Harmonic reducer and joint module

Abstract

The application provides a harmonic reducer and a joint module, and relates to the technical field of harmonic transmission. In the harmonic reducer, the shaft body of the front cover shaft is arranged in the cam; the first bearing is connected between the cam and the shaft body, and the sealing groove is formed between the first bearing and the shaft body; the sealing ring is located in the sealing groove, and the sealing ring is in sealing contact with the first bearing and the shaft body; the dynamic storage modulus of the sealing ring is E, the damping ratio of the sealing ring is η, the Young's modulus of the shaft body material is Eq, E≤0.1×Eq; η≥A / (E)^B+C, 0.5≤A≤2.0, 0.3≤B≤0.7, 0.05≤C≤0.15. In this way, the sealing ring meets the specific low stiffness and stiffness-damping synergistic relationship, so that the sealing ring also has a damping effect and can reduce the running noise of the long-shaft harmonic reducer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harmonic transmission, in particular to a harmonic reducer and a joint module. BACKGROUND

[0002] The harmonic reducer is a kind of high-precision and high-torque transmission device, which is widely used in the fields of robots, industrial automation, precision equipment, etc. Among them, the long shaft harmonic reducer is widely used in some scenes, such as the joint module of the robot, because it can meet the special needs of the camshaft penetrating the motor rotor and forming a module.

[0003] The long shaft harmonic reducer includes a wave generator, a flexspline, a rigid wheel and other components, and has a lengthened shaft. The applicant finds that the long shaft harmonic reducer in the related art is prone to generate a large noise when running at high speed. Therefore, how to reduce the running noise of the long shaft harmonic reducer and improve the running stability of the harmonic reducer has become the direction of exploration for the technical personnel in the field. SUMMARY

[0004] Therefore, the present application provides a harmonic reducer and a joint module to solve the problem of how to reduce the running noise of the long shaft harmonic reducer in the prior art.

[0005] In order to achieve the above purpose, the present application provides the following technical solutions:

[0006] A harmonic reducer comprises:

[0007] a rigid wheel;

[0008] a flexspline, which is sleeved in the rigid wheel, and the external teeth of the flexspline are engaged with the internal teeth of the rigid wheel;

[0009] a wave generator, which is sleeved in the flexspline, the wave generator comprises a flexible bearing and a cam which is sleeved in the flexible bearing;

[0010] a front cover shaft, which comprises a cover plate body and a shaft body connected with the cover plate body, the shaft body is arranged in the cam along the axial direction, and the cover plate body is tightly connected with the rigid wheel along the axial direction;

[0011] a first bearing, which is connected between the inner annular surface of the cam and the outer annular surface of the shaft body, and a sealing groove is formed between the first bearing and the shaft body;

[0012] a sealing ring, which is located in the sealing groove and is in sealing contact with the first bearing and the shaft body;

[0013] wherein the dynamic storage modulus of the sealing ring is E, the damping ratio of the sealing ring is η, and the Young's modulus of the material of the shaft body is Eq, E, η and Eq satisfy:

[0014] E≤0.1×Eq;

[0015] η≥A / (E)^B+C, A, B, C are optimization constants, 0.5≤A≤2.0, 0.3≤B≤0.7, 0.05≤C≤0.15.

[0016] Optionally, the sealing ring is an X-shaped sealing ring.

[0017] Optionally, in a natural state, the radial thickness of the sealing ring is H and the axial width is D, and the assembly gap of the first bearing and the shaft in the radial direction is a;

[0018] In a state of sealing contact with the first bearing and the shaft, the radial compression rate of the sealing ring is δ;

[0019] Wherein, δ=[H-(D+a)] / H×100%, 15%≤δ≤25%, a≤0.08×H.

[0020] Optionally, in a natural state, the radial thickness of the sealing ring is H and the axial width is D, 0.8≤H / D≤1.2.

[0021] Optionally, in a natural state, the radial thickness of the sealing ring is H, and the average acting diameter of the sealing ring is hm, wherein:

[0022] H / hm=k, 0.04≤k≤0.15.

[0023] Optionally, the contact side of the sealing ring and the first bearing forms two sealing lips, and the axial width of a single sealing lip is d, 0.15mm≤d≤2mm.

[0024] Optionally, the sealing groove is provided on the shaft.

[0025] Optionally, the inner ring surface of the cam is provided with a shoulder, the shoulder is located on the side of the first bearing away from the cover body, and the first bearing abuts against the shoulder in the axial direction;

[0026] The inner ring surface of the cam is provided with a first retainer groove, the first retainer groove is located on the side of the first bearing close to the cover body, and a first retainer is assembled in the first retainer groove to form a stop for the first bearing.

[0027] Optionally, it further comprises:

[0028] A rear cover is axially tightly connected with the flexible gear, and the cam is axially arranged in the rear cover.

[0029] a second bearing connected between the inner ring surface of the rear cover and the outer ring surface of the cam;

[0030] a third bearing connected between the inner ring surface of the rear cover and the outer ring surface of the cam, the third bearing being arranged side by side with the second bearing;

[0031] wherein the outer periphery of the second bearing and the outer periphery of the third bearing are in clearance fit with the inner ring surface of the rear cover, and the second bearing and the third bearing are bonded with the rear cover.

[0032] Optionally, the second bearing is located outside the third bearing.

[0033] The outer ring surface of the cam is provided with a second retainer groove, the second retainer groove is located outside the second bearing, a second retainer is fitted in the second retainer groove, and a pressing plate is connected to the rear cover, the pressing plate and the second retainer forming a stop for the second bearing.

[0034] A joint module comprising the harmonic reducer in any of the above, the harmonic reducer being a long-axis harmonic reducer.

[0035] The harmonic reducer provided by the application comprises a rigid gear, a flexible gear, a wave generator, a front cover shaft, a first bearing and a sealing ring; the flexible gear is sleeved in the rigid gear, and the external teeth of the flexible gear are engaged with the internal teeth of the rigid gear; the wave generator is sleeved in the flexible gear, and the wave generator comprises a flexible bearing and a cam sleeved in the flexible bearing; the front cover shaft comprises a cover plate body and a shaft body connected with the cover plate body, the shaft body is arranged in the cam in the axial direction, and the cover plate body is in axial fastening connection with the rigid gear; the first bearing is connected between the inner annular surface of the cam and the outer annular surface of the shaft body, a sealing groove is formed between the first bearing and the shaft body, the sealing ring is located in the sealing groove, and the sealing ring is in sealing contact with the first bearing and the shaft body; wherein the dynamic storage modulus of the sealing ring is E, the damping ratio of the sealing ring is η, the Young's modulus of the material of the shaft body is Eq, E, η and Eq satisfy: E≤0.1×Eq; η≥A / (E)^B+C, A, B, C are optimization constants, 0.5≤A≤2.0, 0.3≤B≤0.7, 0.05≤C≤0.15. In this way, the harmonic reducer provided by the application can be a long-shaft harmonic reducer, the cam and the shaft body of the front cover shaft are both designed to be lengthened in the axial direction to achieve the long-shaft characteristics of the long-shaft harmonic reducer; the first bearing enables the shaft body and the cam to rotate relatively, and the existence of the sealing ring not only forms a stable connection relationship between the first bearing and the shaft body through interference assembly, but also plays a sealing role; meanwhile, the sealing ring itself is also designed in the application, the dynamic storage modulus of the sealing ring represents its stiffness index, the correlation between the stiffness, damping and operating noise of the harmonic reducer is explored, and the sealing ring that meets the above stiffness requirement and damping requirement is obtained, because the specific low stiffness and stiffness-damping collaborative relationship are met, the sealing ring not only has a sealing effect, but also has a damping effect, the sealing ring has an integrated design of damping and sealing, can effectively isolate and dissipate high-frequency vibrations generated during transmission, suppress resonance, fundamentally reduce the operating noise of the long-shaft harmonic reducer, and solve the problem of how to reduce the operating noise of the long-shaft harmonic reducer in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the provided drawings.

[0037] Figure 1 A cross-sectional view of the harmonic reducer provided by the embodiment of the application.

[0038] Figure 2 A partial cross-sectional enlarged view of the harmonic reducer provided by the embodiment of the application.

[0039] Figure 3 A partial cross-sectional view of a sealing ring provided in an embodiment of the present application.

[0040] Figure 4 A cross-sectional view of a sealing ring provided in an embodiment of the present application.

[0041] Figure 5 A full cross-sectional view of a sealing ring provided in an embodiment of the present application.

[0042] In Figures 1-5 which:

[0043] 1, a rigid gear; 2, a flexible gear; 3, a flexible bearing; 4, a cam; 5, a front cover shaft; 6, a first bearing; 7, a sealing ring; 8, a first retainer; 9, a rear cover; 10, a second bearing; 11, a third bearing; 12, a second retainer; 13, a pressing plate; 14, a cross roller bearing;

[0044] 51, a cover plate body; 52, a shaft body;

[0045] 71, a sealing lip. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0047] In order to make the long-shaft harmonic reducer have the feature of a lengthened shaft, some long-shaft harmonic reducers are designed with a lengthened shaft in the axial direction. The applicant has found in production practice that, because the cam and the front cover shaft are both designed to be lengthened in the axial direction, the matching position of the cam and the front cover shaft is prone to generating a large noise due to relative rotation when the long-shaft harmonic reducer is running at a high speed.

[0048] Based on the above finding, as Figures 1-5As shown, the embodiment of the present application provides a harmonic reducer, which comprises a rigid gear 1, a flexible gear 2, a wave generator, a front cover shaft 5, a first bearing 6 and a sealing ring 7; the flexible gear 2 is sleeved in the rigid gear 1, and the external teeth of the flexible gear 2 are engaged with the internal teeth of the rigid gear 1; the wave generator is sleeved in the flexible gear 2, and the wave generator comprises a flexible bearing 3 and a cam 4 sleeved in the flexible bearing 3; the front cover shaft 5 comprises a cover plate body 51 and a shaft body 52 connected with the cover plate body 51, the shaft body 52 is located at the central part of the cover plate body 51, the cover plate body 51 and the shaft body 52 are integrally formed, the shaft body 52 is axially arranged in the cam 4, and the cover plate body 51 is axially and tightly connected with the rigid gear 1; the first bearing 6 is connected between the inner annular surface of the cam 4 and the outer annular surface of the shaft body 52, and a sealing groove is formed between the first bearing 6 and the shaft body 52; the sealing ring 7 is located in the sealing groove, and the sealing ring 7 is in sealing contact with the first bearing 6 and the shaft body 52; wherein the dynamic storage modulus of the sealing ring 7 is E, the damping ratio of the sealing ring 7 is η, the Young's modulus of the material of the shaft body 52 is Eq, and E, η and Eq satisfy: E≤0.1×Eq; η≥A / (E)^B+C, A, B, C are optimization constants, 0.5≤A≤2.0, 0.3≤B≤0.7, 0.05≤C≤0.15. The harmonic reducer provided by the present application can be a long shaft harmonic reducer, and the shaft body 52 of the cam 4 and the front cover shaft 5 are both designed to be lengthened in the axial direction to achieve the long shaft characteristics of the long shaft harmonic reducer.

[0049] In this way, the first bearing 6 enables the shaft body 52 and the cam 4 to rotate relatively, and the sealing ring 7 not only forms a stable connection relationship between the first bearing 6 and the shaft body 52 through interference assembly, but also has a sealing effect. Meanwhile, the sealing ring 7 is also designed in the present application, and the dynamic storage modulus of the sealing ring 7 represents its stiffness index. By exploring the correlation between the stiffness, damping and operating noise of the harmonic reducer of the sealing ring 7, the sealing ring 7 that meets the above stiffness and damping requirements is obtained. Since the specific low stiffness and stiffness-damping collaborative relationship are met, the sealing ring 7 not only has a sealing effect, but also has a damping effect. The sealing ring has an integrated design of damping and sealing, can effectively isolate and dissipate high-frequency vibrations generated during transmission, suppress resonance, fundamentally reduce the operating noise of the long shaft harmonic reducer, and solve the problem of how to reduce the operating noise of the long shaft harmonic reducer in the prior art.

[0050] It should be noted that the axial directions of each component of the harmonic reducer provided by the present application coincide, that is, all the components are coaxially assembled.

[0051] In some specific embodiments, the first bearing 6 is arranged close to the root position of the shaft body 52.

[0052] As to the shape of the sealing ring 7, the applicant finds that the O-shaped sealing ring commonly used in harmonic reducer is prone to stick-slip effect. Based on this, in some preferred embodiments, the sealing ring 7 is designed as an X-shaped sealing ring, that is, the cross section of the sealing ring 7 is X-shaped.

[0053] In this way, the X-shaped sealing ring is used to eliminate the abnormal sound from the perspective of tribology; and since the sealing ring is X-shaped, the low noise performance can be maintained even after long-term use and wear, further eliminating the noise risk of the harmonic reducer after long-term use; in addition, the X-shaped sealing ring helps to ensure the coaxiality of the front cover shaft 5 during assembly, and supports the front cover shaft 5 through the X-shaped sealing ring, which can reduce the coaxiality tolerance during assembly.

[0054] In some preferred embodiments, the radial thickness of the sealing ring 7 is H and the axial width is D in a natural state, that is, the state of the sealing ring 7 without any external force, the radial thickness of the sealing ring 7 is the difference between the outer radius and the inner radius; the assembly gap between the first bearing 6 and the shaft body 52 in the radial direction is a; the radial compression rate of the sealing ring 7 is δ when the sealing ring 7 is in contact with the first bearing 6 and the shaft body 52; the assembly gap between the first bearing 6 and the shaft body 52 is the assembly tolerance.

[0055] Wherein, δ = [H-(D+a)] / H×100%, 15%≤δ≤25%, a≤0.08×H.

[0056] In this way, on the basis of the good noise reduction effect brought by the foregoing embodiments, by further limiting the parameters of the sealing ring 7, the stability of the sealing ring 7 in operation is ensured, system failure such as leakage of lubricating grease or intrusion of pollutants caused by failure of the sealing ring 7 is avoided, and the effect of high system stability is also brought; in combination with the foregoing embodiments, the noise reduction effect of the sealing ring 7 is regarded as a system problem, the parameters are quantified, the stiffness and damping are coordinated, and the assembly tolerance is included in the design, to further ensure the good noise reduction effect of the sealing ring.

[0057] In some preferred embodiments, the radial thickness of the sealing ring 7 is H and the axial width is D in a natural state, that is, the state of the sealing ring 7 without any external force, the radial thickness of the sealing ring 7 is the difference between the outer radius and the inner radius; the assembly gap between the first bearing 6 and the shaft body 52 in the radial direction is a; the radial compression rate of the sealing ring 7 is δ when the sealing ring 7 is in contact with the first bearing 6 and the shaft body 52; the assembly gap between the first bearing 6 and the shaft body 52 is the assembly tolerance.

[0058] In some preferred embodiments, the radial thickness of the sealing ring 7 is H, and the average acting diameter of the sealing ring 7 is hm, where H / hm=k, 0.04≤k≤0.15. The average acting diameter is the average of the inner diameter h1 and the outer diameter h2, hm=(h1+h2) / 2; k can be regarded as the height-diameter ratio coefficient. With such a design, the X-shaped sealing ring obtained according to the design parameter range can bring a better noise reduction effect in the exploration range.

[0059] In some preferred embodiments, due to the X-shaped cross section of the sealing ring 7, the contact side of the sealing ring 7 and the first bearing 6 forms two sealing lips 71, and the axial width of a single sealing lip 71 is d, 0.15mm≤d≤2mm. As shown in the cross section of the sealing ring 7, the top end size of a single sealing lip 71 is also d. Figure 4

[0060] With such a design, the sealing lip 71 size designed according to the value range can cooperate with the lubricating grease as a stable lubrication structure, further optimizing the noise reduction effect.

[0061] The sealing ring 7 designed according to the foregoing embodiments, i.e., limiting the key geometric parameters and system compression rate of the X-shaped sealing ring, can bring excellent noise reduction effect to the long shaft harmonic reducer.

[0062] In some optional embodiments, the sealing groove is provided on the shaft body 52, i.e., the outer ring surface of the shaft body 52 is provided with a sealing groove. In other feasible embodiments, the sealing groove is provided on the inner ring of the first bearing 6; or, the grooves are provided on both the first bearing 6 and the shaft body 52 to jointly form the sealing groove.

[0063] In some specific embodiments, the inner ring surface of the cam 4 is provided with a shoulder, the shoulder is located on the side of the first bearing 6 away from the cover plate body 51, and the first bearing 6 abuts against the shoulder in the axial direction; the inner ring surface of the cam 4 is provided with a first retainer groove, the first retainer groove is located on the side of the first bearing 6 close to the cover plate body 51, and the first retainer groove is fitted with a first retainer 8 to form a stop for the first bearing 6. With such a design, the first bearing 6 and the sealing ring 7 are convenient to assemble.

[0064] ​In some specific embodiments, the harmonic reducer further comprises a rear cover 9, a second bearing 10 and a third bearing 11; the rear cover 9 is connected with the flexspline 2 in an axial direction, the cam 4 is arranged in the rear cover 9 in an axial direction; the second bearing 10 is connected between the inner ring surface of the rear cover 9 and the outer ring surface of the cam 4; the third bearing 11 is connected between the inner ring surface of the rear cover 9 and the outer ring surface of the cam 4, and the third bearing 11 is arranged side by side with the second bearing 10; wherein the outer periphery of the second bearing 10 and the outer periphery of the third bearing 11 are in clearance fit with the inner ring surface of the rear cover 9, and the second bearing 10 and the third bearing 11 are both bonded with the rear cover 9, that is, fixed by smearing glue.

[0065] In this way, the double bearings are arranged side by side to support, and the clearance fit is adopted, which not only facilitates assembly, but also makes the overall structure of the harmonic reducer compact after assembly.

[0066] Generally, the flexspline 2 and the rigid spline 1 are also assembled with the cross roller bearing 14. Specifically, bolts pass through the cover plate body 51 of the front cover shaft 5 and the rigid spline 1 in sequence and are screwed into the inner ring of the cross roller bearing 14, and other bolts pass through the flange of the rear cover 9 and the flexspline 2 in sequence and are screwed into the outer ring of the cross roller bearing 14.

[0067] Further, in some specific embodiments, the second bearing 10 is located outside the third bearing 11; the outer ring surface of the cam 4 is provided with a second retainer groove, the second retainer groove is located outside the second bearing 10, a second retainer 12 is assembled in the second retainer groove, and a pressing plate 13 is connected to the rear cover 9, the pressing plate 13 and the second retainer 12 form a stop for the second bearing 10. The pressing plate 13 is connected with the rear cover 9 in an axial direction, and the pressing plate 13 is located outside the outer periphery of the second retainer 12 with a spacing. In this way, the second bearing 10 and the third bearing 11 are facilitated to be assembled.

[0068] In some specific embodiments, the first bearing 6, the second bearing 10 and the third bearing 11 are all deep groove ball bearings. For example, the first bearing 6 is a VV deep groove ball bearing, the second bearing 10 is a VV deep groove ball bearing, and the third bearing 11 is a ZZ deep groove ball bearing.

[0069] Based on the harmonic reducer described above, the embodiments of the present application further provide a joint module, which comprises the harmonic reducer described above, and the harmonic reducer is a long-axis harmonic reducer. The joint module can be but is not limited to a joint module of a robot. Since the joint module has the harmonic reducer described above, the beneficial effects of the joint module brought by the harmonic reducer are described above and will not be repeated here.

[0070] The above describes the basic principles of the present application in combination with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present application. In addition, the above specific details disclosed are only for the purpose of illustration and understanding, and are not limiting, and the above details do not limit the present application to be necessarily implemented with the above specific details.

[0071] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, mean "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0072] It should also be noted that in the devices, equipment and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application.

[0073] The above description of the disclosed aspects is provided so that any person skilled in the art can make or use the present application. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but is intended to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0074] It should be understood that the adjectives "first", "second", "third", "fourth", "fifth" and "sixth" used in the embodiments of the present application are only used for clearer description of the technical solutions, and cannot be used to limit the protection scope of the present application.

[0075] The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A harmonic reducer characterized by, The utility model relates to a kind of cam mechanism, including: Rigid wheel (1); Flexible wheel (2), inner sleeve in the rigid wheel (1), and the outer gear of the flexible wheel (2) is engaged with the inner gear of the rigid wheel (1); Wave generator, inner sleeve in the flexible wheel (2), the wave generator includes flexible bearing (3) and cam (4) inner sleeve in the flexible bearing (3); Front cover shaft (5), including cover plate body (51) and with the cover plate body (51) connection axle body (52), the axle body (52) is along axial and is arranged in the cam (4), the cover plate body (51) with the rigid wheel (1) is along axial fastening connection; First bearing (6) is connected between the inner ring surface of the cam (4) and the outer ring surface of the axle body (52), and the first bearing (6) and the axle body (52) are formed with sealing groove between; Sealing ring (7) is located in the sealing groove, and the sealing ring (7) is in sealing contact with the first bearing (6) and the axle body (52); Wherein, the dynamic storage modulus of the sealing ring (7) is E, the damping ratio of the sealing ring (7) is η, the Young's modulus of the material of the axle body (52) is Eq, E, η and Eq satisfy: E≤0.1×Eq; η≥A / (E)^B+C, A, B, C are optimization constants, 0.5≤A≤2.0, 0.3≤B≤0.7, 0.05≤C≤0.

15.

2. The harmonic reducer of claim 1, wherein, The sealing ring (7) is X-shaped sealing ring.

3. The harmonic reducer of claim 2, wherein, When the sealing ring (7) is in natural state, the radial thickness of the sealing ring (7) is H and the axial width is D, the assembly gap of the first bearing (6) and the axle body (52) in radial direction is a; When the sealing ring (7) is in sealing contact with the first bearing (6) and the axle body (52), the radial compression rate of the sealing ring (7) is δ; Wherein, δ=[H-(D+a)] / H×100%, 15%≤δ≤25%, a≤0.08×H.

4. The harmonic reducer of claim 2 or 3, wherein, When the sealing ring (7) is in natural state, the radial thickness of the sealing ring (7) is H and the axial width is D, 0.8≤H / D≤1.

2.

5. The harmonic reducer of claim 2 or 3, wherein, When the sealing ring (7) is in natural state, the radial thickness of the sealing ring (7) is H, the average acting diameter of the sealing ring (7) is hm, wherein: H / hm=k, 0.04≤k≤0.

15.

6. The harmonic reducer of claim 2 or 3, wherein, The contact side of the sealing ring (7) and the first bearing (6) forms two sealing lips (71), and the axial width of a single sealing lip (71) is d, 0.15mm≤d≤2mm.

7. The harmonic reducer of claim 1, wherein, The sealing groove is opened on the axle body (52).

8. The harmonic reducer of claim 1, wherein, The inner ring surface of the cam (4) is provided with a stop shoulder, and the stop shoulder is located on the side of the first bearing (6) away from the cover plate body (51), and the first bearing (6) is abutted on the stop shoulder in the axial direction; The inner ring surface of the cam (4) is provided with a first retainer groove, and the first retainer groove is located on the side of the first bearing (6) close to the cover plate body (51), and a first retainer (8) is assembled in the first retainer groove to form a stop for the first bearing (6).

9. The harmonic reducer of claim 1, wherein, Further including: A rear cover (9) is connected with the flexible gear (2) in an axial direction, and the cam (4) is arranged in the rear cover (9) in an axial direction; A second bearing (10) is connected between the inner ring surface of the rear cover (9) and the outer ring surface of the cam (4); A third bearing (11) is connected between the inner ring surface of the rear cover (9) and the outer ring surface of the cam (4), and the third bearing (11) is arranged side by side with the second bearing (10); The outer periphery of the second bearing (10) and the outer periphery of the third bearing (11) are in clearance fit with the inner ring surface of the rear cover (9), and the second bearing (10) and the third bearing (11) are bonded with the rear cover (9).

10. The harmonic reducer of claim 9, wherein, The second bearing (10) is located outside the third bearing (11); The outer ring surface of the cam (4) is provided with a second retainer groove, the second retainer groove is located outside the second bearing (10), a second retainer (12) is arranged in the second retainer groove, and a pressing plate (13) is connected to the rear cover (9), the pressing plate (13) and the second retainer (12) form a stop for the second bearing (10).

11. An articulating module, comprising: The harmonic reducer comprises the harmonic reducer according to any one of claims 1-10, and the harmonic reducer is a long-axis harmonic reducer.

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