Speed reducer based on force feedback cyclic amplification principle and tooth profile generation method thereof

Abstract

The invention relates to the technical field of precision transmission, in particular to a speed reducer based on a force feedback cyclic amplification principle and a tooth profile generation method thereof. A tooth profile is generated through a double circular array, and the motion interference risk in multi-fluted disc transmission is eliminated from the geometric principle; secondly, by means of the tooth profile, reactive force generated by a meshing pair in the system forms feedback force in the same direction as input force, the force circulates in the system and is superposed with the input force, internal amplification of the force is achieved, and therefore extremely high torque density and transmission efficiency are obtained. The speed reducer based on the force feedback cyclic amplification principle and the tooth profile generation method thereof have the advantages of high reduction ratio, high rigidity, high reliability and compact structure, and support fluted disc motion, rolling assembly motion and composite motion modes.

Description

Technical Field

[0001] This invention relates to the field of precision transmission technology, and in particular to a reducer based on the principle of force feedback cyclic amplification and its tooth profile generation method. Background Technology

[0002] Precision reducers are core components of high-end equipment such as industrial robots, aerospace equipment, and precision optical equipment. Their performance directly determines the accuracy, rigidity, and dynamic response characteristics of the entire machine. To meet the demands of high-performance equipment, reducers must possess a combination of characteristics including high reduction ratio, high torsional stiffness, high motion accuracy, high reliability, and compact and lightweight structure. Currently, mainstream precision reducers mainly include RV reducers (Rotary Vector Reducers) and harmonic drives (Harmonic Drives). Both have inherent limitations in performance that are difficult to balance simultaneously. RV reducers have advantages such as high rigidity, high load capacity and high precision, but they adopt a two-stage transmission structure consisting of a planetary gear carrier and a cycloidal wheel, and rely on a large number of bearings, resulting in a large number of parts, complex structure and high manufacturing cost. They are also prone to vibration and noise problems under high-speed conditions.

[0003] Harmonic reducers are compact in structure, have few parts, and high reduction ratios. However, their transmission relies on the periodic elastic deformation of the flexspline, resulting in low torsional stiffness, weak impact resistance, and susceptibility to fatigue damage. Consequently, their service life and reliability are insufficient for high-load or high-impact operating conditions. Furthermore, the input speed is typically limited by the fatigue limit of the flexspline material, which also affects the realization of their high reduction ratio performance. In the prior art, patent CN108468758A proposes a double cycloidal reducer scheme. This scheme aims to achieve vibration suppression and power transmission by setting two cycloidal wheels arranged with a phase difference. In-depth analysis reveals the following limitations: First, its power transmission essentially relies on the geometric compression and pushing action generated by the traditional cycloidal tooth profile under eccentric motion. This is a static or quasi-static force transmission mode, and the accuracy and elastic deformation of the cycloidal wheels will affect the deceleration effect. Second, by directly using the traditional cycloidal tooth profile in a double cycloidal series mechanism without designing a dedicated phase-coordinated tooth profile, there is an inherent risk of interference during motion, and the force flow path is unclear, resulting in limited efficiency.

[0004] Therefore, there is an urgent need in this field for a reducer solution based on a completely new transmission principle, which should meet the following requirements: 1. Fundamentally eliminates the risk of motion interference and jamming in multi-tooth disc transmissions; 2. Provides a directional and efficient path for the transmission of meshing force, thereby amplifying torque; 3. Establish a parameterized and optimizable tooth profile design method to ensure the dynamic balance and reliability of the system. Summary of the Invention

[0005] Therefore, it is necessary to provide a speed reducer based on the force feedback cyclic amplification principle and its tooth profile generation method to address the aforementioned technical problems.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A transmission method based on the principle of force feedback loop amplification includes the following steps: providing a transmission system, including an input component, a fixed component as a force feedback anchor point, a transmission component as a force loop carrier, and an output component; An input force is applied to the transmission component through the input component; through the meshing between the fixed component and the transmission component, a tangential reaction force is generated. The direction of the tangential reaction force is the same as or opposite to the driving force direction of the input force, forming a feedback force. The feedback force is guided to the meshing point between the transmission component and the output component, generating a normal force. This force merges with the input force to jointly drive the transmission component, thereby achieving cyclic amplification of the force.

[0007] A method for generating the tooth profile of an eccentric array envelope curve includes the following steps: Define a base circle C1 with center O; take a point A on the circumference of the base circle C1 as its center, and draw a circle with radius R. s Draw a straight line L through the point O and the seed circle; Determine an eccentric point O on the straight line L. e Centered on point O, the seed circle is divided into M equal parts in a circular array to obtain M sub-circles, where M≥1; With the aforementioned eccentric point O e Centered on the line L, divide the line L into N equal circular arrays, where N is an integer greater than 1, and adjust the eccentric point O. e The position is adjusted iteratively by modifying the eccentric point (O). e The position of the (N) straight lines after the array is ensured to maintain a preset safe gap with the seed circle; The M sub-circles obtained by arraying around the point O are treated as a whole, and revolved around the eccentric point O. e Divide the circular array into N equal parts to obtain M×N sub-circles in space; calculate the common inner or outer envelope of the M×N sub-circles to generate an eccentric array envelope curve with N fluctuation periods. The fluctuation amplitude of the tooth profile is adjusted by the eccentricity e and the radius of the seed circle. Independent control.

[0008] A harmonic QL reducer, comprising: A shell; An input component for receiving power; An eccentric component driven by the input component; A transmission component, the transmission component comprising at least two toothed discs connected by a synchronization mechanism, the tooth profile of the toothed discs being a wavy tooth profile generated based on an eccentric array envelope curve; A fixed component engages with a gear in the transmission component and is fixedly connected to the housing, serving as an anchor point for force feedback; An output component engages with another gear disc in the transmission component.

[0009] In a preferred embodiment of the harmonic QL reducer provided by the present invention, the synchronization mechanism is a synchronization column or a flexible connector, and at least two of the gear discs are coaxially mounted or connected with a specific phase difference through bearings.

[0010] In a preferred embodiment of the harmonic QL reducer provided by the present invention, the fixed component and the output component are rolling components or gear discs. When it is a rolling assembly, it includes a fixed structure and a number of meshing elements evenly distributed thereon.

[0011] In a preferred embodiment of the harmonic QL reducer provided by the present invention, the inner wall of the housing is provided with a positioning structure, and the outer side of the fixing ring of the fixing component is provided with a limiting structure that cooperates with the positioning structure. Through the cooperation of the limiting structure and the positioning structure, the rotation of the fixing component within the housing is restricted.

[0012] In a preferred embodiment of the harmonic QL reducer provided by the present invention, the input component is connected to an eccentric component to convert the rotational motion of the input component into the eccentric oscillation of the transmission component.

[0013] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0014] Meanwhile, through the above technical solutions, the present invention has at least the following beneficial effects: 1. The present invention provides a reducer based on the principle of force feedback cyclic amplification and its tooth profile generation method. Through structural improvement, the "force feedback cyclic amplification" inside the transmission system is realized, which improves the transmission efficiency and can support multiple working modes such as gear disk motion, rolling component motion and compound motion. It has strong adaptability. At the same time, the unique tooth profile generation method eliminates the risk of motion interference from the geometric source.

[0015] 2. The reducer of this invention is not a simple variant of the traditional transmission structure, but rather establishes a completely new transmission paradigm and supports a variety of flexible working modes to adapt to different application scenarios.

[0016] 3. This invention can combine high reduction ratio, high rigidity, high reliability and high torque density, while providing parametric tooth profile design and modification theory.

[0017] 4. This invention provides a parameterized and visualized collaborative design process: designers can directly control the geometry and performance characteristics of the final tooth profile by adjusting a few intuitive parameters (M, N, Rs, e), which greatly reduces the design complexity and development cycle of multi-tooth disk transmission systems.

[0018] 5. The present invention enables the transmission of power through the cooperation of the fixed housing, the pinwheel assembly and the transmission assembly. Furthermore, the cooperation of the pinwheel assembly and the transmission assembly enables more precise force transmission and vibration suppression.

[0019] 6. The present invention, through the cooperation of the first cycloidal wheel, the second cycloidal wheel, the synchronizing column and the transmission crankshaft, can connect the first cycloidal wheel and the second cycloidal wheel through multiple synchronizing columns, and at the same time allow the transmission crankshaft to rotate inside the first cycloidal wheel and the second cycloidal wheel. Vibration suppression is achieved by limiting the first cycloidal wheel inside the first needle wheel and the second cycloidal wheel inside the second needle wheel.

[0020] 7. The present invention uses the combination of a fixing ring, an anti-detachment ring and a limiting post to allow the external power shaft to enter the interior of the transmission crankshaft through the assembly hole, and allows the first cycloidal wheel inside the first needle wheel and the second cycloidal wheel inside the second needle wheel to suppress vibration through multiple limiting posts. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the force feedback loop amplification principle of the present invention; Figure 2 This is a schematic diagram of the overall structure of the speed reducer of the present invention; Figure 3 This is a side view of the speed reducer of the present invention; Figure 4 This is a schematic diagram of the internal structure of the assembled shell of the present invention; Figure 5 This is an exploded view of the present invention; Figure 6 This is a schematic diagram of the structure of the fixing ring of the present invention; Figure 7 This is a schematic diagram of the structure of the pinwheel of the present invention; Figure 8 This is a schematic diagram of the eccentric component of the present invention; Figure 9 This is a schematic diagram of the transmission groove of the present invention.

[0023] In the figure: 1. Assembly shell; 2. First rolling assembly; 3. First external gear plate; 4. Second external gear plate; 5. Second rolling assembly; 6. Bearing; 7. Locking ring; 8. Locking bolt; 9. Assembly groove; 10. Protrusion; 11. Retaining ring; 12. Anti-detachment ring; 13. Groove; 14. Assembly hole; 15. Rolling element; 16. Synchronization mechanism; 17. Eccentric component; 18. Transmission groove. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0026] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] refer to Figures 1-9 This invention relates to a speed reducer based on the principle of force feedback cyclic amplification and its tooth profile generation method, referred to as "Harmonious Balance QL Speed ​​Reducer".

[0029] The differences between this invention and the prior art are as follows:

[0030] Figure 1 In the diagram, the red arrow represents the eccentric driving force; the blue arrow represents the force that drives the toothed disc to rotate; the green arrow represents the force that prevents the toothed disc from rotating after the transmission phase exceeds the critical point; the yellow arrow represents the normal reaction force generated by the meshing of the tooth profiles; and the black arrow represents the resultant force output. Example

[0031] A transmission method based on the principle of force feedback loop amplification includes the following steps: providing a transmission system, which includes an input component, a fixed component as a force feedback anchor point, a transmission component as a force loop carrier, and an output component; applying an input force to the transmission component through the input component; generating a tangential reaction force through the meshing between the fixed component and the transmission component, the direction of which is the same as the driving force direction of the input force (or opposite depending on the tooth profile), forming a feedback force; guiding the feedback force to the meshing point between the transmission component and the output component, generating a normal force, which merges with the input force to jointly drive the transmission component, thereby realizing the loop amplification of force. Example

[0032] Based on the above embodiment one, a method for generating the tooth profile of the eccentric array envelope curve for implementing the transmission method is disclosed, including the following steps: defining a base circle (C1) with point (O) as its center; taking a point (A) on the circumference of the base circle (C1) as its center, and drawing a circle with a radius of (R) s Draw a seed circle; draw a straight line (L) passing through point (O) and the seed circle; determine an eccentric point (O) on the straight line (L). e ); with point (O) as the center, divide the seed circle into (M) equal parts in a circular array to obtain (M) sub-circles, where M≥1; with the eccentric point (O) as the center, divide the seed circle into (M) equal parts in a circular array to obtain (M) sub-circles. e Centered on a line (L), divide the line (L) into (N) equal circular arrays, where N is an integer greater than 1. The distance is adjusted by changing the eccentric point (O). e The position of the eccentric point (O) is adjusted iteratively. e The position of the (N) straight lines after the array is ensured to maintain a preset safe gap with the seed circle, thus eliminating the risk of motion interference from a geometric perspective; the (M) sub-circles obtained by arraying with point (O) as the center are treated as a whole, and the circle is rotated around the eccentric point (O). e Divide the circle into (N) equal parts to obtain M × N sub-circles in space; calculate the common inner or outer envelope of the M × N sub-circles to generate an eccentric array envelope curve with (N) oscillation periods. The oscillation amplitude of the tooth profile can be adjusted by changing the eccentricity (e) and the radius of the seed circle ( Independent control.

[0033] Example 3 When the above-described Embodiment 1 and Embodiment 2 are combined, a harmonic balance QL reducer with a generated profile is disclosed: include: A shell; An input component for receiving power; An eccentric component driven by an input component; A transmission component, comprising at least two toothed discs connected by a synchronization mechanism, wherein the tooth profile of the toothed discs is a wavy tooth profile generated based on the envelope curve of an eccentric array; A fixed component meshes with a gear in the transmission component and is fixedly connected to the housing, serving as an anchor point for force feedback; an output component meshes with another gear in the transmission component; wherein, the eccentric drive component includes an eccentric cam, crankshaft, or any mechanism capable of generating periodic eccentric motion, the eccentric component drives the transmission component to perform periodic motion, causing the meshing of the gear with the fixed component to generate a directional feedback force, which is transmitted through a synchronization mechanism including rigid or flexible connecting elements to maintain at least two gears with a fixed phase difference or coaxial connection, achieving cyclic amplification and deceleration output of force; and the reducer supports multiple operating modes, including: Gear disk motion mode: The eccentric component directly drives the transmission gear disk to move, and the fixed component and output component are rolling components that mesh with the gear disk; Rolling component motion mode: The eccentric component drives the rolling component to move, and the fixed component and output component are toothed discs; Composite motion mode: The eccentric component simultaneously drives the movement of a toothed disc and a rolling component.

[0034] Preferably, the synchronization mechanism includes a synchronization column 16 or a flexible connector, wherein at least two gear discs are coaxially mounted or connected to maintain a specific phase difference via bearings.

[0035] Preferably, the stationary component and the output component include a rolling assembly or a toothed disc; when it is a rolling assembly, it includes a stationary structure and a plurality of meshing elements evenly distributed thereon.

[0036] Preferably, the inner wall of the outer shell is provided with a positioning structure, and the outer side of the fixing ring of the fixing component is provided with a limiting structure that cooperates with the positioning structure. Through the cooperation of the limiting structure and the positioning structure, the rotation of the fixing component inside the outer shell is restricted.

[0037] Preferably, the input component is connected to an eccentric component to convert the rotational motion of the input component into the eccentric oscillation of the transmission component.

[0038] Example 4 The harmonic QL reducer disclosed in the above embodiment 3 includes a fixed housing 1. The fixed housing 1 is used to support and fix the pinwheel assembly and the transmission assembly; The interior of the fixed housing 1 is provided with an assembly groove 9. The assembly groove 9 is T-shaped, so that when the pin wheel assembly is installed inside the assembly groove 9, it can only enter and exit from one direction through the T-shape of the assembly groove 9. The interior of one side of the assembly groove 9 is evenly distributed with protrusions 10, so that the pin wheel assembly can be located inside the assembly groove 9 and the rotation is restricted by the protrusions 10. Preferably, a locking ring 7 is provided on one side of the fixed housing 1, and the inner diameter of the locking ring 7 is greater than or equal to the maximum outer diameter of the assembly groove 9. The locking ring 7 is connected to the fixed housing 1 by a locking bolt 8, so that when the locking ring 7 is assembled with the fixed housing 1 by the locking bolt 8, the transmission component and the pin wheel component cannot be separated inside the fixed housing 1. The transmission assembly, installed inside the fixed housing 1, is used to transmit power; The transmission assembly includes a first cycloidal wheel 3, a second cycloidal wheel 4, a synchronizer column 16, and a transmission crankshaft 17. The first cycloidal wheel 3 is located on one side inside the fixed housing 1, and the second cycloidal wheel 4 is located inside the fixed housing 1 and on one side of the first cycloidal wheel 3. The second cycloidal wheel 4 and the first cycloidal wheel 3 are rotatably connected by the synchronizer column 16 through bearings, thereby connecting the first cycloidal wheel 3 and the second cycloidal wheel 4 into a whole through the synchronizer column 16. The transmission crankshaft 17 is rotatably connected by bearings at the positions where the first cycloidal wheel 3 and the second cycloidal wheel 4 intersect with the synchronizer column 16. The transmission crankshaft 17 has a transmission groove 18 inside, so that the external transmission shaft is installed inside the transmission crankshaft 17 through a key connection, thereby allowing the power at the output end to be transmitted to the output end through the transmission crankshaft 17. Preferably, the outer sides of the first cycloidal wheel 3 and the second cycloidal wheel 4 are evenly distributed with wavy patterns, so that the first cycloidal wheel 3 can contact the mounting hole 14 inside the first needle wheel 2 and the second needle wheel 5 through the outer side of the wavy patterns, thereby achieving vibration suppression.

[0039] The pinwheel assembly, installed inside the fixed housing 1, is used to suppress vibration of the transmission assembly; The needle wheel assembly includes a first needle wheel 2 and a second needle wheel 5. The first needle wheel 2 is mounted inside the fixed housing 1 and outside the first cycloidal wheel 3. The second needle wheel 5 is mounted inside the fixed housing 1 and outside the second cycloidal wheel 4 on the side away from the first cycloidal wheel 3, so that the first needle wheel 2 and the second needle wheel 5 are symmetrically placed. This allows the vibration of the first cycloidal wheel 3 and the second cycloidal wheel 4 to be limited by the first needle wheel 2 and the second needle wheel 5. The outside of the second needle wheel 5 on the side away from the first needle wheel 2 is connected to the fixed housing 1 by a bearing 6. This allows the second needle wheel 5 to be prevented from disengaging inside the fixed housing 1 by the bearing 6. The second needle wheel 5 is also prevented from disengaging from the fixed housing 1 by a locking ring 7, thus making the second needle wheel 5 unable to disengage inside the fixed housing 1. The first needle wheel 2 and the second needle wheel 5 both include a fixing ring 11, an anti-detachment ring 12, and a limiting post 15. An anti-detachment ring 12 is fixed to the outer side of one side of the fixing ring 11, so that the fixing ring 11 and the anti-detachment ring 12 are fixed with a T-shaped cross section. Grooves 13 are evenly distributed on the outer side of the fixing ring 11. The grooves 13 are slidably connected to the protrusions 10, so that when the first needle wheel 2 or the second needle wheel 5 is located inside the fixing shell 1, the protrusions 10 cooperate with the corresponding grooves 13 to restrict one or both of the first needle wheel 2 or the second needle wheel 5 from rotating at the same time. An assembly hole 14 is provided inside the fixed ring 11 at a position corresponding to the transmission crankshaft 17. The transmission crankshaft 17 is rotatably connected to the assembly hole 14 through a bearing, so that the transmission crankshaft 17 can rotate inside the fixed ring 11. This allows the two ends of the transmission crankshaft 17 to be connected to input and output devices through the two ends of the fixed housing 1. Limiting posts 15 are evenly distributed and rotatably connected inside the fixed ring 11, so that the assembly of the limiting posts 15 inside the fixed ring 11 can limit the position of the groove 13.

[0040] Example 5: Based on the above embodiments one to four, the following gear disk motion mode is disclosed: This embodiment details a specific implementation of the Harmony Balance QL reducer in the "gear disc motion mode." This mode is a preferred solution for realizing the "force feedback cyclic amplification" principle. 1. The physical basis for force feedback cyclic amplification: The structure of the reducer, with its coordinated tooth profile and system structure, is the physical carrier for realizing its unique principle. Its core lies in creating the geometric and mechanical conditions for "force feedback cyclic amplification" through a specific configuration.

[0041] Housing and fixed end (anchor point for force feedback): such as Figure 3 As shown, the protrusion on the inner side of the assembly housing engages with the groove of the first rolling assembly, making the assembly a fixed end. This fixed end serves as the reference for force feedback, acting similarly to the "fulcrum" in a lever system, but differing in that it generates an active, directional feedback force through tooth meshing.

[0042] Core transmission chain (force circulation path): The eccentric component driven by the input component is the initial excitation source. It drives the first external gear plate, which is rigidly connected by a synchronizing column, and the second external gear plate, which is eccentrically positioned by 180 degrees, making them a moving whole, that is, a force circulation and amplification carrier.

[0043] Output end (outlet of amplified resultant force): The second rolling component is designed to be rotatable as an output end, used to output the resultant force amplified by the internal circulation outward.

[0044] Key features: The tooth profiles of the first and second outer toothed disks are generated using the eccentric array envelope curve method according to the present invention. These tooth profiles are not traditional tooth shapes; their core function is to ensure that the toothed disks generate a tangential feedback force component in the same direction as the input direction when meshing with the rolling assembly. Through a specific tooth profile phase design, it is ensured that a tangential feedback force in the same direction as the input torque can be generated within the system's operating cycle; this is the geometric prerequisite for achieving "force feedback."

[0045] 2. The working process of the force feedback loop amplification mechanism: After assembly, its working process is a dynamic manifestation of the force feedback loop amplification mechanism. Power input and motion transmission: Power is transmitted through the input component and, via the eccentric component (drive crankshaft 17), excites the first external gear disk (first cycloidal wheel 3) and the second external gear disk (second cycloidal wheel 4). The first and second external gear disks are rigidly connected as a single component by a synchronizing column (16) and are arranged eccentrically at 180 degrees in space. The input torque drives the double external gear disk assembly to produce periodic eccentric motion.

[0046] The arrival of the dynamic critical point and the reversal of mechanical roles: Since the difference between the number of teeth on the first external gear disk (e.g., 11 teeth) and the number of rollers on the fixed-end first rolling assembly (first pinwheel 2) is the meshing pair difference (e.g., 1), it will be the first to reach the dynamic critical phase defined by its tooth profile geometry during motion. At this critical phase point, the mechanical properties of the meshing pair between the first external gear disk and the first rolling assembly change: from a load consuming input torque to a source with a tendency to output feedback thrust. The direction of the feedback thrust is the same as the driving direction of the input component.

[0047] Force circulation and superposition: While the first outer gear plate reaches the critical phase point and generates a feedback thrust tendency, the second outer gear plate may be in a different phase due to the difference in the number of teeth between it and the number of rollers of the second rolling component (second pinwheel 5) at the output end. Since the two outer gear plates are rigidly connected, the pushing effect of the second outer gear plate with the lagging motion phase on the first outer gear plate is coupled with the feedback thrust tendency generated by the first outer gear plate. This allows the feedback thrust to be transported through the synchronizing column (16) and superimposed on the force flow driving the second outer gear plate.

[0048] Force amplification and power output: Therefore, the total driving force acting on the second external gear disk is the sum of the direct driving force of the input component and the feedback thrust from the first external gear disk. This amplified force drives the second external gear disk to mesh with the second rolling assembly, which serves as the output component, thereby achieving high-density torque output. Once the system has passed the initial state and reached the critical point of mechanical role reversal, the process of force reversal, circulation, and superposition is established and maintained during the continuous operation of the input component, thus forming a continuous and stable dynamic force circulation amplification effect.

[0049] Example 6 Based on the above embodiments one to five, other working modes are disclosed: In addition to the aforementioned "gear disk motion mode" with the gear disk as the main moving part, the present invention can also achieve other working modes by changing the roles of the components in the system (fixed, input, output), which demonstrates the high flexibility of the transmission principle.

[0050] Rolling Component Motion Mode: In this mode, the input can be connected to a rolling component (such as a pinwheel) to act as the driving element. Simultaneously, a geared disc is fixed to the housing as an anchor point for force feedback; the other geared disc acts as the output element. Its "force feedback loop amplification" mechanism is similar to that of the geared disc motion mode; the feedback force originates from the tangential component of the force generated by the meshing of the moving rolling component and the fixed geared disc, which is in the same direction as the input force.

[0051] Composite motion mode: This mode can also be designed so that the input component simultaneously drives a geared disc and a rolling assembly, while the remaining components in the system are set to fixed or output modes as needed. This mode offers extremely high design flexibility and can be used to implement special transmission paths or more complex motion transformations.

[0052] Mode Selection and General Principles: Those skilled in the art can select a suitable working mode for design based on the specific requirements of the actual application, such as structural layout, interface form, size, and weight. Regardless of the working mode adopted, the core principle of "force feedback loop amplification" remains the same, relying on the specific eccentric array envelope curve tooth profile of this invention to generate directional tangential feedback force. In summary, the Harmony Balance QL reducer provided by this invention, through its unique tooth profile design and working principle, realizes an innovative "force feedback loop amplification" transmission mechanism. Through multiple configurable working modes, it efficiently converts the constraint reaction force within the system into driving force, thus possessing significant advantages such as compact structure, high transmission efficiency, smooth operation, strong reliability, and wide applicability. It is extremely suitable for various high-end precision transmission applications such as industrial robots and precision machine tools.

[0053] Example 7 Based on the above embodiments one to five, a method for calculating, evaluating and determining the reduction ratio of a speed reducer is disclosed.

[0054] I. Theoretical Model and Calculation Formula of Reduction Ratio The reduction ratio of a speed reducer is determined by its core principle of "force feedback cyclic amplification" and its kinematic relationship. Its theoretical model can be clearly expressed as a series connection of two reduction stages, and a precise calculation formula can be derived.

[0055] 1.1 Core Kinematic Relationship: The core kinematic basis of the reducer is: when the external gear disk, synchronously eccentric with the input component, rotates one revolution relative to the fixed gear disk meshing pair, the number of revolutions of the input component is equal to the number of teeth on the fixed end gear disk plus one. That is, the reduction ratio of a single-stage transmission is 1 / ( + 1).

[0056] 1.2 Two-Stage Transmission Model and Derivation of Overall Reduction Ratio: The working process of the reducer can be deconstructed into a continuous two-stage transmission: First stage (fixed-end reduction): The input component drives the first external gear disk. Let the number of teeth on the fixed-end gear disk be... Then the deceleration ratio of the first stage is =1 / ( +1).

[0057] Second stage (output deceleration and force feedback): Under the "force feedback loop amplification" mechanism, the feedback thrust generated by the first external gear disk and the input torque jointly drive the second external gear disk, which serves as the output. Let the number of teeth on the output gear disk be... The second stage of transmission follows a similarity principle, and its reduction ratio is... =1 / .

[0058] Overall reduction ratio: The overall reduction ratio of the system is the product of the reduction ratios of the two stages, i.e., i = × =1 / [( +1)× ].

[0059] The output direction is determined by the relative magnitudes of the number of teeth at the fixed end and the output end. The complete formula for calculating the signed reduction ratio is: ; in, For a sign function, when When the output and input are in the same direction, The output is inversely proportional to the input. This formula is directly derived from kinematic principles and verified by experimental data.

[0060] II. Parameter Definition and Quality Compensation Principles 2.1 Parameter Standardization To facilitate effective performance comparison and serialized design, a set of common parameters is established, including eccentricity, seed circle parameters, external gear width, and material density. This ensures that the first and second external gear disks, generated from the same seed circle but with different numbers of teeth, have a unified geometric generation basis.

[0061] 2.2 Mass Compensation Principle Since the first and second external gear disks are generated using the same "eccentric array envelope curve method" with unified seed circle parameters, their basic masses are already very similar. To pursue the ultimate dynamic balance performance, refined mass compensation can be performed based on the following 3D modeling evaluation results.

[0062] III. Precise Quality Assessment Based on 3D Modeling The core of this method is to directly utilize 3D design software for precise quality assessment and compensation design.

[0063] 3.1 Precise 3D Modeling: Using 3D computer-aided design software, strictly following the eccentric array envelope curve method, and inputting the same basic parameters such as the seed circle, a digital model is precisely constructed.

[0064] 3.2 The software directly assesses quality by calling the software's built-in quality attribute analysis function to directly read the actual quality of the two external gear disk models. and And calculate the quality difference. = - This result provides direct and accurate data for weighting or reshaping.

[0065] IV. Modular Design and Serialization Based on the aforementioned reduction ratio theoretical model and parametric design method, efficient modular design and serialization development are possible. This can be achieved by selecting different numbers of teeth on the fixed end. and the number of teeth at the output end Combining them can be done according to the formula: ; Accurately predict and achieve the required reduction ratio and output direction, thereby quickly building a series of products that meet different application needs.

[0066] Example 8: Based on the above embodiments one to seven, the core of the present invention is disclosed as follows: I. Core Principles: The core innovation of the force feedback loop amplification mechanism and multi-mode working capability reducer lies in its "force feedback loop amplification" working mechanism and the multiple working modes derived from it. It constructs a highly efficient force feedback loop system, which, through a unique phase-coordinated tooth profile, transforms the constraint reaction force inside the system into a recyclable dynamic driving force. 1.1 Brief Description of Core Principles: The input force acts as the initial excitation on the transmission system.

[0067] A meshing pair within the system (on the fixed end or in other specific configurations) generates a directional reaction force, which is guided by a specific tooth profile to produce a feedback force in the same direction as the input force.

[0068] This feedback force is transmitted and circulated within the system, and merges and superimposes with the original input force to form positive force feedback, thereby achieving the torque amplification effect.

[0069] 1.2 Multiple Working Modes: Based on the above principles, by designating different components in the system as fixed ends, input ends, and output ends, the reducer can be configured into multiple operating modes, greatly enhancing its applicability: 1.2.1 Gear Disk Motion Mode (Preferred Embodiment): The input component drives the input component, which in turn drives the transmission gear disk (such as a combination of double external gear disks or double internal gear disks) to perform periodic motion. The fixed component and the output component are typically rolling assemblies (such as pin wheels) that mesh with the gear disk. In this mode, the rolling assembly at the fixed end does not rotate, while the rolling assembly at the output end rotates and outputs power. Force feedback is mainly generated through the meshing of the moving gear disk with the fixed rolling assembly.

[0070] 1.2.2 Rolling Component Motion Mode: The input component drives another input component, which in turn moves the rolling component (such as a pinwheel). In this mode, the stationary and output components are geared discs (one stationary, one output). Force feedback is primarily generated through the meshing of the moving rolling component with the stationary geared disc. This mode can facilitate the achievement of more compact radial dimensions or specific mounting interfaces.

[0071] 1.2.3 Composite Motion Mode: The input component can simultaneously drive one geared disc and one rolling assembly, while the remaining components in the system are set to fixed or output as required. This mode offers extremely high design flexibility and can be used to implement special transmission paths, multiple outputs, or more complex motion transformations.

[0072] 1.3. Basis for Mode Selection: The choice of specific operating mode depends on application requirements, such as structural layout, interface requirements, size limitations, and load characteristics. Regardless of the mode, the core principle of "force feedback loop amplification" applies, and performance parameters such as the reduction ratio are related to the configuration of the number of key meshing teeth in the system.

[0073] II. Methods for Generating the Envelope Curve of an Eccentric Array This method is based on an intuitive geometric construction process, and its core steps include: 2.1 Initial Layout: Define the base circle and seed circle Define a base circle C1 with its center at O.

[0074] Take a specific point (such as the vertical top point A) on the circumference of the base circle C1 as the center, and draw a circle with radius R. s The sub-circle is called the "seed circle".

[0075] 2.2 Determining the Eccentricity and Array Frame Draw a vertical line L through a point near the bottom of the seed circle and passing through the center O of the base circle.

[0076] Determine two key points on line L: Top vertex ( ): Located above point O, close to or coinciding with the seed circle, serving as a reference point for the future external gear tooth tip.

[0077] Eccentricity (O) e ): Located below point O, serving as the center of the subsequent secondary array.

[0078] Divide the initial seed circle into M equal circles (M≥1) with center O as the center, to obtain M sub-circles (corresponding to the size and number of rolling bodies).

[0079] With eccentric point O e Centered on the straight line L, a circular array is formed, and the number of array segments N is the wave number of the target tooth profile (corresponding to the number of outer disc teeth).

[0080] Check whether the N radial straight lines generated after arraying interfere with the M sub-circles. This is done by fine-tuning the eccentricity point O. e The position of the array is determined to ensure that all array lines remain free from interference with the seed circle. The resulting N radial lines are then checked to see if they interfere with the initial seed circle. This is achieved by fine-tuning the offset point O. e The position ensures that all array lines remain free from interference with the seed circle, thus mitigating the risk of motion jamming in principle.

[0081] Treating the aforementioned M sub-circles as a whole, and revolving around the eccentric point O finally determined in step 2... e Perform a secondary circular array, with N sub-arrays (N and M are coprime unless otherwise specified). This results in M×N sub-circles in space.

[0082] 2.3 Envelope Formation: Calculate the common inner envelope (or outer common envelope) of these M×N sub-circles. This envelope generates the required eccentric array envelope curve with N complete fluctuation periods.

[0083] Generate another toothed disc curve: based on the same seed circle, base circle center O, and eccentric point O as described above. e By changing the values ​​of parameters M and N (which must remain coprime) and using the same generation method, another eccentric array envelope curve with a different wavenumber can be constructed.

[0084] Preferably, the fluctuation amplitude of the curve is related to the eccentricity e and the sub-circle radius R. s Positive correlation, which can be achieved by independently adjusting e and R. s To achieve precise control over the shape of the tooth profile.

[0085] The originality of this invention is explained as follows: Those skilled in the art will understand that any conjugate tooth profile with wave-like characteristics may exhibit certain similarities in geometric morphology. Theoretically, by deliberately and complexly combining and applying equidistant shaping, displacement shaping, and non-standard rolling circle proportions of cycloids, it is possible to generate a morphology similar to a specific tooth profile of this invention in a specific section. However, this approximation is merely a post-hoc imitation of the resulting morphology; its essence remains based on the old paradigm of 'single-point motion trajectory'. This is fundamentally different from the novel geometric construction principle of 'double circular array envelope' proposed in this invention. Specifically: First, the generation logic is different: a cycloid is a state trajectory (the movement of a point), while this invention is a static envelope (the common tangent of a set of circles).

[0086] Secondly, the design freedom and intuitiveness differ: the correspondence between the parameters (base circle, rolling circle, modification amount) and the final tooth profile of the cycloidal method is complex, the adjustment lacks intuitiveness, and it is difficult to coordinately control the parameters of the two gears. In contrast, this invention can directly and collaboratively define the tooth profile of the entire transmission system through a few independent and intuitive parameters such as M (number of sub-circles), N (wave number), Rs (seed circle radius), and e (eccentricity), and the relationship between parameters and tooth shape is clear and explicit.

[0087] Third, their inherent properties differ: the "interference-free characteristic" is an inherent property built into the tooth profile generation method of this invention, achieved through the step of "iteratively adjusting the eccentric point Oe to ensure no interference." However, similar tooth profiles barely fitted by the cycloidal method cannot naturally guarantee this characteristic and still require additional, cumbersome interference checks.

[0088] This invention does not provide an isolated tooth profile shape, but rather a parametric collaborative tooth profile design method that integrates interference-free characteristics and force-guiding functions. For designers, only a few intuitive parameters (M, N, Rs, e) need to be adjusted to simultaneously obtain a naturally interference-free collaborative tooth profile with the required mechanical functions. In contrast, even if a tooth profile with similar mechanical properties can be obtained using the cycloidal method, it requires repeated, complex, and non-intuitive parameter trial and error and interference verification processes, and it is difficult to guarantee the synergy between the two tooth discs. This method brings a qualitative leap in design efficiency, reliability, and predictability of results.

[0089] In summary, the tooth profile of this invention is tailored to realize the 'force feedback loop amplification' transmission principle. The subtle geometric features of its tooth profile inherently and necessarily ensure that the meshing pair can generate directional tangential feedback force. It is important to emphasize that the core contribution of this invention is a parametric collaborative tooth profile design method that integrates interference-free characteristics and force-guiding functions. Compared with the traditional cycloidal method, its inventiveness is prominently reflected in: Functionality is built-in: the required mechanical properties are an inevitable result of the generation process, rather than a target for post-fitting.

[0090] Collaborative design: By unifying the seed circle parameters, multiple non-interference collaborative tooth profiles can be designed simultaneously and intuitively.

[0091] Process parameterization: The design process is simplified to adjusting a few intuitive parameters (M, N, Rs, e), resulting in efficient processes and reliable results.

[0092] III. Reducer Configuration and Force Flow Analysis (Taking Gear Disc Motion Mode as an Example) Reference Figures 2 to 8 This embodiment provides a reducer and its tooth profile generation method based on the eccentric array envelope curve and the force feedback cyclic amplification principle, referred to as the "Harmonious Balance QL Reducer" in detail.

[0093] 3.1. Physical Basis for Achieving Force Feedback Cyclic Amplification: The structure of the reducer, which combines tooth profile and system structure, is the physical carrier for realizing its unique principle. Its core lies in creating the geometric and mechanical conditions for "force feedback cyclic amplification" through a specific configuration.

[0094] Housing and Fixed End (Anchor Point for Force Feedback): The positioning structure inside the housing engages with the limiting structure of the fixed component, making this assembly the fixed end. This fixed end serves as the reference for force feedback. Its function differs from the fixed, passive 'fulcrum' in a lever system; rather, it is an 'active anchor point' that actively generates a tangential feedback force in the same direction as the input force through specific tooth meshing. This feedback force is crucial for achieving cyclic amplification.

[0095] Core transmission chain (force circulation path): The eccentric component driven by the input component is the initial excitation source. It drives the transmission gear plate connected by the synchronization mechanism, making the two a moving whole, that is, the force circulation and amplification carrier.

[0096] Output end (outlet of amplified resultant force): The output component is designed to be rotatable, serving as the output end to output the resultant force amplified by the internal circulation outward.

[0097] In addition to the aforementioned implementation method using a toothed disc as the main moving element, this invention can also achieve a composite motion mode of the rolling component by changing the system configuration. For example, in the rolling component motion mode, the input can be connected to a rolling component to make it move, while one toothed disc is fixed as a force feedback anchor point, and the other toothed disc serves as the output. Its force feedback loop amplification mechanism is similar to that of the toothed disc motion mode, both relying on the directional tangential force generated by the specific tooth profile of this invention. Those skilled in the art can select a suitable working mode for design according to actual application requirements.

[0098] Key features: The tooth profiles of the first external gear disc (first cycloidal wheel 3) and the second external gear disc (second cycloidal wheel 4) are generated by the eccentric array envelope curve method according to the present invention. This tooth profile is not a traditional tooth shape; its core function is to ensure that when the gear disc meshes with the rolling assembly, it can generate a reaction force with a tangential force component in the same or opposite direction to the input direction (the external gear disc (first cycloidal wheel 3) and the external gear disc (second cycloidal wheel 4) need to generate forces in the same direction, which is a feature that distinguishes it from other reducers). Through a specific tooth profile phase design, it ensures that a tangential feedback force component in the same direction as the input torque can be generated within the system's working cycle; this is the geometric prerequisite for achieving "force feedback."

[0099] 3.2 The working process of force feedback loop amplification: After assembly, its working process is the dynamic manifestation of the force feedback loop amplification mechanism: Power input and motion transmission: Power is transmitted through the input component and excites the first external gear disk (first cycloidal wheel 3) and the second external gear disk (second cycloidal wheel 4) through the eccentric component. The first and second external gear disks are rigidly connected as a whole component by a synchronization mechanism (synchronization column 16) and are arranged eccentrically at 180 degrees in space. The input torque drives the double external gear disk assembly to produce periodic eccentric motion.

[0100] The arrival of the dynamic critical point and the reversal of mechanical roles occur because the number of teeth on the first external gear disk (e.g., 11 teeth) is less than the number of teeth on the second external gear disk (e.g., 12 teeth). During motion, it will reach the dynamic critical phase defined by its tooth profile geometry first. At this critical phase point, the first external gear disk and the first rolling assembly ( The mechanical properties of the meshing pair undergo a fundamental change: it transforms from a load that consumes input torque into a source with a tendency to output feedback thrust. The direction of the feedback thrust is the same as the driving direction of the input component.

[0101] As the force circulation and superposition occur, while the first outer gear disk reaches the critical phase point and generates a feedback thrust tendency, the second outer gear disk, due to its larger number of teeth, remains in the phase requiring input torque for drive. Because the two outer gear disks are rigidly connected, the pushing action of the second outer gear disk, with its lagging motion phase, on the first outer gear disk 3 is coupled with the feedback thrust tendency generated by the first outer gear disk. This allows the feedback thrust to be transmitted through the synchronization mechanism and superimposed into the force flow driving the second outer gear disk.

[0102] 3.3 Force Amplification and Power Output Therefore, the total driving force acting on the second external gear plate is the sum of the direct driving force of the input component and the feedback thrust from the first external gear plate. This amplified force drives the second external gear plate and the second rolling assembly (second pinwheel 5) as the output component. The meshing of the components enables high-density torque output. Once the system has passed its initial state and reached the critical point of mechanical role reversal, the reversal, circulation, and superposition of forces are established and maintained during the continuous operation of the input components, thus forming a continuous and stable dynamic force circulation amplification effect.

[0103] In summary, the reducer in this embodiment, through its unique structural layout and core tooth profile design, achieves an innovative "force feedback loop amplification" transmission mechanism. It converts the constraint reaction force within the system into driving force, achieving extremely high torque density and transmission efficiency.

[0104] IV. Reduction Ratio and Performance 4.1 Theoretical Model of Reduction Ratio The reduction ratio of a speed reducer is determined by its core principle of "force feedback loop amplification" and its kinematic relationship. Its theoretical model can be expressed as the synthesis of motion, and precise calculation formulas can be derived.

[0105] As a preferred embodiment, the reduction ratio calculation formula can be: ; 4.1.1. Core kinematic relationships The core kinematic basis of the reducer is that when the transmission gear disc, which is synchronously eccentric with the input component, rotates one revolution relative to the fixed end meshing pair, the number of revolutions of the input component is related to the meshing difference of this meshing pair.

[0106] 4.1.2. Overall Reduction Ratio Model Based on kinematic analysis and the "force feedback loop amplification" mechanism, the total reduction ratio of the reducer is determined by the number of meshing teeth at the fixed end ( ) and the number of meshing teeth at the output end ( The deceleration ratio (i) is jointly determined by the above principles. Its expression reflects the motion synthesis under these principles, and the output direction is determined by... and The relative size determines this. This model is derived from the principle and can be verified experimentally.

[0107] 4.2 Parametric Design and Performance Optimization 4.2.1. Parameter Standardization To facilitate effective performance comparison and serialized design, a set of common tooth profile generation parameters can be set, such as eccentricity and seed circle radius. This ensures that the tooth discs working collaboratively in the system have a unified geometric design basis.

[0108] 4.2.2. Dynamic Balancing Design Since multiple gears in the transmission components are created based on the same tooth profile generation method, their basic masses are similar. To further optimize dynamic performance (such as dynamic balancing), 3D modeling software can be used for precise mass attribute evaluation, and the gears can be redesigned with necessary counterweights or modifications based on the mass differences.

[0109] 4.3 Modular and serialized design Based on the aforementioned theoretical model and parametric design method for reduction ratios, efficient modular and serial development can be achieved. By selecting different numbers of meshing teeth at the fixed end (Z_f) and the number of meshing teeth at the output end (…),… By combining these components, the required reduction ratio and output direction can be accurately predicted and realized based on theoretical models, thereby quickly building a series of products that meet different application needs.

[0110] 4.4 Force Flow Analysis of the Reducer (Based on the Force Feedback Cyclic Amplification Principle) Taking the fixed and output components of the rolling assembly (fixed housing 1) as an example (assembly 1 contains 12 rollers, assembly (second cycloidal wheel 4) contains 11 rollers; the external gear plate (first pin wheel 2) meshes with assembly (fixed housing 1) with 13 teeth; the external gear plate (first cycloidal wheel 3) meshes with assembly (second cycloidal wheel 4) with 12 teeth): 4.4.1 Excitation Input: Power is transmitted through the input component, driving the eccentric component to generate periodic eccentric oscillation excitation, which acts on the synchronously connected external gear plate (first pin wheel 2) and (first cycloidal wheel 3).

[0111] 4.4.2 Force Decomposition and Feedback: When the external gear plate meshes with the fixed component, its meshing reaction force consists of two components: one is the normal force resisting the thrust of the eccentric component, and the other is the tangential feedback force generated by the unique tooth profile, which is in the same direction as the input torque. In addition, the gear plate meshes with the output component, which also generates a reaction force.

[0112] 4.4.3 Cyclic Amplification Effect: The tangential feedback force on the side of the external gear disk is continuously fed back to the input end through the system lever action, and is superimposed with the input force to form a gain.

[0113] This process achieves cyclical amplification of force under dynamic equilibrium. Ultimately, one component of the force from the input component is amplified into an output force of approximately 13 times that acting on the component.

[0114] The total reduction ratio is a synthesis of two stages of motion, but its torque amplification effect mainly stems from the aforementioned force feedback mechanism, achieving efficient output from high-speed input to low-speed, high-torque output.

[0115] V. Beneficial Effects Compared with the prior art, the present invention has the following fundamental advantages: Breakthrough in principle: For the first time, "force feedback loop amplification" was realized inside the transmission system, improving transmission efficiency.

[0116] Multi-mode flexibility: Supports multiple working modes such as gear plate motion, rolling component motion and compound motion, with strong adaptability.

[0117] Solving the interference problem: A unique tooth profile generation method eliminates the risk of motion interference from the geometric source.

[0118] Excellent overall performance: It combines high reduction ratio, high rigidity, high reliability and high torque density.

[0119] Strong design foundation: Provides parametric tooth profile design and modification theory.

[0120] It provides a parametric and visual collaborative design process: designers can directly control the geometry and performance characteristics of the final tooth profile by adjusting a few intuitive parameters (M, N, Rs, e), which greatly reduces the design complexity and development cycle of multi-tooth disk transmission systems.

[0121] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A transmission method based on the principle of force feedback cyclic amplification, characterized in that, The steps are as follows: A transmission system is provided, including an input component, a fixed component as a force feedback anchor point, a transmission component as a force circulation carrier, and an output component; An input force is applied to the transmission component through the input component; through the meshing between the fixed component and the transmission component, a tangential reaction force is generated, the direction of which is the same as or opposite to the driving force of the input force, forming a feedback force. The feedback force is guided to the meshing point between the transmission component and the output component, generating a normal force that merges with the input force to jointly drive the transmission component.

2. A method for generating the tooth profile of an eccentric array envelope curve for implementing the transmission method of claim 1, characterized in that, Includes the following steps: Define a base circle C1 with center O; take a point A on the circumference of the base circle C1 as its center, and draw a circle with radius R. s Draw a straight line L through the point O and the seed circle; Determine an eccentric point O on the straight line L. e Centered on point O, the seed circle is divided into M equal parts in a circular array to obtain M sub-circles, where M≥1; With the aforementioned eccentric point O e Centered on the line L, divide the line L into N equal circular arrays, where N is an integer greater than 1, and adjust the eccentric point O. e The position is adjusted iteratively by modifying the eccentric point (O). e The position of the (N) straight lines after the array is ensured to maintain a preset safe gap with the seed circle; The M sub-circles obtained by arraying around the point O are treated as a whole, and revolved around the eccentric point O. e Divide the circular array into N equal parts to obtain M×N sub-circles in space; calculate the common inner envelope or outer common envelope of the M×N sub-circles to generate an eccentric array envelope curve with N fluctuation periods. The fluctuation amplitude of the tooth profile is independently controlled by adjusting the eccentricity e and the radius of the seed circle.

3. A harmonic QL reducer, used to obtain the tooth profile by the tooth profile generation method described in claim 2, characterized in that, include: A shell; An input component for receiving power; An eccentric component driven by the input component; A transmission component, the transmission component comprising at least two toothed discs connected by a synchronization mechanism, the tooth profile of the toothed discs being a wavy tooth profile generated based on an eccentric array envelope curve; A fixed component engages with a gear in the transmission component and is fixedly connected to the housing, serving as an anchor point for force feedback; An output component engages with another gear disc in the transmission component.

4. The harmonic balance QL reducer according to claim 3, characterized in that, The synchronization mechanism is a synchronization column (16) or a flexible connector, and at least two of the gear discs are coaxially mounted or connected with a specific phase difference via bearings.

5. A harmonic balance QL reducer according to claim 3, characterized in that, The fixed component and the output component are rolling components or toothed discs; When it is a rolling assembly, it includes a fixed structure and a number of meshing elements evenly distributed thereon.

6. A harmonic balance QL reducer according to claim 3, characterized in that, The inner wall of the outer shell is provided with a positioning structure, and the outer side of the fixing ring (11) of the fixing component is provided with a limiting structure that cooperates with the positioning structure, so as to restrict the rotation of the fixing component in the outer shell through the cooperation of the limiting structure and the positioning structure.

7. A harmonic balance QL reducer according to claim 3, characterized in that, The input component is connected to an eccentric component to convert the rotational motion of the input component into the eccentric oscillation of the transmission component.

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