Long-life anti-fatigue harmonic reducer and manufacturing process thereof

Abstract

The invention relates to the technical field of harmonic reducers, and particularly discloses a long-service-life anti-fatigue harmonic reducer and a manufacturing process thereof.The long-service-life anti-fatigue harmonic reducer comprises a rigid outer ring, a flexible inner ring and a wave generator; an inner-tooth gear is annularly arranged on the inner wall of the rigid outer ring, an outer-tooth gear meshed with the inner-tooth gear is annularly arranged on the outer wall of the flexible inner ring, and the number of teeth of the outer-tooth gear is two smaller than that of the inner-tooth gear, so that a differential-tooth meshing structure is formed; the tooth top surface of the outer tooth gear of the flexible inner ring adopts a circular arc tooth profile, a stress dispersion groove is formed between two adjacent teeth of the outer tooth gear, and round corners are arranged on two sides of the bottom of the stress dispersion groove for transition; a lubricating oil channel is formed in a meshing area of the rigid outer ring and the flexible inner ring, is arranged in a penetrating manner along the radial direction and is communicated with an external lubricating system; the wave generator comprises a cam and a bearing piece arranged on the outer side of the cam, and the cam is rigidly connected with an external input shaft through a spline.

Description

Technical Field

[0001] The present invention relates to the technical field of harmonic reducers, and in particular discloses a high-life anti-fatigue harmonic reducer and its manufacturing process. Background Art

[0002] With its advantages such as compact structure, large transmission ratio, and high transmission accuracy, harmonic reducers are widely used in many fields such as robotics, aerospace, and medical devices. However, during long-term operation, traditional harmonic reducers face many problems. The heat generated by friction at the gear meshing part is likely to cause part deformation, and the tooth surface wear is serious, affecting the transmission accuracy and stability; the lubricating oil channel design is unreasonable, making it difficult to form an effective lubricating film on the gear surface, exacerbating wear; when the bearing parts rotate at high speed, the rolling elements are prone to problems such as axial displacement and resonance, reducing the service life of the reducer. To solve the above problems, there is an urgent need for a high-life anti-fatigue harmonic reducer, which can improve the performance and reliability of the harmonic reducer by optimizing the structural design, improving the lubrication system, and manufacturing process. Summary of the Invention

[0003] In order to overcome the disadvantages and deficiencies existing in the prior art, the purpose of the present invention is to provide a high-life anti-fatigue harmonic reducer and its manufacturing process.

[0004] To achieve the above purpose, a high-life anti-fatigue harmonic reducer of the present invention includes a rigid outer ring, a flexible inner ring, and a wave generator; an internal gear is annularly arranged on the inner wall of the rigid outer ring, and an external gear meshing with the internal gear is annularly arranged on the outer wall of the flexible inner ring. The number of teeth of the external gear is 2 less than that of the internal gear to form a differential tooth meshing structure; the tooth top surface of the external gear of the flexible inner ring adopts an arc tooth profile, and a stress dispersion groove is arranged between adjacent teeth of the external gear, and fillet transitions are arranged on both sides of the bottom of the stress dispersion groove; a lubricating oil channel is arranged in the meshing area between the rigid outer ring and the flexible inner ring, and the lubricating oil channel is radially penetrated and communicated with an external lubrication system; the wave generator includes a cam and a bearing part arranged outside the cam, and the cam is rigidly connected to an external input shaft through a spline;

[0005] The external driving part drives the cam of the wave generator to rotate, the rotation of the cam drives the external gear of the flexible inner ring to deform, and a part of the teeth of the external gear mesh with a part of the teeth of the internal gear. The tooth number difference between the flexible inner ring and the rigid outer ring causes the flexible inner ring to rotate relative to the rigid outer ring.

[0006] The external gear adopts an arc tooth profile and a stress-dispersion groove design, which effectively reduces stress concentration during meshing and further disperses fatigue loads in conjunction with fillet transitions, significantly extending the service life of the flexible inner ring; the radially penetrating lubricating oil channel design ensures continuous lubrication of the meshing area, reducing wear and temperature rise; the connection between the wave generator cam and the spline of the input shaft guarantees transmission accuracy. During operation, the cam drives the flexible inner ring to undergo periodic elastic deformation, and the two-tooth difference is utilized to cause a controllable relative rotation between the flexible inner ring and the rigid outer ring. The overall structure combines high transmission ratio and low noise characteristics, and is suitable for precision transmission scenarios requiring long service life and high reliability. During implementation, stable power output can be achieved by supplying oil through an external lubrication system and controlling the rotational speed of the wave generator.

[0007] The lubricating oil channel is opened on the side of the flexible inner ring. The lubricating oil channel includes a first input hole, a first hollow ring connected to the first input hole, and multiple groups of output strip holes arranged outside the first hollow ring. The output strip holes are connected to the first hollow ring. The external lubrication system is connected to the lubrication channel via the first input hole. Lubricating oil flows into the first hollow ring through the first input hole and then is split and flows into the output strip holes. Multiple groups of oil seepage holes connected to the output strip holes are opened at the meshing position of the flexible inner ring and the rigid outer ring, and the lubricating oil in the output strip holes flows out through the oil seepage holes; the lubricating oil forms an oil film on the meshing surface of the flexible inner ring and the rigid outer ring, reducing the friction coefficient between the gears; a retaining cover is provided on the side of the flexible inner ring where the lubricating oil channel is opened, and the retaining cover is used to prevent the lubricating oil from flowing out.

[0008] The lubricating oil channel design introduces external lubricating oil into the first hollow ring through the first input hole. After being split by multiple groups of output strip holes, it is accurately transported to the meshing area of the flexible inner ring and the rigid outer ring through the oil seepage holes, forming a dynamic oil film to reduce the friction coefficient and tooth surface wear. At the same time, the annular splitting structure ensures lubrication uniformity; the retaining cover sealing design effectively prevents lubricating oil leakage, avoids external contamination and maintains the internal oil pressure stability, significantly improving the durability and anti-fatigue performance of the transmission system; during implementation, a radial input hole and an annular oil path are machined on the side of the flexible inner ring, multiple groups of output strip holes connected to the oil seepage holes are milled, and during assembly, the retaining cover is fixed to the opening side of the oil channel by interference fit or a sealing ring, and finally, an external oil supply system is connected to achieve continuous lubrication circulation.

[0009] The aperture of the output strip hole is 1.5 - 2.5 mm. The interface of the output strip hole and the first hollow ring is the inlet end, and a conical diversion port with a cone angle of 30° - 45° is provided at the inlet end, and a stainless steel filter screen is installed at the inlet end. The conical diversion port is used to reduce the flow resistance of the lubricant.

[0010] By limiting the aperture of the output strip holes to 1.5 - 2.5 mm, this design avoids the risk of orifice blockage while ensuring the lubrication flow rate. A 30° - 45° conical diversion port is set at the inlet end to guide the smooth transition of the lubricant. The gradually expanding structure is used to reduce fluid turbulence and pressure loss. Combined with a stainless steel filter screen, impurity filtration is achieved, effectively preventing particulate matter from entering the meshing area and causing tooth surface damage. During implementation, precision drilling technology is used to machine the strip holes, a conical diversion structure is formed by CNC milling, and the filter screen is fixed to the inlet end by interference fit or snap ring, ensuring the smooth flow of the oil circuit under high-speed operating conditions, significantly improving the reliability of the lubrication system and the anti-wear performance of transmission components.

[0011] The surface of the internal gear is treated by physical vapor deposition to form a composite coating. The composite coating has a gradient structure and includes a TiAlN coating coated on the surface of the internal gear and a MoS2 coating laminated on the TiAlN coating.

[0012] This composite coating forms a gradient structure on the surface of the internal gear through physical vapor deposition technology. The underlying TiAlN coating provides high hardness and wear resistance, effectively resisting micro-cutting and fatigue wear during meshing. The surface MoS2 solid lubricating coating forms a self-lubricating transfer film on the meshing contact surface, significantly reducing the friction coefficient and inhibiting adhesive wear. The gradient interface design reduces thermal stress concentration through gradual composition change, enhancing the coating bonding strength. During implementation, a multi-target magnetron sputtering device is used. First, a hard transition layer is deposited with a Ti / Al alloy target, then the MoS2 target is switched and the nitrogen partial pressure is regulated to achieve a gradient transition. The coating density is optimized by controlling the deposition temperature and substrate bias voltage. Finally, internal stress is eliminated through vacuum heat treatment, significantly improving the gear's anti-wear and anti-seizure capabilities and extending its service life.

[0013] A cooling channel is provided inside the cam of the wave generator. The cooling channel spirally surrounds the central axis of the cam. The external cooling system is connected to the cooling channel through a pipeline, and the coolant circulates in the cooling channel, taking away the heat generated during the operation of the cam and preventing the cam from deforming due to overheating.

[0014] The cam cooling structure of this wave generator enables the coolant to circulate along an axial spiral path through the design of a spiral cooling channel, significantly increasing the heat exchange area and enhancing the heat dissipation uniformity, effectively controlling the working temperature of the cam, and avoiding the accumulation of transmission errors caused by thermal deformation. The centrifugal effect generated by the spiral flow channel can strengthen the turbulence degree of the coolant and enhance the convective heat transfer efficiency, cooperating with the external cooling system to achieve precise temperature control. During implementation, an additive manufacturing or spiral milling process is used to machine a continuous spiral flow channel inside the cam, and the two ends are connected to the external pipeline through rotary joints. The coolant is selected as a medium with a high specific heat capacity and a temperature control valve group is configured to adjust the flow rate by monitoring the cam temperature in real time, ensuring that the harmonic reducer maintains the tooth profile accuracy under high-speed and heavy-load conditions, significantly extending the thermal fatigue life of key transmission components, and reducing the vibration and noise caused by thermal expansion.

[0015] The bearing member is clamped between the flexible inner ring and the cam. The bearing member includes a first inner ring, a first outer ring, and rolling elements clamped between the first inner ring and the first outer ring. The first inner ring is fixedly press-fitted with the outer circumference of the cam. When the cam rotates, it drives the rolling elements to press against the first outer ring, causing the first outer ring to push the flexible inner ring to produce elastic deformation, thus realizing harmonic drive. Retaining rings are provided on both sides of the first inner ring and both sides of the first outer ring to prevent the rolling elements from axially moving during high-speed operation.

[0016] The bearing member structure realizes a rigid connection through the interference fit between the first inner ring and the cam, ensuring efficient power transmission. The rolling element clamping design converts the rotational motion of the cam into a controllable elastic deformation of the flexible inner ring. Combining with the axial limiting function of the retaining rings, it effectively suppresses the axial movement of the rolling elements during high-speed operation, reduces vibration and noise, and extends the bearing life. During implementation, a hydraulic expansion process is used to achieve precise interference fitting between the inner ring and the cam. Silicon nitride ceramic balls are selected as the rolling elements to reduce the influence of centrifugal force. The retaining rings are fixed to the sides of the inner / outer rings by laser welding. Cooperating with a grease lubrication or oil mist lubrication system, the harmonic reducer can achieve an anti-fatigue life of more than 10,000 hours while maintaining a high transmission accuracy (up to over 98%), and is particularly suitable for high-load dynamic working conditions such as industrial robot joints.

[0017] The rolling elements are arranged in an asymmetric manner, with a diameter difference of 0.05 - 0.1 mm between adjacent rolling elements, and are staggered along the circumferential direction to disperse the contact stress and suppress resonance.

[0018] The asymmetric arrangement design of the rolling elements effectively breaks the periodic stress concentration pattern generated by the traditional equal-diameter arrangement through a diameter difference of 0.05 - 0.1 mm between adjacent rolling elements and a circumferential staggered layout. This makes the contact load unevenly distributed in a gradient among the rolling elements. Combined with the dynamic stress cancellation effect formed by the staggered arrangement, it can reduce the peak contact stress by 20% - 35%, significantly delaying the initiation of fatigue cracks. At the same time, the asymmetric structure destroys the resonance condition of the system's natural frequency, suppressing the resonance response during high-speed operation, and reducing the vibration amplitude to less than 1 / 3 of that of the equal-diameter structure. During implementation, a precision grinding process is used to control the dimensional tolerance of the rolling elements to ±0.005 mm. They are pressed into the cage one by one at a preset staggered angle through a special assembly tooling. Combined with silicon nitride ceramic materials, it achieves a match of low centrifugal force and high stiffness. Verified by dynamic stiffness testing, it can reduce the fluctuation of the transmission accuracy of the harmonic reducer to within 0.5 arc minutes, especially suitable for aerospace servo mechanism scenarios sensitive to vibration.

[0019] The backlash of the internal gear of the rigid outer ring can be finely adjusted through an adjustment mechanism. The adjustment mechanism includes a plurality of adjustment bolts arranged outside the rigid outer ring. The end of the adjustment bolt abuts against the inner wall of the rigid outer ring. By rotating the adjustment bolt, the rigid outer ring can produce a small elastic deformation, thereby changing the backlash of the internal gear.

[0020] Using the radial component force generated by the screw-in of the bolt to make the outer ring produce a controllable elastic deformation to achieve the dynamic fine adjustment of the backlash of the internal gear, its beneficial effects are as follows: ① Compensate for the clearance changes caused by manufacturing tolerances and long-term wear, and improve the transmission backlash accuracy to the ±5 arc-second level; ② Avoid the disadvantages of the traditional rigid structure that requires disassembly for adjustment. The meshing state can be corrected online through an external bolt knob; ③ The elastic deformation amount is controllable and the stress distribution is uniform, preventing tooth surface damage caused by local overload. During implementation, a high elastic modulus alloy steel is used to make the rigid outer ring, and 4 - 6 groups of adjustment bolts are evenly distributed along the circumference. The end of the bolt is designed with a spherical gasket to reduce contact stress concentration. The bolts are tightened synchronously according to a preset gradient by a torque wrench, and the linear relationship between the deformation amount and the clearance change is checked by finite element simulation, ultimately achieving the maintenance of the transmission accuracy during the entire life cycle of the harmonic reducer.

[0021] The manufacturing process of a high-life and anti-fatigue harmonic reducer is as follows:

[0022] S1. Machining of the rigid outer ring: Prepare steel, initially machine it into an annular rigid outer ring using a lathe, use a hobbing machine to machine the internal gear on the inner wall of the rigid outer ring, and machine a plurality of adjustment bolt mounting holes on the outside of the rigid outer ring; finally, send the rigid outer ring into a physical vapor deposition device to perform a composite coating treatment on the surface of the internal gear.

[0023] S2. Flexible inner ring machining: Select a suitable elastic material and machine the basic shape of the flexible inner ring on a lathe. Use a hobbing machine to machine external teeth on the outer wall of the flexible inner ring, and use a laser processing device to machine a lubricating oil channel on the side of the flexible inner ring.

[0024] S3. Wave generator machining: Use a lathe to turn the cam material and machine the outer contour of the cam. Use a deep hole drilling device to machine a cooling channel inside the cam. Machine the first inner ring, the first outer ring and the rolling elements of the bearing part respectively. Clamp the machined rolling elements between the first inner ring and the first outer ring to assemble the bearing part. Install the machined bearing part on the outside of the cam, and make the first inner ring and the outer circumference of the cam in interference fit and fixed.

[0025] S4. Final assembly: Place the assembled wave generator inside the flexible inner ring, make the first outer ring of the bearing part contact with the inner wall of the flexible inner ring. Put the rigid outer ring outside the flexible inner ring, and make the internal teeth of the rigid outer ring mesh with the external teeth of the flexible inner ring to form a differential tooth meshing structure. Install a cover on the side of the flexible inner ring where the lubricating oil channel is opened, and fix the cover on the flexible inner ring by bolts or other fixing methods.

[0026] It also includes the following steps:

[0027] S5. Overall performance debugging: Conduct an no-load running test on the assembled harmonic reducer. Start the external driving part to make the cam of the wave generator rotate, observe the running condition of the reducer, and check whether there are abnormal noises, vibrations and other phenomena.

[0028] In S1, select low-carbon alloy steel (such as 18CrNiMo7-6), eliminate internal stress by isothermal normalizing treatment, refine the grain size to below ASTM 8 level. Use a CNC lathe for rough machining, leaving a unilateral allowance of 0.5 mm to provide a stable base material for subsequent finish machining. Use a CNC hobbing machine to machine internal teeth, with the module range of 0.5 - 2 mm, the pressure angle of 20° - 25°, and the tooth surface roughness Ra ≤ 0.4 μm. After hobbing, perform electrolytic deburring, and use a worm wheel grinding machine for hard tooth surface finish grinding, with the tooth profile accuracy reaching GB / T 10095 DIN 4 level. In a physical vapor deposition (PVD) device, first deposit a TiAlN transition layer (thickness 1 - 2 μm), and then compound a MoS2 coating (thickness 0.5 - 1 μm) through multi-arc ion plating technology. After coating, perform vacuum heat treatment (180 - 200 °C, 2 h) to eliminate the internal stress of the coating, and the bonding strength ≥ 60 N. Use a five-axis machining center to drill and ream the mounting holes for adjusting bolts, with the hole position tolerance of ±0.01 mm, the surface roughness Ra ≤ 0.8 μm, and the hole chamfer C0.5 to prevent stress concentration.

[0029] In S2, nickel-titanium alloy (NiTi) or spring steel (such as 50CrV4) is selected, and vacuum quenching + cryogenic treatment (-196℃, 4h) is performed to obtain the martensitic phase transformation strengthening effect. Laser shot peening technology is used to strengthen the surface of the tooth root fillet, and the residual compressive stress depth is ≥0.3mm. The lubrication oil channel is processed using a femtosecond laser, with a laser power of 20-50W, a scanning speed of 500-1000mm / s, and an aperture tolerance of ±0.02mm. After processing, electrolytic polishing is performed to remove the recast layer, and ultrasonic cleaning is used to remove residual particles.

[0030] In S3, the cam profile is machined by slow wire cutting, with a surface roughness of Ra ≤ 0.2 μm and a profile error of ≤ 0.005 mm. When deep-hole drilling is used to machine the spiral cooling channel, high-pressure coolant (8 MPa) and gun drilling technology are used, with a channel surface roughness of Ra ≤ 1.6 μm.

[0031] In S4, a laser interferometer is used to detect the meshing clearance between the flexible inner ring and the rigid outer ring, and the clearance is fine-tuned by adjusting the bolt preload (torque control ±5%). When installing the cover, an O-ring seal (fluoro rubber material) is used and anaerobic glue is applied to prevent loosening.

[0032] The wave generator further comprises a mounting sleeve, which comprises a plurality of mounting rings, a connecting strip connected between two adjacent mounting rings, and a rolling element sleeved in the mounting ring. The rolling element sleeved in the mounting ring plays a role in positioning and restraining the rolling element, so as to avoid displacement, shaking, etc. of the rolling element when running at high speed, and ensure the stability of its rolling track, thereby ensuring the stability of the operation of the wave generator.

[0033] The flexible inner ring is made of titanium alloy / graphene layered composite material, with a gradient structure distribution along the radial direction: the inner layer is Ti-6Al-4V matrix, the middle layer is CNTs reinforcement phase, and the outer layer is graphene-Al2O3 composite coating; this structure increases the fatigue strength by 5 times and reduces the thermal expansion coefficient to 4.5×10 -6 / ℃.

[0034] The surface of the rolling element is treated by chemical vapor deposition (CVD) to form a titanium carbide (TiC) coating with a thickness of 1-2μm and a hardness of over HV3200, which significantly reduces the rolling friction coefficient to below 0.005.

[0035] The cross section of the conical guide port decreases from the first hollow ring to the output bar hole, forming a tapered structure. According to the principles of fluid mechanics, this will increase the flow rate of the lubricating oil and reduce the pressure, which can reduce the flow resistance of the lubricant, allowing the lubricating oil to flow more smoothly from the first hollow ring to the output bar hole, thereby improving the delivery efficiency. The tapered conical guide port can effectively reduce the energy loss of the lubricating oil during the flow process, reduce the flow resistance, ensure the stable operation of the lubrication system, and provide guarantee for the long-term stable operation of the harmonic reducer.

[0036] Beneficial effects of the present invention: The harmonic reducer drives the flexible inner ring to deform periodically through the wave generator cam, so that the flexible inner ring outer gear forms differential tooth meshing (two teeth difference) with the rigid outer ring inner gear, and uses controllable elastic deformation to achieve high transmission ratio power transmission. Its core innovation lies in the multi-dimensional anti-fatigue design: the lubrication system accurately supplies oil through radial oil channels and oil seepage holes to form a dynamic oil film to reduce friction; the composite coating takes into account both hard wear resistance and self-lubricating properties; the spiral cooling channel effectively controls the thermal deformation of the cam; the asymmetrically arranged rolling elements break the stress concentration mode and suppress resonance; the adjusting bolt realizes the online correction of the tooth side clearance. The synergistic effect of each system significantly improves the transmission accuracy and durability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 It is a schematic diagram of the structure of the flexible inner ring and the blocking cover of the present invention;

[0039] Figure 3 For the present invention Figure 2 A is a schematic diagram of the enlarged structure of the middle part;

[0040] Figure 4 It is a schematic diagram of the flexible inner ring structure of the present invention;

[0041] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure of B;

[0042] Figure 6 It is a schematic structural diagram of the rigid outer ring of the present invention;

[0043] Figure 7 It is a schematic diagram of the structure of the composite coating of the present invention;

[0044] Figure 8 It is a structural schematic diagram of the wave generator of the present invention;

[0045] Figure 9 is a cross-sectional view of a cam of the present invention;

[0046] Figure 10 It is a flow chart of the manufacturing process of the present invention.

[0047] The reference numerals include:

[0048] 1. Rigid outer ring; 2. Flexible inner ring; 3. Wave generator; 4. Internal gear; 5. External gear; 6. Arc tooth profile; 7. Stress dispersion groove; 8. Fillet; 9. Lubricating oil passage; 11. Cam; 12. Bearing part; 13. First input hole; 14. First hollow ring; 15. Output strip hole; 16. Oil seepage hole; 17. Retaining cover; 18. Inlet end; 19. Conical diversion port; 21. Filter screen; 22. Composite coating; 23. TiAlN coating; 24. MoS2 coating; 25. Cooling channel; 26. First inner wheel; 27. First outer wheel; 28. Rolling element; 29. Retaining piece; 31. Adjusting mechanism; 32. Adjusting bolt; 33. Mounting sleeve. Specific embodiments

[0049] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with embodiments and the accompanying drawings. The content mentioned in the embodiments does not limit the present invention.

[0050] Please refer to Figures 1 to 10 As shown, a high-life anti-fatigue harmonic reducer of the present invention includes a rigid outer ring 1, a flexible inner ring 2, and a wave generator 3; an internal gear 4 is annularly provided on the inner wall of the rigid outer ring 1, and an external gear 5 meshing with the internal gear 4 is annularly provided on the outer wall of the flexible inner ring 2. The number of teeth of the external gear 5 is 2 less than that of the internal gear 4 to form a differential tooth meshing structure; the tooth top surface of the external gear 5 of the flexible inner ring 2 adopts an arc tooth profile 6, and a stress dispersion groove 7 is provided between two adjacent teeth of the external gear 5, and fillets 8 are provided at both sides of the bottom of the stress dispersion groove 7 for transition; a lubricating oil passage 9 is provided in the meshing area between the rigid outer ring 1 and the flexible inner ring 2, and the lubricating oil passage 9 is radially penetrated and communicated with an external lubrication system; the wave generator 3 includes a cam 11 and a bearing part 12 provided outside the cam 11, and the cam 11 is rigidly connected to an external input shaft through a spline;

[0051] The external driving member drives the cam 11 of the wave generator 3 to rotate, the rotation of the cam 11 drives the external gear 5 of the flexible inner ring 2 to deform, a part of the teeth of the external gear 5 mesh with a part of the teeth of the internal gear 4, and the tooth number difference between the flexible inner ring 2 and the rigid outer ring 1 causes the flexible inner ring 2 to rotate relative to the rigid outer ring 1.

[0052] The external gear 5 is designed with an arc tooth profile 6 and stress dispersion grooves 7, which effectively reduce stress concentration during meshing and further disperse fatigue loads in cooperation with the rounded corner 8 transition, significantly extending the service life of the flexible inner ring 2; the radially penetrating design of the lubricating oil passage 9 ensures continuous lubrication of the meshing area, reducing wear and temperature rise; the cam 11 of the wave generator 3 is splined to the input shaft to ensure transmission accuracy. During operation, the cam 11 drives the flexible inner ring 2 to elastically deform periodically, and uses the two-tooth difference to cause a controllable relative rotation between the flexible inner ring 2 and the rigid outer ring 1. The overall structure has the characteristics of high transmission ratio and low noise, and is suitable for precision transmission scenarios that require long life and high reliability. During implementation, stable power output can be achieved by supplying oil through an external lubrication system and controlling the speed of the wave generator 3.

[0053] The lubricating oil passage 9 is opened on the side of the flexible inner ring 2. The lubricating oil passage 9 includes a first input hole 13, a first hollow ring 14 connected to the first input hole 13, and multiple groups of output strip holes 15 arranged outside the first hollow ring 14. The output strip holes 15 are connected to the first hollow ring 14. The external lubrication system is connected to the lubrication passage through the first input hole 13. Lubricating oil flows into the first hollow ring 14 through the first input hole 13 and then is shunted into the output strip holes 15. Multiple groups of oil seepage holes 16 connected to the output strip holes 15 are opened at the meshing part of the flexible inner ring 2 and the rigid outer ring 1. The lubricating oil in the output strip holes 15 flows out through the oil seepage holes 16; the lubricating oil forms an oil film on the meshing surface of the flexible inner ring 2 and the rigid outer ring 1, reducing the friction coefficient between the gears; a retaining cover 17 is provided on the side of the flexible inner ring 2 where the lubricating oil passage 9 is opened, and the retaining cover 17 is used to prevent the lubricating oil from flowing out.

[0054] The design of the lubricating oil passage 9 introduces external lubricating oil into the first hollow ring 14 through the first input hole 13. After being shunted by multiple groups of output strip holes 15, it is accurately delivered to the meshing area of the flexible inner ring 2 and the rigid outer ring 1 through the oil seepage holes 16, forming a dynamic oil film to reduce the friction coefficient and reduce tooth surface wear. At the same time, the annular shunt structure ensures lubrication uniformity; the sealing design of the retaining cover 17 effectively prevents lubricating oil leakage, avoids external pollution and maintains the stability of the internal oil pressure, significantly improving the durability and anti-fatigue performance of the transmission system; during implementation, a radial input hole and an annular oil passage are machined on the side of the flexible inner ring 2, and multiple groups of output strip holes 15 connected to the oil seepage holes 16 are milled. During assembly, the retaining cover 17 is fixed to the opening side of the oil passage by interference fit or sealing ring, and finally connected to the external oil supply system to achieve continuous lubrication circulation.

[0055] The aperture of the output strip hole 15 is 1.5 - 2.5 mm. The interface of the output strip hole 15 and the first hollow ring 14 is the inlet end 18. A conical diversion port 19 with a cone angle of 30° - 45° is provided at the inlet end 18, and a stainless steel filter screen 21 is installed at the inlet end 18. The conical diversion port 19 is used to reduce the flow resistance of the lubricant.

[0056] The design limits the aperture of the output strip hole 15 to 1.5-2.5mm, thereby ensuring the lubrication flow rate while avoiding the risk of channel blockage; a 30°-45° conical guide port 19 is set at the inlet end 18 to guide the lubricant to transition smoothly, and the fluid turbulence and pressure loss are reduced by using a gradually expanding structure, and impurity filtration is achieved in conjunction with a stainless steel filter 21, effectively preventing particles from entering the meshing area and causing damage to the tooth surface; during implementation, the strip holes are processed using a precision drilling process, and a conical guide structure is formed by CNC milling. The filter 21 is fixed to the inlet end 18 by an interference fit or a retaining spring, ensuring that the oil path is kept unobstructed under high-speed operating conditions, significantly improving the reliability of the lubrication system and the wear resistance of the transmission components.

[0057] The surface of the internal gear 4 is treated by physical vapor deposition to form a composite coating 22 , and the composite coating 22 has a gradient structure. The composite coating 22 includes a TiAlN coating 23 coated on the surface of the internal gear 4 and a MoS2 coating 24 stacked on the TiAlN coating 23 .

[0058] The composite coating 22 forms a gradient structure on the surface of the internal gear 4 through a physical vapor deposition process. The bottom TiAlN coating 23 provides high hardness and wear resistance, effectively resisting micro-cutting and fatigue wear during the meshing process. The surface MoS2 solid lubricating coating forms a self-lubricating transfer film on the meshing contact surface, significantly reducing the friction coefficient and inhibiting adhesive wear. The gradient interface design reduces thermal stress concentration through gradual composition change and enhances the bonding strength of the coating. During implementation, a multi-target magnetron sputtering device is used to first deposit a hard transition layer with a Ti / Al alloy target, then switch to the MoS2 target and adjust the nitrogen partial pressure to achieve a gradient transition, optimize the coating density by controlling the deposition temperature and substrate bias, and finally eliminate internal stress through vacuum heat treatment, significantly improving the gear's wear resistance and anti-adhesion capabilities and extending its service life.

[0059] A cooling channel 25 is provided inside the cam 11 of the wave generator 3, and the cooling channel 25 spirally surrounds the central axis of the cam 11; the external cooling system is connected to the cooling channel 25 through a pipeline, and the coolant circulates in the cooling channel 25 to take away the heat generated by the cam 11 when it is working, thereby preventing the cam 11 from deforming due to overheating.

[0060] The cooling structure of the wave generator 3 cam 11 is designed with a spiral cooling channel 25, enabling the coolant to circulate along an axial spiral path, significantly increasing the heat exchange area and enhancing the heat dissipation uniformity, effectively controlling the working temperature of the cam 11, and avoiding the accumulation of transmission errors caused by thermal deformation; the centrifugal effect generated by the spiral flow channel can strengthen the turbulence degree of the coolant, enhance the convective heat transfer efficiency, and cooperate with the external cooling system to achieve precise temperature control; during implementation, an additive manufacturing or spiral milling process is used to machine a continuous spiral flow channel inside the cam 11, and the two ends are connected to the external pipeline through a rotary joint. The coolant is selected as a medium with a high specific heat capacity and a temperature control valve group is configured to adjust the flow rate by monitoring the temperature of the cam 11 in real time, ensuring that the harmonic reducer maintains the tooth profile accuracy under high-speed and heavy-load conditions, significantly extending the thermal fatigue life of key transmission components, and reducing the vibration and noise caused by thermal expansion.

[0061] The bearing member 12 is clamped and arranged between the flexible inner ring 2 and the cam 11. The bearing member 12 includes a first inner ring 26, a first outer ring 27, and rolling elements 28 clamped between the first inner ring 26 and the first outer ring 27. The first inner ring 26 is fixedly interference-fitted with the outer circumference of the cam 11. When the cam 11 rotates, it drives the rolling elements 28 to press against the first outer ring 27, causing the first outer ring 27 to push the flexible inner ring 2 to generate elastic deformation, realizing harmonic transmission; on both sides of the first inner ring 26 and both sides of the first outer ring 27, there are retaining rings 29 for preventing the rolling elements 28 from axially moving during high-speed operation.

[0062] The structure of the bearing member 12 realizes a rigid connection through the interference fit between the first inner ring 26 and the cam 11, ensuring efficient power transmission. The clamped design of the rolling elements 28 converts the rotational motion of the cam 11 into a controllable elastic deformation of the flexible inner ring 2. Combined with the axial limiting function of the retaining rings 29, it effectively suppresses the axial movement of the rolling elements during high-speed operation, reduces vibration and noise, and extends the bearing life; during implementation, a hydraulic expansion process is used to achieve a precise interference fit between the inner ring and the cam 11. The rolling elements 28 are selected as silicon nitride ceramic balls to reduce the influence of centrifugal force. The retaining rings 29 are fixed to the sides of the inner / outer rings by laser welding. Combined with a grease lubrication or oil mist lubrication system, the harmonic reducer can achieve an anti-fatigue life of more than 10,000 hours while maintaining a high transmission accuracy (up to more than 98%), and is especially suitable for high-load dynamic working conditions such as industrial robot joints.

[0063] The rolling elements 28 are arranged in an asymmetric manner, and the diameters of adjacent rolling elements 28 differ by 0.05 - 0.1 mm and are staggered in the circumferential direction to disperse the contact stress and suppress resonance.

[0064] The asymmetric arrangement design of the rolling element 28 effectively breaks the periodic stress concentration mode caused by the traditional equal-diameter arrangement through the 0.05-0.1mm diameter difference between adjacent rolling elements and the circumferential staggered layout, so that the contact load is distributed in a non-uniform gradient between the rolling elements. Combined with the dynamic stress offset effect formed by the staggered arrangement, the peak contact stress can be reduced by 20%-35%, significantly delaying the initiation of fatigue cracks; at the same time, the asymmetric structure destroys the system's natural frequency resonance condition, suppresses the resonance response during high-speed operation, and reduces the vibration amplitude to less than 1 / 3 of the equal-diameter structure; during implementation, a precision grinding process is used to control the rolling element size tolerance to ±0.005mm, and the special assembly tooling is used to press them into the cage one by one at a preset staggered angle, and silicon nitride ceramic materials are used to achieve low centrifugal force and high stiffness matching. It has been verified by dynamic stiffness testing that the fluctuation of the harmonic reducer transmission accuracy can be reduced to within 0.5 arc minutes, which is particularly suitable for vibration-sensitive aerospace servo mechanism scenarios.

[0065] The tooth side clearance of the internal gear 4 of the rigid outer ring 1 can be fine-tuned by an adjustment mechanism 31. The adjustment mechanism 31 includes a plurality of adjustment bolts 32 arranged outside the rigid outer ring 1. The ends of the adjustment bolts 32 abut against the inner wall of the rigid outer ring 1. By rotating the adjustment bolts 32, the rigid outer ring 1 can produce a slight elastic deformation, thereby changing the tooth side clearance of the internal gear 4.

[0066] The radial force generated by the screwing-in of the bolt is used to make the outer ring produce controllable elastic deformation, so as to realize the dynamic fine adjustment of the tooth side clearance of the internal gear 4, and its beneficial effects are: ① compensating for the clearance change caused by manufacturing tolerance and long-term wear, and improving the transmission backlash accuracy to ±5 arc seconds; ② avoiding the disadvantage that the traditional rigid structure needs to be disassembled for adjustment, and the meshing state can be corrected online through the external bolt knob; ③ the elastic deformation is controllable and the stress distribution is uniform, so as to prevent local overload from causing tooth surface damage; in implementation, a rigid outer ring 1 is made of high elastic modulus alloy steel, 4-6 groups of adjusting bolts 32 are evenly distributed along the circumference, spherical gaskets are designed on the bolt ends to reduce contact stress concentration, and the bolts are tightened synchronously according to the preset gradient by a torque wrench, and the linear relationship between the deformation and the clearance change is verified by finite element simulation, so as to finally realize the transmission accuracy maintenance within the whole life cycle of the harmonic reducer.

[0067] A manufacturing process of a long-life anti-fatigue harmonic reducer, the steps are as follows:

[0068] S1. Processing of the rigid outer ring 1: prepare steel, use a lathe to preliminarily process it into an annular rigid outer ring 1, use a gear hobbing machine to process the inner wall of the rigid outer ring 1 to form the internal gear 4, and process multiple mounting holes for adjusting bolts 32 on the outside of the rigid outer ring 1; finally, send the rigid outer ring 1 into a physical vapor deposition device, and perform a composite coating 22 on the surface of the internal gear 4;

[0069] S2. Machining of the flexible inner ring 2: Select a suitable elastic material and machine the basic shape of the flexible inner ring 2 through a lathe. Use a hobbing machine to machine the external gear 5 on the outer wall of the flexible inner ring 2, and use a laser processing device to machine the lubricating oil channel 9 on the side of the flexible inner ring 2;

[0070] S3. Machining of the wave generator 3: Use a lathe to turn the material of the cam 11 to machine the outer contour of the cam 11, and use a deep hole drilling device to machine the cooling channel 25 inside the cam 11; Machine the first inner ring 26, the first outer ring 27 and the rolling elements 28 of the bearing member 12 respectively, clamp the machined rolling elements 28 between the first inner ring 26 and the first outer ring 27, and assemble them into the bearing member 12; Install the machined bearing member 12 on the outside of the cam 11, and make the first inner ring 26 and the outer circumference of the cam 11 in interference fit and fixed;

[0071] S4. Final assembly: Place the assembled wave generator 3 inside the flexible inner ring 2, make the first outer ring 27 of the bearing member 12 contact with the inner wall of the flexible inner ring 2, put the rigid outer ring 1 on the outside of the flexible inner ring 2, and make the internal gear 4 of the rigid outer ring 1 mesh with the external gear 5 of the flexible inner ring 2 to form a differential tooth meshing structure; Install the retaining cover 17 on the side of the flexible inner ring 2 where the lubricating oil channel 9 is opened, and fix the retaining cover 17 on the flexible inner ring 2 by bolts or other fixing methods.

[0072] It also includes the following steps:

[0073] S5. Overall performance debugging: Conduct an no-load running test on the assembled harmonic reducer, start the external driving part, make the cam 11 of the wave generator 3 rotate, observe the running condition of the reducer, and check whether there are abnormal noises, vibrations and other phenomena.

[0074] In S1, select a low-carbon alloy steel (such as 18CrNiMo7-6), eliminate internal stress through isothermal normalizing treatment, refine the grains to below ASTM 8 level, use a CNC lathe for rough machining, and leave a single-side allowance of 0.5 mm to provide a stable base material for subsequent finish machining. Use a CNC hobbing machine to machine the internal gear 4, with a module range of 0.5-2 mm, a pressure angle of 20°-25°, and a tooth surface roughness Ra≤0.4 μm. After hobbing, perform electrolytic deburring, and use a worm wheel grinding machine for hard tooth surface finish grinding, with the tooth profile accuracy reaching GB / T 10095DIN 4 level. In a physical vapor deposition (PVD) device, first deposit a TiAlN transition layer (thickness 1-2 μm), and then compound a MoS2 coating 24 (thickness 0.5-1 μm) through multi-arc ion plating technology. After coating, perform vacuum heat treatment (180-200 °C, 2 h) to eliminate the internal stress in the coating, and the bonding strength ≥60 N. Use a five-axis machining center to drill and ream the mounting holes of the adjusting bolt 32, with a hole position tolerance of ±0.01 mm, a surface roughness Ra≤0.8 μm, and a hole chamfer of C0.5 to prevent stress concentration.

[0075] In S2, nickel-titanium alloy (NiTi) or spring steel (such as 50CrV4) is selected, and vacuum quenching + cryogenic treatment (-196℃, 4h) is performed to obtain the martensitic phase transformation strengthening effect. Laser shot peening technology is used to strengthen the surface of the tooth root fillet 8, and the residual compressive stress depth is ≥0.3mm. The lubricating oil channel 9 is processed by a femtosecond laser, with a laser power of 20-50W, a scanning speed of 500-1000mm / s, and an aperture tolerance of ±0.02mm. After processing, electrolytic polishing is performed to remove the recast layer, and ultrasonic cleaning is used to remove residual particles.

[0076] In S3, the profile of the cam 11 is processed by slow wire cutting, with a surface roughness Ra≤0.2μm and a profile error ≤0.005mm. When deep-hole drilling the spiral cooling channel 25, high-pressure coolant (8MPa) and gun drilling technology are used, and the channel surface roughness Ra≤1.6μm.

[0077] In S4, a laser interferometer is used to detect the meshing clearance between the flexible inner ring 2 and the rigid outer ring 1, and the clearance is fine-tuned by adjusting the preload force (torque control ±5%) of the bolt 32. When installing the stop cover 17, an O-ring seal (made of fluororubber) is used and anaerobic glue is applied to prevent loosening.

[0078] The wave generator 3 further includes a mounting sleeve 33, which includes a plurality of mounting rings and a connecting strip connected between two adjacent mounting rings, and the rolling element 28 is sleeved in the mounting ring. The rolling element 28 is sleeved in the mounting ring, and the mounting ring plays a role in positioning and restraining the rolling element 28, so as to prevent the rolling element 28 from shifting or shaking when running at high speed, and ensure the stability of its rolling track, thereby ensuring the stability of the operation of the wave generator 3.

[0079] The flexible inner ring 2 is made of titanium alloy / graphene layered composite material, which is distributed in a gradient structure along the radial direction: the inner layer is Ti-6Al-4V matrix, the middle layer is CNTs reinforcement phase, and the outer layer is graphene-Al2O3 composite coating 22; this structure increases the fatigue strength by 5 times and reduces the thermal expansion coefficient to 4.5×10 -6 / ℃.

[0080] The surface of the rolling element 28 is treated by chemical vapor deposition (CVD) to form a titanium carbide (TiC) coating with a thickness of 1-2 μm and a hardness of more than HV3200, which significantly reduces the rolling friction coefficient to less than 0.005.

[0081] The cross-section of the conical diversion port 19 continuously narrows from the first hollow ring 14 towards the output strip hole, forming a tapered structure. According to the principle of fluid mechanics, this will increase the flow rate of the lubricating oil and reduce the pressure, which can reduce the flow resistance of the lubricant and make the lubricating oil flow more smoothly from the first hollow ring into the output strip hole, improving the conveying efficiency. The tapered conical diversion port can effectively reduce the energy loss of the lubricating oil during the flow process, reduce the flow resistance, ensure the stable operation of the lubrication system, and provide guarantee for the long-term stable operation of the harmonic reducer.

[0082] The rest of this embodiment is the same as that of the first embodiment. For the features not explained in this embodiment, the explanations of the first embodiment are adopted and will not be elaborated here.

[0083] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A long-life anti-fatigue harmonic reducer, characterized in that: The invention comprises a rigid outer ring (1), a flexible inner ring (2) and a wave generator (3); the inner wall of the rigid outer ring (1) is provided with an internal gear (4), the outer wall of the flexible inner ring (2) is provided with an external gear (5) meshing with the internal gear (4), the number of teeth of the external gear (5) being two less than that of the internal gear (4) to form a differential tooth meshing structure; the tooth top surface of the external gear (5) of the flexible inner ring (2) adopts a circular arc tooth profile (6), a stress dispersion groove (7) is provided between two adjacent teeth of the external gear (5), and fillets (8) are provided on both sides of the groove bottom of the stress dispersion groove (7); a lubricating oil channel (9) is provided in the meshing area between the rigid outer ring (1) and the flexible inner ring (2), the lubricating oil channel (9) is radially through-set and connected to an external lubrication system; the wave generator (3) comprises a cam (11) and a bearing member (12) arranged outside the cam (11), and the cam (11) is rigidly connected to an external input shaft through a spline; The external driving member drives the cam (11) of the wave generator (3) to rotate, and the rotation of the cam (11) causes the external gear (5) of the flexible inner ring (2) to deform, so that part of the teeth of the external gear (5) mesh with part of the teeth of the internal gear (4), and the difference in the number of teeth between the flexible inner ring (2) and the rigid outer ring (1) causes the flexible inner ring (2) to rotate relative to the rigid outer ring (1).

2. The long-life anti-fatigue harmonic reducer according to claim 1, characterized in that: The lubricating oil passage (9) is provided on the side of the flexible inner ring (2), and comprises a first input hole (13), a first hollow ring (14) connected to the first input hole (13), and a plurality of output strip holes (15) arranged outside the first hollow ring (14), wherein the output strip holes (15) are connected to the first hollow ring (14), and an external lubricating system is connected to the lubricating passage via the first input hole (13). After the lubricating oil flows into the first hollow ring (14) via the first input hole (13), The split flow flows into the output bar hole (15); a plurality of groups of oil seepage holes (16) connected to the output bar hole (15) are provided at the meshing position between the flexible inner ring (2) and the rigid outer ring (1); the lubricating oil in the output bar hole (15) flows out through the oil seepage holes (16); the lubricating oil forms an oil film on the meshing surface between the flexible inner ring (2) and the rigid outer ring (1), thereby reducing the friction coefficient between the gears; a baffle (17) is provided on the side of the lubricating oil passage (9) provided on the flexible inner ring (2); the baffle (17) is used to prevent the lubricating oil from flowing out.

3. The long-life anti-fatigue harmonic reducer according to claim 2 is characterized in that: The aperture of the output bar hole (15) is 1.5-2.5 mm. The interface between the output bar hole (15) and the first hollow ring (14) is an inlet end (18). The inlet end (18) is provided with a conical guide port (19) with a cone angle of 30°-45°. A stainless steel filter (21) is installed at the inlet end (18). The conical guide port (19) is used to reduce the flow resistance of the lubricant.

4. The long-life anti-fatigue harmonic reducer according to claim 1, characterized in that: The surface of the internal gear (4) is subjected to physical vapor deposition treatment to form a composite coating (22), wherein the composite coating (22) has a gradient structure and comprises a TiAlN coating (23) coated on the surface of the internal gear (4) and a MoS2 coating (24) laminated on the TiAlN coating (23).

5. The long-life anti-fatigue harmonic reducer according to claim 1, characterized in that: A cooling channel (25) is provided inside the cam (11) of the wave generator (3), and the cooling channel (25) spirally surrounds the central axis of the cam (11); an external cooling system is connected to the cooling channel (25) through a pipeline, and a coolant circulates in the cooling channel (25) to remove heat generated by the cam (11) during operation, thereby preventing the cam (11) from being deformed due to overheating.

6. The long-life anti-fatigue harmonic reducer according to claim 1, characterized in that: The bearing member (12) is clamped between the flexible inner ring (2) and the cam (11). The bearing member (12) comprises a first inner wheel (26), a first outer wheel (27), and a rolling member (28) clamped between the first inner wheel (26) and the first outer wheel (27). The first inner wheel (26) is fixed to the outer circumference of the cam (11) by interference fit. The cam (11) rotates to drive the rolling member (28) to press the first outer wheel (27), so that the first outer wheel (27) pushes the flexible inner ring (2) to generate elastic deformation, thereby realizing harmonic transmission. Both side edges of the first inner wheel (26) and the first outer wheel (27) are provided with baffles (29) for preventing the rolling member (28) from axial movement when the rolling member (28) is running at high speed.

7. The long-life anti-fatigue harmonic reducer according to claim 6, characterized in that: The rolling elements (28) are arranged in an asymmetrical manner, the diameters of adjacent rolling elements (28) differ by 0.05-0.1 mm, and are staggered in the circumferential direction to disperse contact stress and suppress resonance.

8. The long-life anti-fatigue harmonic reducer according to claim 1, characterized in that: The tooth side clearance of the internal gear (4) of the rigid outer ring (1) can be fine-tuned by an adjustment mechanism (31). The adjustment mechanism (31) includes a plurality of adjustment bolts (32) arranged outside the rigid outer ring (1). The ends of the adjustment bolts (32) abut against the inner wall of the rigid outer ring (1). By rotating the adjustment bolts (32), the rigid outer ring (1) can produce a slight elastic deformation, thereby changing the tooth side clearance of the internal gear (4).

9. A manufacturing process of a long-life fatigue-resistant harmonic reducer, characterized in that: Here are the steps: S1. Processing of the rigid outer ring (1): preparing steel, using a lathe to preliminarily process it into an annular rigid outer ring (1), using a gear hobbing machine to process the inner wall of the rigid outer ring (1) with an internal gear (4), and processing a plurality of mounting holes for adjusting bolts (32) on the outside of the rigid outer ring (1); finally, sending the rigid outer ring (1) into a physical vapor deposition device, and performing a composite coating (22) on the surface of the internal gear (4); S2. Processing of the flexible inner ring (2): Select a suitable elastic material, process the basic shape of the flexible inner ring (2) by lathe, use a gear hobbing machine to process the outer gear (5) on the outer wall of the flexible inner ring (2), and use a laser processing device to process the lubricating oil channel (9) on the side of the flexible inner ring (2); S3. Processing of the wave generator (3): using a lathe to turn the cam (11) material to form the outer contour of the cam (11), and processing a cooling channel (25) on the inner side of the cam (11); processing the first inner wheel (26), the first outer wheel (27) and the rolling element (28) of the bearing member (12) respectively, clamping the processed rolling element (28) between the first inner wheel (26) and the first outer wheel (27) to assemble the bearing member (12); installing the processed bearing member (12) on the outer side of the cam (11), so that the first inner wheel (26) and the outer circumference of the cam (11) are fixed by interference fit; S4. Final assembly: Place the assembled wave generator (3) into the flexible inner ring (2), make the first outer wheel (27) of the bearing member (12) contact the inner wall of the flexible inner ring (2), put the rigid outer ring (1) on the outside of the flexible inner ring (2), make the internal gear (4) of the rigid outer ring (1) and the external gear (5) of the flexible inner ring (2) mesh with each other, and form a differential tooth meshing structure; install a baffle (17) on the side of the flexible inner ring (2) where the lubricating oil channel (9) is opened, and fix the baffle (17) on the flexible inner ring (2) by bolts.

10. The manufacturing process of a long-life anti-fatigue harmonic reducer according to claim 9, characterized in that: The following steps are also included: S5. Overall performance debugging: Perform a no-load operation test on the assembled harmonic reducer, start the external drive component, rotate the cam (11) of the wave generator (3), observe the operation of the reducer, and check whether there are abnormal noises, vibrations, etc.

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