Joint module facilitating heat dissipation and assembling method thereof

Abstract

The application provides a joint module facilitating heat dissipation and an assembling method thereof. The joint module comprises a motor shell, a motor winding, a rear support seat, a magnetic rotor, a front support seat, a wave generating shaft, a flexible gear, a rigid gear and a front cover. The motor winding is fixed to the inner wall of the motor shell, the magnetic rotor is fixed to the outer wall of the rear support seat, the wave generating shaft has a first end and a second end, and the outer wall of the first end of the wave generating shaft is fixedly connected with the inner wall of the rear support seat. The inner wall of the front support seat is connected with the outer wall of the wave generating shaft through a first bearing, the outer wall of the second end of the wave generating shaft is provided with a second bearing, the flexible gear is arranged outside the second bearing and is engaged with the rigid gear with a small tooth difference. The front cover is arranged in the inner hole of the wave generating shaft and is fixedly connected with the rigid gear. The outer wall of the front cover and the inner wall of the rear support seat are connected through a third bearing. The first bearing, the wave generating shaft, the rear support seat, the third bearing, the front cover, the rigid gear, the flexible gear and the front support seat form a sealed cavity, and the sealed cavity is filled with a heat conducting medium.

Description

Technical Field

[0001] This invention relates to the field of joint actuators, and in particular to a joint module that facilitates heat dissipation and its assembly method. Background Technology

[0002] In fields such as robot joint modules and precision transmission equipment, the heat dissipation performance of joint modules directly affects their operational stability and service life. Currently, the passive heat dissipation structures for joint modules mainly include two types: one is heat dissipation through the motor housing, which relies on the good thermal conductivity of metal materials such as aluminum to exchange heat with the outside air; the other is heat dissipation through the fin structure on the outer surface of the motor housing, which increases the contact area with the air by processing fins to improve heat dissipation efficiency.

[0003] However, with the increasing integration of joint modules, the heat generated by gearbox meshing, motor winding energization, and bearing rolling can no longer be adequately dissipated to the outside by the motor casing alone. The main problems are as follows: 1. The overall heat dissipation power of the joint module is low, and heat accumulation can easily lead to a decline in module performance; 2. The surface temperature of the joint module is low, but the internal temperature is high, forming a temperature difference phenomenon of "hot inside and cold outside", which affects the service life of internal components.

[0004] Therefore, it is necessary to provide a joint module that facilitates heat dissipation and its assembly method to effectively solve the above problems. Summary of the Invention

[0005] This invention provides a joint module that facilitates heat dissipation and its assembly method.

[0006] This invention provides a heat dissipation-friendly joint module, including a motor housing, a motor winding, a rear support, a magnetic rotor, a front support, a wave generator shaft, a flexible wheel, a rigid wheel, and a front cover. The motor winding is fixed to the inner wall of the motor housing, and the magnetic rotor is fixed to the outer wall of the rear support and is disposed opposite to the motor winding. The wave generator shaft has a first end and a second end, and the outer wall of the first end of the wave generator shaft is fixedly connected to the inner wall of the rear support. A first bearing is provided on the inner wall of the front support, and the inner ring of the first bearing is connected to the outer wall of the wave generator shaft at the middle. A second bearing is provided on the outer wall of the second end of the wave generator shaft. The flexible wheel includes a cylindrical main body, and a fixing part is formed by extending outward from the end of the flexible wheel near the first end. Flexible teeth are provided on the outer wall of the main body near the second end, and the rigid wheel is disposed outside the flexible teeth. The flexible teeth mesh with the rigid wheel with a small tooth difference. The front cover includes a cylindrical output section. A sealing connection is formed on the end of the output section near the second end, extending outwards. The output section is inserted into the inner hole of the wave generator shaft, and the sealing connection is fixedly connected to the rigid wheel. A third bearing is provided on the outer wall of the output section near the first end, and the third bearing is connected to the inner wall of the rear support. The first bearing, the wave generator shaft, the rear support, the third bearing, the front cover, the rigid wheel, the flexible wheel, and the front support surround to form a sealed cavity, which is filled with a heat-conducting medium. In use, the motor windings are energized, controlling the rotation of the magnetic rotor. The magnetic rotor drives the rear support and the wave generator shaft connected to it to rotate. The wave generator shaft and the second bearing cause periodic deformation of the main body of the flexible wheel, causing the rigid wheel to decelerate. The rigid wheel then drives the front cover to decelerate, achieving deceleration power output.

[0007] Preferably, the cross-section of the second end of the wave generator shaft is elliptical, the second bearing is elliptical and matches the second end, the main body of the flexible wheel is bent into an elliptical shape by the wave generator shaft and the second bearing, the flexible teeth mesh with the rigid wheel in the long axis portion, and the flexible teeth are disengaged from the rigid wheel in the short axis portion. The rotation of the wave generator shaft causes the main body of the flexible wheel to periodically mesh with the rigid wheel, driving the rigid wheel to decelerate and rotate.

[0008] Preferably, the system further includes a fourth bearing, which is sleeved on the main body of the flexible wheel and connected to the fixed part and the rigid wheel at both ends, respectively, to support the flexible wheel and the rigid wheel and to define the axial and radial positions of the flexible wheel relative to the rigid wheel.

[0009] Preferably, the fixing part abuts against the front support seat, and a first sealing groove is provided on the contact surface between the front support seat and the fixing part, and a first sealing ring is provided in the first sealing groove; a second sealing groove is provided on the contact surface between the sealing connection part and the rigid wheel, and a second sealing ring is provided in the second sealing groove.

[0010] Preferably, the outer wall of the second end of the wave generator shaft is coated with grease, and the outer wall of the output part of the front cover and the inner side of the sealing connection part are also coated with grease; the grease serves as a heat-conducting medium to fill the sealed cavity.

[0011] Preferably, the sealing connection portion of the front cover is provided with a through oil filling port, and a sealing screw is detachably provided at the oil filling port to close the oil filling port, so that lubricating oil is injected into the sealing cavity as a heat conduction medium through the oil filling port.

[0012] Preferably, the motor housing, the front support, the flexible wheel, and the fourth bearing are axially fixedly connected by the first screw.

[0013] Based on the same concept, the present invention also provides an assembly method for the above-mentioned heat dissipation-friendly joint module, comprising the following steps: The motor windings are glued to the inner wall of the motor housing and assembled into the first component; The first bearing is bonded to the inner wall of the front support seat to assemble the second component. The first sealing ring is placed into the first sealing groove of the front support seat, and glue is applied to the inner ring of the first bearing. The flexible wheel, the fourth bearing, and the rigid wheel are assembled and fixed into the third component; the assembled first, second, and third components are then fixed with the first screw. Assemble the second bearing on the outer wall of the second end of the wave generator shaft to form the fourth component; push the assembled fourth component into the inner wall of the flexible wheel, and bond the first bearing to the outer wall of the wave generator shaft in the middle. The magnetic rotor is glued to the outer wall of the rear support to assemble the fifth component; glue is applied to the inner hole of the rear support that contacts the wave generator shaft, and the assembled fifth component is sleeved on the outer wall of the first end of the wave generator shaft. Install the second sealing ring in the second sealing groove of the front cover, insert the output part of the front cover into the inner hole of the wave generator shaft, and fix the front cover to the rigid wheel with the second screw; The third bearing is bonded and installed between the front cover and the rear support to complete the assembly.

[0014] Preferably, before aligning the assembled fourth component with the inner wall of the flexible wheel and pushing it in, the outer wall of the second end of the wave generator shaft is coated with grease; before inserting the output portion of the front cover into the inner hole of the wave generator shaft, the outer wall of the output portion of the front cover and the inner side of the sealing connection portion are coated with grease.

[0015] Preferably, the sealing connection of the front cover is provided with a through oil filling port, and a sealing screw is detachably provided at the oil filling port to close the oil filling port. After the assembly is completed, the method further includes injecting lubricating oil into the middle sealing cavity through the oil filling port and closing the oil filling port by the sealing screw.

[0016] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects: The heat-dissipating joint module and its assembly method of this invention include a front cover in the joint module. The front cover includes a cylindrical output section. The end of the output section near the second end extends outward to form a sealing connection section. The output section, in conjunction with the motor housing, enables heat dissipation both externally and internally of the motor windings. The sealing connection section is sealed to the rigid wheel, dissipating the heat generated by the meshing of the rigid wheel and the flexible wheel with a small tooth difference while simultaneously achieving deceleration power output. A first bearing, wave generator shaft, rear support seat, third bearing, front cover, rigid wheel, flexible wheel, and front support seat surround and form a sealed cavity. The sealed cavity is filled with a heat-conducting medium, achieving lubrication and heat dissipation simultaneously, further improving the heat dissipation effect of the module. Placing the motor windings and motor housing outside the sealed cavity facilitates the wiring and heat dissipation of the motor windings. The wiring of the motor windings does not affect the sealing of the sealed cavity. The reasonable deployment of each component improves sealing performance and enhances stability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, but not all embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a joint module structure that facilitates heat dissipation in an embodiment of the present invention; Figure 2 This is a side view of the joint module for heat dissipation in an embodiment of the present invention; Figure 3 for Figure 2 AA section view; Figure 4 A schematic diagram of the engagement of the wave generator shaft, the second bearing, the flexible wheel, and the rigid wheel in an embodiment of the present invention; Figure 5 This is a schematic diagram of the disassembled joint module for heat dissipation in an embodiment of the present invention; Figure 6 This is a flowchart illustrating the assembly method of a heat-dissipating joint module according to an embodiment of the present invention.

[0019] In the picture: Magnetic rotor; 2-First sealing ring; 3-Second sealing ring; 4-First bearing; 5-Front cover; 51-Output section; 52-Sealed connection section; 6-Second bearing; 7-Motor housing; 8-Motor winding; 9-Wave generator shaft; 10-Rear support seat; 11-Third bearing; 12-Second screw; 13-Rigid wheel; 14-Fourth bearing; 15-First screw; 16-Flexible wheel; 161-Main body; 17-Front support seat; 18-Sealing screw; 201 - First component; 202 - Second component; 203 - Third component; 204 - Fourth component; 205 - Fifth Component. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0022] In view of the problems existing in the prior art, the present invention provides a joint module that facilitates heat dissipation and its assembly method.

[0023] Figure 1 This is a schematic diagram of a joint module structure that facilitates heat dissipation in an embodiment of the present invention; Figure 2 This is a side view of the joint module for heat dissipation in an embodiment of the present invention; Figure 3 for Figure 2 AA section view; Figure 4 A schematic diagram of the engagement of the wave generator shaft, the second bearing, the flexible wheel, and the rigid wheel in an embodiment of the present invention; Figure 5 This is a schematic diagram of the disassembled joint module for heat dissipation in an embodiment of the present invention; Figure 6This is a flowchart illustrating the assembly method of a heat-dissipating joint module according to an embodiment of the present invention.

[0024] Reference Figures 1-6 This application provides a joint module that facilitates heat dissipation and its assembly method.

[0025] Specifically, the heat-dissipating joint module provided in this application includes a motor housing 7, a motor winding 8, a rear support 10, a magnetic rotor 1, a front support 17, a wave generator shaft 9, a flexible wheel 16, a rigid wheel 13, and a front cover 5. The motor winding 8 is fixed to the inner wall of the motor housing 7, and the magnetic rotor 1 is fixed to the outer wall of the rear support 10 and is arranged opposite to the motor winding 8. The wave generator shaft 9 has a first end and a second end. The outer wall of the first end of the wave generator shaft 9 is fixedly connected to the inner wall of the rear support 10. A first bearing 4 is provided on the inner wall of the front support 17. The inner ring of the first bearing 4 is connected to the outer wall of the wave generator shaft 9 in the middle. A second bearing 6 is provided on the outer wall of the second end of the wave generator shaft 9. The flexible wheel 16 includes a cylindrical main body 161. A fixing part is formed by extending outward from the end of the flexible wheel 16 near the first end. Flexible teeth are provided on the outer wall of the main body 161 near the second end. The rigid wheel 13 is disposed outside the flexible teeth. The flexible teeth and the rigid wheel are connected. 13. The front cover 5 includes a cylindrical output section 51. The end of the output section 51 near the second end extends outward to form a sealing connection section 52. The output section 51 is inserted into the inner hole of the wave generating shaft 9. The sealing connection section 52 is fixedly connected to the rigid wheel 13. A third bearing 11 is provided on the outer wall of the output section 51 near the first end. The third bearing 11 is connected to the inner wall of the rear support seat 10. The first bearing 4, the wave generating shaft 9, the rear support seat 10, the third bearing 11, the front cover 5, the rigid wheel 13, the flexible wheel 16, and the front support seat 17 surround to form a sealed cavity, which is filled with a heat-conducting medium. In use, the motor winding 8 is energized to control the rotation of the magnetic rotor 1. The magnetic rotor 1 drives the rear support seat 10 and the wave generating shaft 9 connected to it to rotate. The wave generating shaft 9 and the second bearing 6 cause the main body 161 of the flexible wheel 16 to undergo periodic deformation, which causes the rigid wheel 13 to decelerate and rotate. The rigid wheel 13 drives the front cover 5 to decelerate and rotate, thereby realizing the deceleration power output.

[0026] In some embodiments, the cross-section of the second end of the wave generator shaft 9 is elliptical, the second bearing 6 is elliptical to match the second end, the main body 161 of the flexible wheel 16 is bent into an elliptical shape by the wave generator shaft 9 and the second bearing 6, the flexible teeth mesh with the rigid wheel 13 in the long axis portion, and the flexible teeth are disengaged from the rigid wheel 13 in the short axis portion. The rotation of the wave generator shaft 9 causes the main body 161 of the flexible wheel 16 to periodically mesh with the rigid wheel 13, driving the rigid wheel 13 to decelerate and rotate.

[0027] In some embodiments, a fourth bearing 14 is also included. The fourth bearing 14 is sleeved outside the main body 161 of the flexible wheel 16 and connected to the fixed part and the rigid wheel 13 at both ends, so as to support the flexible wheel 16 and the rigid wheel 13 and define the axial and radial positions of the flexible wheel 16 relative to the rigid wheel 13.

[0028] In some embodiments, the fixing part abuts against the front support seat 17, and a first sealing groove is provided on the contact surface between the front support seat 17 and the fixing part, and a first sealing ring 2 is provided in the first sealing groove; a second sealing groove is provided on the contact surface between the sealing connection part 52 and the rigid wheel 13, and a second sealing ring 3 is provided in the second sealing groove, thereby improving the sealing effect at the connection.

[0029] In some embodiments, the outer wall of the second end of the wave generator shaft 9 is coated with grease, and the outer wall of the output portion 51 of the front cover 5 and the inner side of the sealing connection portion 52 are also coated with grease; the grease fills the sealed cavity as a heat-conducting medium.

[0030] In some embodiments, the sealing connection portion 52 of the front cover 5 is provided with a through oil filling port, and a sealing screw 18 is detachably provided at the oil filling port to close the oil filling port, so that lubricating oil is injected into the middle sealing cavity as a heat conduction medium through the oil filling port.

[0031] Specifically, the lubricating oil can be a common industrial gear oil (ISO VG 220), with a thermal conductivity of about 0.138 (W / (m·K)) at 100℃, or a low viscosity grease (ISO VG 46-100), with a thermal conductivity of about 0.12-0.15 W / (m·K). The heat generated by the low tooth difference meshing and deceleration of the motor winding 8 and the flexible wheel 16 and rigid wheel 13 is transferred from the wave generator shaft 9 to the front cover 5 through the lubricating oil, thus achieving good heat dissipation.

[0032] In some embodiments, the motor housing 7, the front support 17, the flexible wheel 16, and the fourth bearing 14 are axially fixedly connected by a first screw 15.

[0033] The present invention also provides a method for assembling a joint module that facilitates heat dissipation, comprising the following steps: S1: Attach the motor winding 8 to the inner wall of the motor housing 7 to assemble the first component 201; S2: Attach the first bearing 4 to the inner wall of the front support seat 17 to assemble the second component 202, place the first sealing ring 2 into the first sealing groove of the front support seat 17, and apply glue to the inner ring of the first bearing 4. S3: Assemble and fix the flexible wheel 16, the fourth bearing 14 and the rigid wheel 13 into the third component 203; fix the assembled first component 201, second component 202 and third component 203 with the first screw 15; S4: Assemble the second bearing 6 on the outer wall of the second end of the wave generator shaft 9 to form the fourth component 204; push the assembled fourth component 204 into the inner wall of the flexible wheel 16, and make the first bearing 4 bonded to the outer wall of the wave generator shaft 9 in the middle. S5: Glue the magnetic rotor 1 to the outer wall of the rear support 10 to assemble the fifth component 205; apply glue to the inner hole of the rear support 10 that contacts the wave generator shaft 9, and fit the assembled fifth component 205 onto the outer wall of the first end of the wave generator shaft 9, so that the magnetic rotor 1 and the motor winding 8 are positioned opposite each other. S6: Install the second sealing ring 3 in the second sealing groove of the front cover 5, insert the output part 51 of the front cover 5 into the inner hole of the wave generator shaft 9, and fix the front cover 5 to the rigid wheel 13 by the second screw 12. S7: Adhere the third bearing 11 between the front cover 5 and the rear support 10 to complete the assembly.

[0034] In some embodiments, before pushing the assembled fourth component 204 into the inner wall of the flexure 16, grease is applied to the outer wall of the second end of the wave generator shaft 9; before inserting the output portion 51 of the front cover 5 into the inner hole of the wave generator shaft 9, grease is applied to the outer wall of the output portion 51 of the front cover 5 and the inner side of the sealing connection portion 52.

[0035] In some embodiments, the sealing connection portion 52 of the front cover 5 is provided with a through oil filling port, and a sealing screw 18 is detachably provided at the oil filling port to close the oil filling port. After the assembly is completed, the method further includes injecting lubricating oil into the middle sealing cavity through the oil filling port and closing the oil filling port by the sealing screw 18.

[0036] In summary, the heat-dissipating joint module and its assembly method provided in this application include a front cover 5 in the joint module. The front cover 5 includes a cylindrical output section 51. The end of the output section 51 near the second end extends outward to form a sealing connection section 52. The output section 51 is inserted into the inner hole of the wave generator shaft 9. The output section 51, in conjunction with the motor housing 7, achieves heat dissipation both externally and internally of the motor winding 8. The sealing connection section 52 is sealed to the rigid wheel 13, thereby dissipating the heat generated by the low-tooth-difference meshing between the rigid wheel 13 and the flexible wheel 16 while simultaneously reducing heat loss. High-speed power output; the first bearing 4, wave generator shaft 9, rear support seat 10, third bearing 11, front cover 5, rigid wheel 13, flexible wheel 16 and front support seat 17 surround to form a sealed cavity, which is filled with a heat-conducting medium to achieve lubrication and heat dissipation at the same time, further improving the heat dissipation effect of the module; the motor winding 8 and motor housing 7 are set outside the sealed cavity, which is conducive to the wiring and heat dissipation of the motor winding 8. The wiring of the motor winding 8 will not affect the sealing of the sealed cavity. The reasonable deployment of each component improves the sealing performance and enhances stability.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A joint module that facilitates heat dissipation, characterized in that, The device includes a motor housing, motor windings, a rear support base, a magnetic rotor, a front support base, a wave generator shaft, a flexible wheel, a rigid wheel, and a front cover. The motor windings are fixed to the inner wall of the motor housing, and the magnetic rotor is fixed to the outer wall of the rear support base and is arranged opposite to the motor windings. The wave generator shaft has a first end and a second end. The outer wall of the first end of the wave generator shaft is fixedly connected to the inner wall of the rear support base. A first bearing is provided on the inner wall of the front support base, and the inner ring of the first bearing is connected to the outer wall of the wave generator shaft at the middle. A second bearing is provided on the outer wall of the second end of the wave generator shaft. The flexible wheel includes... The main body is cylindrical in shape. The flexible wheel extends outward from the end near the first end to form a fixing part. The outer wall of the main body near the second end is provided with flexible teeth. The rigid wheel is disposed outside the flexible teeth, and the flexible teeth mesh with the rigid wheel with a small tooth difference. The front cover includes a cylindrical output part. The end of the output part near the second end extends outward to form a sealing connection part. The output part is inserted into the inner hole of the wave generator shaft. The sealing connection part is fixedly connected to the rigid wheel. A third bearing is provided on the outer wall of the output part near the first end. The third bearing is connected to the inner wall of the rear support. The fixing part abuts against the front support seat, and a first sealing groove is provided on the contact surface between the front support seat and the fixing part, and a first sealing ring is provided in the first sealing groove; a second sealing groove is provided on the contact surface between the sealing connection part and the rigid wheel, and a second sealing ring is provided in the second sealing groove. The first bearing, the wave generator shaft, the rear support, the third bearing, the front cover, the rigid wheel, the flexible wheel, and the front support surround to form a sealed cavity, which is filled with a heat-conducting medium. In use, the motor winding is energized to control the rotation of the magnetic rotor. The magnetic rotor drives the rear support and the wave generator shaft connected to it to rotate. The wave generator shaft and the second bearing cause the main body of the flexible wheel to undergo periodic deformation, which causes the rigid wheel to decelerate. The rigid wheel drives the front cover to decelerate, thereby achieving deceleration power output.

2. The heat-dissipating joint module according to claim 1, characterized in that, The cross-section of the second end of the wave generator shaft is elliptical, and the second bearing is elliptical to match the second end. The main body of the flexible wheel is bent into an elliptical shape by the wave generator shaft and the second bearing. The flexible teeth mesh with the rigid wheel in the long axis portion and are disengaged from the rigid wheel in the short axis portion. The rotation of the wave generator shaft causes the main body of the flexible wheel to periodically mesh with the rigid wheel, driving the rigid wheel to decelerate and rotate.

3. The heat-dissipating joint module according to claim 1, characterized in that, It also includes a fourth bearing, which is sleeved on the main body of the flexible wheel and connected to the fixed part and the rigid wheel at both ends, to support the flexible wheel and the rigid wheel, and to define the axial and radial positions of the flexible wheel relative to the rigid wheel.

4. The heat-dissipating joint module according to claim 1, characterized in that, The outer wall of the second end of the wave generator shaft is coated with grease, and the outer wall of the output part of the front cover and the inner side of the sealing connection part are also coated with grease; the grease serves as a heat-conducting medium to fill the sealed cavity.

5. The heat-dissipating joint module according to claim 1, characterized in that, The sealing connection of the front cover is provided with a through oil filling port, and a sealing screw is detachably provided at the oil filling port to close the oil filling port. Lubricating oil is injected into the sealing cavity through the oil filling port as a heat conduction medium.

6. The heat-dissipating joint module according to claim 3, characterized in that, The motor housing, the front support, the flexible wheel, and the fourth bearing are axially fixed together by a first screw.

7. A method for assembling a heat-dissipating joint module as described in any one of claims 1-6, characterized in that, Includes the following steps: The motor windings are glued to the inner wall of the motor housing and assembled into the first component; The first bearing is bonded to the inner wall of the front support seat to assemble the second component. The first sealing ring is placed into the first sealing groove of the front support seat, and glue is applied to the inner ring of the first bearing. The flexible wheel, the fourth bearing, and the rigid wheel are assembled and fixed into the third component; the assembled first, second, and third components are then fixed with the first screw. Assemble the second bearing on the outer wall of the second end of the wave generator shaft to form the fourth component; push the assembled fourth component into the inner wall of the flexible wheel, and bond the first bearing to the outer wall of the wave generator shaft in the middle. The magnetic rotor is glued to the outer wall of the rear support to assemble the fifth component; glue is applied to the inner hole of the rear support that contacts the wave generator shaft, and the assembled fifth component is sleeved on the outer wall of the first end of the wave generator shaft. Install the second sealing ring in the second sealing groove of the front cover, insert the output part of the front cover into the inner hole of the wave generator shaft, and fix the front cover to the rigid wheel with the second screw; The third bearing is bonded and installed between the front cover and the rear support to complete the assembly.

8. The assembly method according to claim 7, characterized in that, Before aligning the assembled fourth component with the inner wall of the flexible wheel and pushing it in, grease is applied to the outer wall of the second end of the wave generator shaft; before inserting the output portion of the front cover into the inner hole of the wave generator shaft, grease is applied to the outer wall of the output portion of the front cover and the inner side of the sealing connection.

9. The assembly method according to claim 7, characterized in that, The sealing connection of the front cover is provided with a through oil filling port, and a sealing screw is detachably provided at the oil filling port to close the oil filling port. After the assembly is completed, lubricating oil is injected into the middle sealing cavity through the oil filling port, and the oil filling port is closed by the sealing screw.

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