can be adjusted and changed according to the shape of the outer edge of the rotating members, the flexible ring can be always close to the outer edge of the rotating members, the profile of the wave generator can be changed to adapt to different working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings constituting a part of the specification of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0028] Figure 1 Part structure schematic diagram of a harmonic reducer provided according to an embodiment of the present application is shown;

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

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

[0031] Figure 4 A structure schematic diagram of a rotating member provided according to an embodiment of the present application is shown;

[0032] Figure 5 A sectional view of a rotating member provided according to an embodiment of the present application is shown;

[0033] Figure 6 A structure schematic diagram of a wave generator in an initial state provided according to an embodiment of the present application is shown;

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

[0035] In the above drawings, the following reference signs are included:

[0036] 10, main body part; 11, first connecting part; 12, input hole;

[0037] 20, rotating member; 21, second connecting part; 22, camber surface; 23, main body part; 24, protruding part; 25, jackscrew hole;

[0038] 30. Flexible ring; 31. Annular groove;

[0039] 40. Adjusting components;

[0040] 50. Flexible wheel;

[0041] 60. Steel wheel;

[0042] 70. Rigid bearings. Detailed Implementation

[0043] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] like Figures 1 to 7 As shown, Embodiment 1 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. The main body 10 is rotatably disposed. The plurality of rotating members 20 are annularly spaced on the main body 10 about a rotation axis of the main body 10. Each rotating member 20 has a rotating state relative to the main body 10 and a fixed state fixed to the main body 10. The rotation axis of the rotating member 20 is eccentrically spaced from the axis of symmetry of the rotating member 20. The flexible ring 30 is sleeved on the plurality of rotating members 20. The flexible ring 30 has radial deformation and is adapted to the shape of the outer edge of the plurality of rotating members 20.

[0045] By employing the wave generator provided in this embodiment, at least some of the rotating members 20 are in a rotating state, making it easy to adjust the rotation angle of at least some of the rotating members 20. This allows for adjustment of the shape of the outer edge formed by the splicing of the multiple rotating members 20. The flexible ring 30 has radial deformation capability, enabling it to adaptively adjust and change with the shape of the outer edge of the multiple rotating members 20, ensuring that the flexible ring 30 always fits tightly against the outer edge of the multiple rotating members 20. This facilitates changing the profile of the wave generator to adapt to different working conditions. This design allows the wave generator to produce different profiles, thereby achieving high-precision transmission in harmonic reducers, suitable for applications requiring high-precision positioning and control, such as robot joints and precision machine tools. Therefore, the wave generator provided in this embodiment solves the technical problem in the prior art where it is inconvenient to change the profile of harmonic reducers.

[0046] Specifically, "the rotation axis of the rotating component 20 has an eccentric distance from the axis of symmetry of the rotating component 20" can be understood as the rotation axis of the rotating component 20 and the axis of symmetry of the rotating component 20 being set at intervals.

[0047] By the relative rotation of the main body 10 and the plurality of rotating members 20, combined with the deformation of the flexible ring 30, the profile of the wave generator can be changed. 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 more smooth and accurate motion control, improving the flexibility and response speed of the robot.

[0048] In this embodiment, the main body 10 is provided with a first connecting part 11, and the rotating member 20 is provided with a second connecting part 21; one of the first connecting part 11 and the second connecting part 21 is a connecting hole, and the other is a connecting shaft for inserting in the connecting hole. The wave generator further comprises an adjusting member 40, which is adjustably arranged at the connecting hole to be spaced apart from the connecting shaft in the connecting hole to make the rotating member 20 in a rotating state, or abut against the connecting shaft in the connecting hole to make the rotating member 20 in a fixed state. With such a structure, the state of the rotating member 20 can be flexibly adjusted by 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 under various load and operating conditions. For example, in an industrial robot, the output characteristics of the wave generator can be adjusted according to different working loads and speed requirements to achieve the best 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 comprises a body part 23 and a protruding part 24 connected to each other, the body part 23 and the protruding part 24 are arranged along the axial direction of the connecting hole, the outer edge of the body part 23 protrudes from the outer edge of the protruding part 24, and the adjusting member 40 is adjustably arranged on the circumferential wall of the protruding part 24. This structure design makes the wave generator not only maintain high-precision transmission, but also realize quick adjustment of the rotating member 20, which is convenient for maintenance and adjustment, and is especially 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 gap-fitted to facilitate the smooth rotation of the connecting shaft in the connecting hole, ensuring the balance and stability of the wave generator, reducing vibration and noise during operation, improving transmission efficiency, and being suitable for precise transmission occasions requiring low noise and high stability.

[0051] Specifically, the distance between the plurality of connecting shafts or the plurality of connecting holes and the rotating shaft of the main body 10 is equal, so as to know the reference rotating position of each rotating member 20, thereby better adapting to the new adjustment of each rotating member 20.

[0052] Specifically, the plurality of connecting shafts or the plurality of connecting holes are uniformly distributed around the rotation axis of the main body 10, so as to know the reference rotation position of each rotating member 20, thereby facilitating better adjustment of each rotating member 20.

[0053] In the embodiment, each rotating member 20 is detachably arranged on the main body 10. Such a design makes the maintenance and adjustment of the wave generator more convenient, can quickly replace the worn rotating member 20, prolongs the service life of the device, and is suitable for occasions requiring long-term stable operation.

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

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

[0056] In the 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. Such a 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 requiring adjustment of transmission characteristics according to different working conditions, such as transmission systems in industrial automated production lines.

[0057] Specifically, when the wave generator is in the deformed state, the wave generator is in the 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 the 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, and is suitable for precise transmission occasions requiring high strength and high accuracy, such as transmission systems 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 the embodiment, the main body 10 is a first circular wheel, which can also be referred to as a large circular wheel. This design makes the structure of the wave generator more compact, reduces the occupied space, improves the transmission efficiency, and is suitable for precise transmission occasions that require compact structure and high efficiency, such as transmission systems in small precision machine tools. At the same time, the circular wheel structure is convenient for production and manufacturing.

[0062] The rotating member 20 is a second circular wheel, which can also be referred to as a small circular wheel. This design makes the structure of the wave generator more compact, reduces the occupied space, improves the transmission efficiency, and is suitable for precise transmission occasions that require compact structure and high efficiency, such as transmission systems in small precision machine tools. At the same time, the circular wheel structure is convenient for production and manufacturing.

[0063] Compared with the traditional wave generator which is assembled by a cam and a flexible bearing, the wave generator of the present application includes a flexible ring 30, a plurality of rotating members 20 and a main body 10, and the flexible ring 30, the plurality of rotating members 20 and the main body 10 are assembled together, wherein the plurality of rotating members 20 and the main body 10 are assembled together by eccentricity, the flexible ring 30 is sleeved on the outer periphery of the plurality of rotating members 20, and by rotating the angle of the rotating member 20, the wave generator profile can be changed arbitrarily; and the rotating member 20 of the wave generator can be individually disassembled, repaired, simply produced and processed, has low manufacturing cost and can be used permanently.

[0064] Specifically, a connecting hole is provided on the small circular wheel, the center of the connecting hole does not coincide with the center of the small circular wheel, and there is an eccentric distance e between the center of the connecting hole and the center of the small circular wheel; the small circular wheel and the large circular wheel are matched together through the connecting hole and the connecting shaft, the connecting shaft is uniformly distributed on the large circular wheel in the circumferential direction, the number of connecting shafts is consistent with the number of small circular wheels, the connecting hole and the connecting shaft are clearance fit, the small circular wheel can rotate eccentrically around the connecting shaft, and after the small circular wheel is rotated to a suitable position, the jack screw (corresponding to the adjusting member 40) can be locked into the jack screw hole 25, the small circular wheel and the large circular wheel are fixed, so that the small circular wheel and the large circular wheel no longer move relative to each other. The materials of the small circular wheel and the large circular wheel are ordinary metal steel, preferably 45# steel, which has good mechanical properties, is convenient to process and is cheap. A flexible ring 30 is sleeved on the plurality of small circular wheels, a smooth annular groove 31 is provided on the inner surface of the flexible ring 30, a smooth arc surface 22 is provided on the outer periphery of the small circular wheel, the arc surface 22 of the small circular wheel and the annular groove 31 on the flexible ring 30 are matched to sleeve the small circular wheel in 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 the present application is assembled, as shown in FIG. 6, the wave generator profile can be changed by rotating the angle of the rotating member 20. Figure 6As shown, the profile of the wave generator, i.e. the outer contour of the flexible ring 30, is circular in the initial state, and the flexible ring 30 is deformed radially by rotating the small wheels at an angle. The adjacent two small wheels are rotated at different angles, and the radial distance R from the arc surface 22 of the small wheel to the center of the large wheel is different, so that the flexible ring 30 is deformed radially at different amounts. When the angle of the small wheels is rotated so that the radial distance R from the arc surface 22 of the two small wheels to the center of the large wheel is the largest among all the small wheels, the radial outward deformation at the contact position between the flexible ring 30 and the two small wheels is the largest compared with the radial outward deformation at the contact position between the flexible ring 30 and the other small wheels (when the radial distance R from the arc surface 22 of the small wheel to the center of the large wheel is the largest among all the small wheels, the small wheel stretches the flexible ring 30 outward to the largest extent, and the radial deformation is the largest, which results in the major axis of the ellipse.), as shown in Figure 7 As shown, the wave generator generates the major axis; when the angle of the small wheels is rotated so that the radial distance R from the arc surface 22 of the two small wheels to the center of the large wheel is the smallest among all the small wheels, the radial inward deformation at the contact position between the flexible ring 30 and the two small wheels is the largest compared with the radial inward deformation at the contact position between the flexible ring 30 and the other small wheels, as shown in Figure 7 As shown, the wave generator generates the minor axis. At this time, the profile of the wave generator is elliptical, which is the profile of the conventional wave generator. According to the present scheme, the radial distance R from the arc surface of each small wheel to the center of the large wheel can be changed by rotating the small wheels at an angle, and the profile of the wave generator can be changed arbitrarily.

[0066] When the wave generator needs to change the profile, the top wire is loosened, the small wheels are rotated at a certain angle, the profile of the wave generator is changed, and then the top wire is locked.

[0067] The input hole 12 on the large wheel is matched with the input end motor shaft, the outer contour of the wave generator is matched with the inner hole of the flexible gear 50, i.e. the outer contour of the flexible ring 30 is matched with the inner hole of the flexible gear 50, the wave generator is driven to rotate by the input shaft to cause the flexible gear 50 to deform periodically, and the small tooth difference internal meshing between the flexible gear 50 and the rigid gear is forced to realize the transmission of motion and power.

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

[0069] The harmonic reducer wave generator of the scheme can also change the wave shape to realize three waves and four waves to cope with special working conditions. In the initial state, the flexible ring 30 is circular, and the profile of the wave generator is circular. Because the small gear is eccentrically installed, the angle of rotating the small gear can make the flexible ring 30 produce radial deformation. The adjacent small gears rotate at different angles, and the radial distance R from the arc surface 22 of the small gear to the center of the large gear is different, so that the amount of radial deformation of the flexible ring 30 is different. When the angle of rotating the small gear makes the radial distance R from the arc surface 22 of two small gears to the center of the large gear be the largest among all the small gears, the radial outward deformation amount of the flexible ring 30 at the contact position with the two small gears is the largest compared with the radial outward deformation amount of the flexible ring 30 at the contact position with other small gears, as shown in Figure 7 When the angle of rotating the small gear makes the radial distance R from the arc surface 22 of two small gears to the center of the large gear be the smallest among all the small gears, the radial inward deformation amount of the flexible ring 30 at the contact position with the two small gears is the largest compared with the radial inward deformation amount of the flexible ring 30 at the contact position with other small gears, as shown in Figure 7 When the angle of rotating the small gear makes the radial distance R from the arc surface 22 of two small gears to the center of the large gear be the smallest among all the small gears, the radial inward deformation amount of the flexible ring 30 at the contact position with the two small gears is the largest compared with the radial inward deformation amount of the flexible ring 30 at the contact position with other small gears, as shown in Figure 6 When the angle of rotating the small gear makes the radial distance R from the arc surface 22 of two small gears to the center of the large gear be the smallest among all the small gears, the radial inward deformation amount of the flexible ring 30 at the contact position with the two small gears is the largest compared with the radial inward deformation amount of the flexible ring 30 at the contact position with other small gears, as shown in Figure 7 When the angle of rotating the small gear makes the radial distance R from the arc surface 22 of two small gears to the center of the large gear be the smallest among all the small gears, the radial inward deformation amount of the flexible ring 30 at the contact position with the two small gears is the largest compared with the radial inward deformation amount of the flexible ring 30 at the contact position with other small gears, as shown in

[0070] The wave generator structure of the scheme is composed of a circular structure, the large and small circular gears are simple to process and low in cost, and the wave generator can be disassembled and repaired.

[0071] Embodiment two of the present application provides a harmonic reducer, which comprises the wave generator provided above and a flexspline 50, and the outer edge of the wave generator is fitted with the inner hole of the flexspline 50. Specifically, the harmonic reducer further comprises a steel gear 60 and a rigid bearing 70.

[0072] The harmonic reducer combines the high-precision transmission characteristics of the wave generator and the elastic deformation characteristics of the flexspline, can realize large transmission ratio and high-efficiency reduction while maintaining high precision, and is suitable for precise reduction occasions requiring high precision, large transmission ratio and high efficiency, such as high-precision servo systems and precise positioning systems. In addition, through optimization design and material selection, the harmonic reducer also has the advantages of low noise, low vibration, long service life and the like, and can significantly improve the performance and reliability of the equipment.

[0073] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects: the problems of difficult wave generator processing and high manufacturing cost are solved; the problem of wave generator not easy to repair is solved. The profile of the wave generator of the present application can be arbitrarily changed; the wave generator of the present application does not have traditional cams and flexible bearings, but instead has a circular gear structure, which is simple to process and low in manufacturing cost; the wave generator of the present application can be disassembled for easy repair; the harmonic reducer of the present application can adjust the profile of the wave generator by rotating the angle of the small circular gear when facing different working conditions, so that the rigid gear teeth and the flexspline teeth can maintain a normal meshing state, thereby increasing the service life of the harmonic reducer.

[0074] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that, when the terms "comprise" and / or "include" are used in the specification, there is a presence of the features, steps, operations, devices, components and / or combinations thereof.

[0075] The foregoing is considered as illustrative only of the principles of the application. Other variations and modifications are possible in light of the above teachings. Therefore, the scope of the application is not intended to be limited to the particular embodiments described herein but is to be accorded the broadest scope consistent with the principles and the scope of the appended claims and equivalents thereof. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure and will not be interpreted in an overly literal sense unless expressly so defined herein.

[0076] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by the orientation words such as "front, back, upper, lower, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate and imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component itself.

[0077] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the devices described in the drawings. For example, if the devices in the drawings are inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0078] In addition, it should be noted that the use of the words "first", "second" and the like to define various components is merely intended to distinguish the corresponding components from each other, and the words have no special meaning unless otherwise stated, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0079] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A wave generator, characterized in that, include: The main body (10) is rotatably mounted; Multiple rotating members (20) are arranged annularly on the main body (10) around the rotation axis of the main body (10). Each rotating member (20) has a rotational state relative to the main body (10) and a fixed state fixed to the main body (10). The rotation axis of the rotating member (20) has an eccentric distance from the axis of symmetry of the rotating member (20). A flexible ring (30) is sleeved on the plurality of rotating parts (20). The flexible ring (30) has radial deformation and the shape of the flexible ring (30) is adapted to the outer edge of the plurality of rotating parts (20).

2. The wave generator according to claim 1, characterized in that, The main body (10) is provided with a first connecting part (11), and the rotating member (20) is provided with a second connecting part (21); one of the first connecting part (11) and the second connecting part (21) is a connecting hole, and the other is a connecting shaft for insertion into the connecting hole; the wave generator further includes: An adjusting member (40) is adjustablely disposed at the connecting hole, spaced apart from the connecting shaft in the connecting hole so that the rotating member (20) is in the rotating state, or abuts against the connecting shaft in the connecting hole so that the rotating member (20) is in the fixed state.

3. The wave generator according to claim 2, characterized in that, The main body (10) is provided with the connecting shaft; the rotating member (20) is provided with the connecting hole; the rotating member (20) includes a body part (23) and a protrusion (24) connected to each other, the body part (23) and the protrusion (24) are arranged along the axial direction of the connecting hole, the outer edge of the body part (23) protrudes from the outer edge of the protrusion (24), and the adjusting member (40) is adjustablely inserted through the peripheral wall of the protrusion (24).

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 multiple connecting shafts or multiple connecting 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 mounted 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) along the axial direction of the flexible ring (30), and the annular groove (31) has an arc-shaped wall; along the extension direction of the rotation axis of each of the rotating members (20), each of the rotating members (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 component (20) is made of steel.

9. The wave generator according to claim 1, characterized in that, The main body (10) is a first wheel; and / or, The rotating component (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 outer edge of the wave generator is fitted with the inner hole of the flexible wheel (50).

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