Cam, wave generator and harmonic reducer

Abstract

The present application provides a cam, a wave generator, and a harmonic reducer. The cam includes a cam body, a material reduction zone provided on the circumferential side surface of the cam body, and the material reduction zone includes a wave surface segment. In the cross section where the axis of the cam body is located, the wave surface segment is in the shape of a wave line extending along the axial direction of the cam body. The material reduction zone is continuously or discontinuously distributed along the circumference of the cam body. After the cam is matched with a flexible bearing, a buffer space capable of providing elastic deformation and absorbing vibration is formed in the material reduction zone. In this arrangement, the cam with a wave surface segment designed and constructed in the material reduction zone not only reduces its own counterweight and reduces the contact area with the flexible bearing, thus making the cam have better structural mechanical properties, but also forms a buffer space providing elastic deformation and absorbing vibration in the material reduction zone during the operation of the harmonic reducer, making the load distribution of the harmonic reducer more uniform during operation, which is conducive to the high-speed, low-noise, and low-vibration operation of the harmonic reducer.

Description

Technical Field

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

[0002] A harmonic reducer is a gear transmission structure that uses a wave generator equipped with a flexible bearing to make the flexible wheel produce controllable elastic deformation and mesh with the rigid wheel to transmit motion and power. The wave generator consists of a cam and a flexible bearing, and the outer contour of the cam is usually elliptical.

[0003] In recent years, with the rapid development of the robotics industry, especially the updating and iteration of collaborative robots and humanoid robots, the requirements for harmonic reducers used in robots have gradually increased. However, the performance of harmonic reducers in existing technologies in terms of lightweight, high speed, low noise and low vibration is difficult to meet the design requirements of robots.

[0004] Therefore, it is particularly important to optimize the structure of the harmonic reducer to improve its performance in terms of lightweight, high speed, low noise and low vibration. Summary of the Invention

[0005] In view of this, the present application provides a cam, a wave generator and a harmonic reducer to solve the problem in the prior art of how to optimize the structure of the harmonic reducer to improve its performance in terms of light weight, high speed, low noise and low vibration.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A cam, used in a harmonic reducer, comprises a cam body, wherein a material-reducing area is provided on a circumferential side surface of the cam body, the material-reducing area comprising a wavy surface segment, wherein in a cross section where the axis of the cam body is located, the wavy surface segment is in the shape of a wavy line extending along the axial direction of the cam body;

[0008] The material reduction area is distributed continuously or discontinuously along the circumference of the cam body. After the cam is matched with the flexible bearing, a buffer space capable of providing elastic deformation and absorbing vibration is formed in the material reduction area.

[0009] Optionally, the material reduction zone further includes a first inclined surface segment and a second inclined surface segment, and in the axial direction of the cam body, the first inclined surface segment and the second inclined surface segment are respectively located on both sides of the wave surface segment;

[0010] In the cross section where the axis of the cam body is located, the first inclined surface segment and the second inclined surface segment are both obliquely shaped and are both inclined from one side connected to the wave surface segment to the other side toward the direction close to the axis of the cam body.

[0011] Optionally, the first inclined surface segment is located on a first side of the wave surface segment, and the second inclined surface segment is located on a second side of the wave surface segment. The first side of the wave surface segment is on the same side as the output side of the harmonic reducer, and the second side of the wave surface segment is on the same side as the input side of the harmonic reducer.

[0012] The projection size of the first inclined surface segment in the axial direction of the cam body is h1, and the projection size of the second inclined surface segment in the axial direction of the cam body is h2, where h1≤h2;

[0013] And / or, the angle between the extended surface where the first inclined surface segment is located and the axis of the cam body is α, the angle between the extended surface where the second inclined surface segment is located and the axis of the cam body is β, and α≤β.

[0014] Optionally, in a cross section where the axis of the cam body is located, the axial length of the cam body is H, the projection dimension of the wavy surface segment in the axial direction of the cam body is h, the radii of the multiple arcuate surface segments constituting the wavy surface segment are all R, the projection dimension of the first inclined surface segment in the axial direction of the cam body is h1, and the projection dimension of the second inclined surface segment in the axial direction of the cam body is h2, wherein:

[0015] h and R are positively correlated;

[0016] H=h+h1+h2, h and h1+h2 are negatively correlated.

[0017] Optionally, the wave surface segment includes a first concave arc surface segment, a first convex arc surface segment, a second concave arc surface segment, a second convex arc surface segment and a third concave arc surface segment distributed in sequence along the axial direction of the cam body.

[0018] Optionally, in a cross section where the axis of the cam body is located, the axial length of the cam body is H, the projection dimension of the first inclined surface segment in the axial direction of the cam body is h1, the projection dimension of the second inclined surface segment in the axial direction of the cam body is h2, and the radii of the first concave arc surface segment, the first convex arc surface segment, the second concave arc surface segment, the second convex arc surface segment, and the third concave arc surface segment are all R, wherein:

[0019] H=h1+h2+a×5×R, 0.59≤a≤0.64.

[0020] Optionally, a is set to 0.6204.

[0021] Optionally, the radii of the multiple arc surface segments constituting the wave surface segment are all R;

[0022] The outer diameter of the cam body at the most convex point of the wave surface segment is D, and the outer diameter of the most concave point of the wave surface segment is d, wherein:

[0023] There is a negative correlation between R and D, and a positive correlation between R and d.

[0024] Optionally, the outer diameter of the cam body at the most convex point of the wave surface segment is D, and the outer diameter of the most concave point of the wave surface segment is d;

[0025] The depth of the most concave point of the wave surface segment relative to the most convex point is d1, where:

[0026] D=d+2×d1.

[0027] Optionally, the angle between the extended surface where the first inclined surface segment is located and the axis of the cam body is α, and the angle between the extended surface where the second inclined surface segment is located and the axis of the cam body is β, 1°≤α≤5°, 1°≤β≤5°.

[0028] Optionally, both ends of the cam body in the axial direction are provided with chamfers, and the chamfers are connected to the corresponding first inclined surface segment or the second inclined surface segment.

[0029] A wave generator comprises a flexible bearing and any one of the above cams, wherein the flexible bearing is outer-mounted on the cam.

[0030] A harmonic reducer comprises a rigid wheel, a flex wheel and the above-mentioned wave generator.

[0031] The cam provided in the present application is applied to a harmonic reducer and includes a cam body. A material reduction area is provided on the circumferential side surface of the cam body. The material reduction area includes a wavy surface segment. In the cross-section where the axis of the cam body is located, the wavy surface segment is in the shape of a wavy line extending along the axial direction of the cam body; the material reduction area is continuously or discontinuously distributed along the circumference of the cam body. After the cam is matched with the flexible bearing, a buffer space that can provide elastic deformation and absorb vibration is formed in the material reduction area. In this way, the circumferential side surface of the cam body is the surface of the cam used to cooperate with the flexible bearing, that is, the outer contour of the cam. There is a design with local material missing on the circumferential side surface of the cam body, forming a material reduction area. After many tests and verifications, the applicant found that designing and constructing a cam with a wave surface segment in the material reduction area not only reduces its own counterweight and reduces the contact area with the flexible bearing, so that the cam has better structural mechanical properties, but also forms a buffer space in the material reduction area during the operation of the harmonic reducer to provide elastic deformation and absorb vibration, so that the load distribution of the harmonic reducer during operation is more uniform, which is conducive to the high-speed, low-noise and low-vibration operation of the harmonic reducer. Compared with the conventional cams in the prior art, the cam provided by the present application can meet the performance requirements in terms of lightweight, high speed, low noise and low vibration, and solves the problem of how to optimize the structure of the harmonic reducer in the prior art to improve the performance in terms of lightweight, high speed, low noise and low vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0033] Figure 1 This is a schematic diagram of the structure of the cam provided in an embodiment of the present application.

[0034] Figure 2 This is a schematic diagram of the cross-sectional structure of the cam provided in an embodiment of the present application.

[0035] Figure 3 for Figure 2 Partial schematic diagram at point A in the middle.

[0036] Figure 4 for Figure 2 The dimension marking diagram at A in the middle.

[0037] exist Figure 1-Figure 4 middle:

[0038] 1. Cam body;

[0039] 11. Material reduction area; 12. Chamfering;

[0040] 111. Wavy surface segment; 112. First inclined surface segment; 113. Second inclined surface segment. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] The applicant has discovered that the cam, as a power component of the harmonic reducer, has a very important influence on the performance of the harmonic reducer in terms of its structural design and size parameters.

[0043] like Figure 1-Figure 4 As shown, an embodiment of the present application provides a cam for use in a harmonic reducer, comprising a cam body 1, a material reduction area 11 being provided on the circumferential side surface of the cam body 1, the material reduction area 11 comprising a wave surface segment 111, and in the cross section where the axis of the cam body 1 is located, the wave surface segment 111 is in the shape of a wave line extending along the axial direction of the cam body 1; the material reduction area 11 is continuously or discontinuously distributed along the circumference of the cam body 1, that is, the material reduction area 11 is a continuous area surrounding the entire circumference or a non-continuous area distributed in multiple intervals. After the cam is matched with the flexible bearing, a buffer space that can provide elastic deformation and absorb vibration is formed in the material reduction area 11.

[0044] In this arrangement, the circumferential side surface of the cam body 1 is the surface of the cam used to cooperate with the flexible bearing, that is, the outer contour of the cam. There is a design with local material missing on the circumferential side surface of the cam body 1, forming a reduced material area 11. After many tests and verifications, the applicant found that the cam with a wave surface segment 111 designed and constructed in the reduced material area 11 not only reduces its own counterweight and reduces the contact area with the flexible bearing, so that the cam has better structural mechanical properties, but also forms a buffer space in the reduced material area 11 during the operation of the harmonic reducer, which provides elastic deformation and absorbs vibration, so that the load distribution of the harmonic reducer during operation is more uniform, which is conducive to the high-speed, low-noise and low-vibration operation of the harmonic reducer. Compared with the conventional cams in the prior art, the cam provided by the present application can meet the performance requirements in terms of lightweight, high speed, low noise and low vibration, and solves the problem of how to optimize the structure of the harmonic reducer in the prior art to improve the performance in terms of lightweight, high speed, low noise and low vibration.

[0045] This application abandons the inherent design ideas for cams in the field. Through long-term product development and improvement practices, we have explored the impact of various cam structural designs on the performance of harmonic reducers. The result is a wavy lateral surface design for the cam, a completely different and material-reducing design. Through breakthrough design details, the cam is assembled into the harmonic reducer, improving the performance of the harmonic reducer in many of the above-mentioned aspects. This completely different design approach has achieved outstanding technical results.

[0046] Moreover, the cam provided in this application has been tested and verified to have good performance in the application of small harmonic reducers, which is helpful for the design direction of miniaturization of harmonic reducers.

[0047] In the present application, it is preferably designed that the material reduction area 11 is continuously distributed on the peripheral side surface of the cam body 1 .

[0048] In addition, in some specific embodiments, when the material reduction areas 11 are designed to be discontinuously distributed on the circumferential side of the cam body 1 , both ends of each material reduction area 11 are connected to the outer surface of the cam body 1 through a transition curved surface.

[0049] In some preferred embodiments, the subtractive region 11 further includes a first bevel segment 112 and a second bevel segment 113. In the axial direction of the cam body 1, the first bevel segment 112 and the second bevel segment 113 are located on either side of the wavy surface segment 111. In a cross section of the cam body 1 along the axis, the first bevel segment 112 and the second bevel segment 113 are both obliquely shaped, and both slope from one side connected to the wavy surface segment 111 to the other side toward the axis of the cam body 1. In other words, the first bevel segment 112 and the second bevel segment 113 form a subtractive design that is different in shape from the wavy surface segment 111.

[0050] With this arrangement, based on the design of the wavy surface segment 111 in the material reduction area 11, a design with inclined surface segments on both sides is further formed. After testing and verification, it can further reduce the cam's own counterweight and reduce the contact area between the cam and the flexible bearing, thereby further improving the structural mechanical properties of the cam and further improving the performance of the cam in contributing to the lightweight, high-speed, low-noise and low-vibration performance of the harmonic reducer.

[0051] In some specific embodiments, the first bevel segment 112 is located on the first side of the wave surface segment 111, and the second bevel segment 113 is located on the second side of the wave surface segment 111. The first side of the wave surface segment 111 is on the same side as the output side of the harmonic reducer, and the second side of the wave surface segment 111 is on the same side as the input side of the harmonic reducer; wherein, the projection dimension of the first bevel segment 112 in the axial direction of the cam body 1 is h1, and the projection dimension of the second bevel segment 113 in the axial direction of the cam body 1 is h2, h1≤h2; and / or, the angle between the extended surface of the first bevel segment 112 and the axis of the cam body 1 is α, and the angle between the extended surface of the second bevel segment 113 and the axis of the cam body 1 is β, α≤β.

[0052] With such a configuration, the first bevel segment 112 and the second bevel segment 113 can be designed to be a symmetrical structure, that is, h1=h2 and α=β; and the load size and working conditions on the inner and outer sides of the cam are generally different, so the first bevel segment 112 and the second bevel segment 113 can also be designed to be an asymmetrical structure. Since the second bevel segment 113 and the input side of the harmonic reducer are on the same side, it is preferred to set the second bevel segment 113 to be longer in axial dimension than the first bevel segment 112, and the inclination angle of the second bevel segment 113 is also larger than the inclination angle of the first bevel segment 112, that is, h2>h1, β>α, which is conducive to the cam having better structural mechanical properties.

[0053] The design parameter values of the cam body 1 are not arbitrary, but need to follow a certain design basis, so as to ensure the structural strength while achieving the required technical effect of optimizing the performance of the harmonic reducer.

[0054] In some specific embodiments, in the cross-section where the axis of the cam body 1 is located, the axial length of the cam body 1 is H, the projection size of the wave surface segment 111 on the axial direction of the cam body 1 is h, the radii of the multiple arc surface segments constituting the wave surface segment 111 are all R, the projection size of the first inclined surface segment 112 on the axial direction of the cam body 1 is h1, and the projection size of the second inclined surface segment 113 on the axial direction of the cam body 1 is h2, wherein: h and R are positively correlated, that is, the larger R is, the larger the design value of h is; H=h+h1+h2, h and h1+h2 are negatively correlated, that is, the larger R is, the larger h is, and the smaller the design value of h1+h2 is.

[0055] With such a configuration, on the one hand, the axial projection size of the wave surface segment 111 is the chord length corresponding to the arc surface segment. There is a known calculation formula between the chord length, R, and the central angle corresponding to the arc surface segment, that is, the chord length is affected by R and the central angle. When designing the specific parameters of the wave surface segment 111, it should be ensured that the central angle corresponding to the arc surface segment is within a certain value or a small design range, preferably an obtuse angle. Following such a design, the larger the R value, the larger the design value of h, and the undulation degree and distribution range of the wave surface segment 111 are adapted to each other. With such a design of the material reduction area 11, the cam can achieve a better effect of uniform load distribution during the operation of the harmonic reducer. On the other hand, the axial length H of the cam body 1 should be within a certain design range. Therefore, when h is larger, the design value of h1+h2 is smaller, ensuring that the axial length H of the cam body 1 is adapted to the axial length of the flexible bearing.

[0056] More specifically, the number of arc surface segments constituting the wave surface segment 111 can be 2, 3, 4, 5, or 6.

[0057] In some preferred embodiments, the number of arcuate segments comprising the wave surface segment 111 is selected to be five, and the wave surface segment 111 includes a first concave arcuate segment, a first convex arcuate segment, a second concave arcuate segment, a second convex arcuate segment, and a third concave arcuate segment, sequentially distributed along the axial direction of the cam body 1. Thus, through testing and verification, when the cam's wave surface segment 111 has five arcuate segments, it is easier to design the values of R, h, h1, and h2. Furthermore, after the cam is assembled into the harmonic reducer, the harmonic reducer achieves a better load distribution uniformity during operation.

[0058] Furthermore, in some specific embodiments, in the cross-section where the axis of the cam body 1 is located, the axial length of the cam body 1 is H, the axial projection size of the first inclined surface segment 112 on the cam body 1 is h1, the axial projection size of the second inclined surface segment 113 on the cam body 1 is h2, and the radii of the first concave arc surface segment, the first convex arc surface segment, the second concave arc surface segment, the second convex arc surface segment and the third concave arc surface segment are all R, where: H=h1+h2+a×5×R, 0.59≤a≤0.64.

[0059] With such a configuration, after optimizing the parameters of various cam bodies 1 and the material-reducing area 11 , the above relationship is obtained through simulation.

[0060] More preferably, the value of a is 0.6204.

[0061] In other specific embodiments, the radii of the multiple arcuate segments comprising the wave surface segment 111 are all R; the outer diameter of the cam body 1 at the most convex point of the wave surface segment 111 is D, and the outer diameter at the most concave point of the wave surface segment 111 is d, where R and D are negatively correlated, and R and d are positively correlated. That is, the larger R is, the smaller D is, and the larger d is. It should be noted that the outer contour of the cam body 1 is elliptical, and the above relationship applies to any cross-section of the cam body 1 where the axis is located.

[0062] Such setting and design according to the above-mentioned method conform to the rule that the larger R is, the smaller the fluctuation of the wave surface segment 111 is. Following such a design, in the test and verification, after the cam is assembled in the harmonic reducer, the harmonic reducer obtains a better load distribution uniformity effect during operation.

[0063] In other specific embodiments, the outer diameter of the cam body 1 at the most convex point of the wave surface segment 111 is D, and the outer diameter at the most concave point of the wave surface segment 111 is d. The depth of the most concave point of the wave surface segment 111 relative to the most convex point is d1, where: D = d + 2 × d1. It should be noted that the outer contour of the cam body 1 is elliptical, and the above relationship is satisfied in any cross-section of the cam body 1 where the axis is located.

[0064] With this arrangement, the lowest point of each wave surface segment 111 is on the same ellipse, the highest point of each wave surface segment 111 is on the same ellipse, and the position of the material reduction area 11 in each position in the wave surface segment 111 is highly consistent, ensuring that after the cam is assembled in the harmonic reducer, the load distribution uniformity of the harmonic reducer is improved during operation.

[0065] In other specific embodiments, the angle between the extended surface of the first bevel segment 112 and the axis of the cam body 1 is α, and the angle between the extended surface of the second bevel segment 113 and the axis of the cam body 1 is β, with 1°≤α≤5° and 1°≤β≤5°. This configuration controls the inclination angles of the bevel segments on both sides of the wavy surface segment 111 within the aforementioned range, and combined with the surface profile design of the reduced-material area 11, achieves better cam performance.

[0066] In other preferred embodiments, chamfers 12 are provided at both ends of the cam body 1 in the axial direction, and the chamfers 12 are connected to the corresponding first bevel section 112 or second bevel section 113. In this configuration, the outer edge of the end surface of the cam body 1 is provided with chamfers 12, which facilitates the installation and removal of the cam in the harmonic reducer.

[0067] Based on the aforementioned cam, an embodiment of the present application further provides a wave generator, comprising a flexible bearing and the aforementioned cam, wherein the flexible bearing is disposed over the cam. Since the wave generator includes the aforementioned cam, the beneficial effects of the cam on the wave generator are described above and will not be further elaborated here.

[0068] Based on the aforementioned wave generator, embodiments of the present application further provide a harmonic reducer comprising a rigid pulley, a flexspline, and the aforementioned wave generator. The wave generator is internally mounted within the flexspline, which is internally mounted within the rigid pulley, with the flexspline and the rigid pulley meshing with each other. Since the harmonic reducer includes the aforementioned wave generator, the beneficial effects of the wave generator on the harmonic reducer are described above and will not be further elaborated here.

[0069] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0070] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0071] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0072] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0073] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly illustrate the technical solutions and cannot be used to limit the scope of protection of the present application.

[0074] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A cam, characterized in that: The invention is applied to a harmonic reducer, comprising a cam body (1), wherein a material reduction zone (11) is provided on a peripheral side surface of the cam body (1), wherein the material reduction zone (11) comprises a wave surface segment (111), a first inclined surface segment (112) and a second inclined surface segment (113), wherein the wave surface segment comprises at least two arc surface segments, wherein in a cross section where the axis of the cam body (1) is located, the wave surface segment (111) is in the shape of a wave line extending along the axial direction of the cam body (1), wherein in the axial direction of the cam body (1), the first inclined surface segment (112) and the second inclined surface segment (113) are respectively located on both sides of the wave surface segment (111), wherein in a cross section where the axis of the cam body (1) is located, the first inclined surface segment (112) and the second inclined surface segment (113) are both in the shape of an inclined line, and both are inclined from one side connected to the wave surface segment (111) to the other side in a direction close to the axis of the cam body (1); The material reduction area (11) is continuously or discontinuously distributed along the circumference of the cam body (1); after the cam is matched with the flexible bearing, a buffer space capable of providing elastic deformation and absorbing vibration is formed in the material reduction area (11).

2. The cam according to claim 1, characterized in that The first inclined surface segment (112) is located on a first side of the wave surface segment (111), and the second inclined surface segment (113) is located on a second side of the wave surface segment (111). The first side of the wave surface segment (111) is on the same side as the output side of the harmonic reducer, and the second side of the wave surface segment (111) is on the same side as the input side of the harmonic reducer. The projection size of the first inclined surface segment (112) in the axial direction of the cam body (1) is h1, and the projection size of the second inclined surface segment (113) in the axial direction of the cam body (1) is h2, where h1≤h2; And / or, the angle between the extended surface where the first inclined surface segment (112) is located and the axis of the cam body (1) is α, and the angle between the extended surface where the second inclined surface segment (113) is located and the axis of the cam body (1) is β, α≤β.

3. The cam according to claim 1, characterized in that In the cross section where the axis of the cam body (1) is located, the axial length of the cam body (1) is H, the projection size of the wave surface segment (111) on the axial direction of the cam body (1) is h, the radius of the multiple arc surface segments constituting the wave surface segment (111) is R, the projection size of the first inclined surface segment (112) on the axial direction of the cam body (1) is h1, and the projection size of the second inclined surface segment (113) on the axial direction of the cam body (1) is h2, wherein: h and R are positively correlated; H=h+h1+h2, h and h1+h2 are negatively correlated.

4. The cam according to claim 1, wherein: The wave surface segment (111) comprises a first concave arc surface segment, a first convex arc surface segment, a second concave arc surface segment, a second convex arc surface segment and a third concave arc surface segment, which are sequentially distributed along the axial direction of the cam body (1).

5. The cam according to claim 4, characterized in that: In a cross section where the axis of the cam body (1) is located, the axial length of the cam body (1) is H, the projection size of the first inclined surface segment (112) in the axial direction of the cam body (1) is h1, the projection size of the second inclined surface segment (113) in the axial direction of the cam body (1) is h2, and the radii of the first concave arc surface segment, the first convex arc surface segment, the second concave arc surface segment, the second convex arc surface segment, and the third concave arc surface segment are all R, wherein: H=h1+h2+a×5×R, 0.59≤a≤0.

64.

6. The cam according to claim 5, characterized in that The value of a is 0.6204.

7. The cam according to claim 1, characterized in that The radii of the multiple arc surface segments constituting the wave surface segment (111) are all R; The outer diameter of the cam body (1) at the most convex point of the wave surface segment (111) is D, and the outer diameter of the most concave point of the wave surface segment (111) is d, wherein: There is a negative correlation between R and D, and a positive correlation between R and d.

8. The cam according to claim 1, wherein: The outer diameter of the cam body (1) at the most convex point of the wave surface segment (111) is D, and the outer diameter of the most concave point of the wave surface segment (111) is d; The depth of the most concave point of the wave surface segment (111) relative to the most convex point is d1, where: D=d+2×d1.

9. The cam according to claim 1, wherein: The included angle between the extended surface where the first inclined surface segment (112) is located and the axis of the cam body (1) is α, and the included angle between the extended surface where the second inclined surface segment (113) is located and the axis of the cam body (1) is β, 1°≤α≤5°, 1°≤β≤5°.

10. The cam according to claim 1, wherein: Both ends of the cam body (1) in the axial direction are provided with chamfers (12), and the chamfers (12) are connected to the corresponding first inclined surface section (112) or the second inclined surface section (113).

11. A wave generator, characterized in that: The invention comprises a flexible bearing and the cam according to any one of claims 1 to 10, wherein the flexible bearing is outer-mounted on the cam.

12. A harmonic reducer, characterized in that: The invention comprises a rigid wheel, a flexible wheel and the wave generator as claimed in claim 11.

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