Harmonic reducer based on giant magnetostrictive effect and flexible gear rigidity adjusting method

Abstract

The invention relates to the technical field of harmonic speed reducers, and particularly provides a harmonic speed reducer based on the giant magnetostrictive effect and a flexible gear rigidity adjusting method.The outer surface of a flexible gear is connected with a rigid gear in a meshed mode through meshing teeth; the inner surface of the flexible gear is sleeved on the wave generator; the rigid supporting layer is arranged between the second area of the flexible gear and the rigid gear and fixedly connected with a shell of the harmonic reducer. The actuator is arranged between the second area of the flexible gear and the rigid supporting layer and comprises an actuating element and an electromagnetic driving circuit; the fixed end of the execution element is fixedly connected with the rigid supporting layer, and the movable end of the execution element is fixedly connected with the flexible gear and is used for radially and telescopically moving along the flexible gear under the action of a magnetic field based on the giant magnetostrictive effect. The electromagnetic drive circuit is connected with the execution element and used for regulating and controlling the magnetic field and the telescopic length of the execution element to drive the flexible gear to generate the radial direction, so that the rigidity of the flexible gear is adjusted, and the problems that the rigidity of the flexible gear cannot be dynamically adjusted and cannot dynamically meet the load requirement are solved.

Description

Technical Field

[0001] This invention relates to the field of harmonic reducer technology, and in particular to a harmonic reducer based on the super magnetostrictive effect and a method for adjusting the stiffness of the flexural wheel. Background Technology

[0002] Harmonic reducers consist of a wave generator, a flexible wheel, and a rigid wheel. The wave generator is driven to rotate by a motor, which compresses the flexible wheel into an elliptical shape. The flexible wheel and the rigid wheel achieve differential meshing through the difference in the number of teeth. The flexible wheel rotates slowly in the opposite direction to the rigid wheel, thereby achieving high-precision speed reduction output. Therefore, it is widely used in industrial robots and intelligent equipment.

[0003] In actual operation, the torque, impact, speed, or force direction experienced by harmonic reducers change dynamically with the working conditions, and these changes are not fixed. However, the flexures in related technologies are usually made of highly elastic metals, and their stiffness is determined during the design phase. This results in the stiffness of the flexure not being dynamically matched with the load requirements, which may lead to problems such as being unable to cope with heavy-load impacts or being unable to adapt to light-load, high-precision requirements.

[0004] There is currently no effective solution to the problem that the stiffness of the flexible wheel cannot be adjusted and cannot dynamically match the load requirements in related technologies. Summary of the Invention

[0005] The harmonic reducer and flexure stiffness adjustment method based on the super magnetostrictive effect provided by the present invention at least solve the problem that the stiffness of the flexure cannot be adjusted and cannot dynamically match the load requirements.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The present invention provides a harmonic reducer based on the super magnetostrictive effect, comprising: a flexible wheel, the outer surface of which includes a first region and a second region; the first region is provided with teeth; a rigid wheel is connected to the outer surface of the flexible wheel through the teeth; the inner surface of the flexible wheel is fitted onto a wave generator; a rigid support layer is disposed between the second region and the rigid wheel, and is fixedly connected to the outer shell of the harmonic reducer; an actuator is disposed between the second region and the rigid support layer, comprising: an actuator element and an electromagnetic drive circuit; wherein, the fixed end of the actuator element is fixedly connected to the rigid support layer, and the moving end of the actuator element is fixedly connected to the flexible wheel, for radial expansion and contraction movement along the flexible wheel under the action of a magnetic field based on the super magnetostrictive effect; the electromagnetic drive circuit is connected to the actuator element, for controlling the magnetic field and expansion and contraction length of the actuator element to drive the flexible wheel to generate radial deformation.

[0008] Preferably, the harmonic reducer further includes: an elastic layer disposed in the second region and fixedly connected to the outer surface of the flexible wheel and the moving end of the actuator; the thickness of the elastic layer is 0.3 to 0.6 times the thickness of the flexible wheel; the thickness of the flexible wheel is the distance between the outer surface of the flexible wheel and the inner surface of the flexible wheel in the second region along the radial direction of the flexible wheel.

[0009] Preferably, the actuating element is a GMM rod made of super magnetostrictive material; the ratio of the extension / extension of the actuating element to the thickness of the flexure is not less than 2%.

[0010] Preferably, a plurality of actuators are evenly arranged in a group at equal intervals along the axis of the flexible wheel; the second region of the flexible wheel is provided with a plurality of groups of actuators, and the plurality of groups of actuators are evenly arranged at equal angles between each other and along the outer circumference of the flexible wheel.

[0011] Preferably, the elastic layer has a protrusion on the side near the flexible wheel; the protrusion is inserted into a groove on the outer surface of the flexible wheel and is fixedly connected to the outer surface of the flexible wheel; the elastic layer has a slot on the side near the actuator, the position of the slot corresponds to the position of each actuator; the moving end of each actuator element in each actuator is inserted into a slot and is fixedly connected to the wall of the slot.

[0012] Preferably, the actuator further includes: an actuator housing, covering the outside of the actuator element and the electromagnetic drive circuit; one side of the actuator housing is connected to the support layer, and the other side is fixedly connected to the elastic layer, and is provided with a through hole for the actuator element to pass through; a magnetic pad, disposed on the moving end of the actuator element and fixedly connected to the elastic layer; and a support sleeve, disposed on the actuator housing and coaxially disposed outside the moving end of the actuator element.

[0013] Preferably, in the radial direction of the flexible wheel, the distance between the side surface of the rigid support layer away from the actuator and the center of the flexible wheel is less than the radius of the tooth tip circle of the flexible wheel, and greater than the outer radius of the second region of the flexible wheel.

[0014] Preferably, in the radial direction of the flexible wheel, the distance between the side surface of the rigid support layer away from the actuator and the center of the flexible wheel is equal to the base circle radius of the flexible wheel.

[0015] Preferably, the electromagnetic drive circuit is connected to a control system; the control system includes: a signal acquisition module disposed on the input shaft, output shaft, and flexure of the harmonic reducer, for acquiring torque feedback signals and vibration acceleration signals of the input shaft, load change signals of the output shaft, and strain signals of the flexure; a signal processing module connected to the signal acquisition module, for calculating the target stiffness of the flexure based on the torque feedback signals, vibration acceleration signals, load change signals, and strain signals; and a control drive module connected to the signal processing module and the electromagnetic drive circuit, for generating current and frequency adjustment commands for the electromagnetic drive circuit based on the target stiffness, so as to control the electromagnetic drive circuit to drive the actuator to operate.

[0016] This invention also provides a method for adjusting the stiffness of a flexible wheel in a harmonic reducer based on the giant magnetostrictive effect, applied to the aforementioned harmonic reducer based on the giant magnetostrictive effect, comprising the following steps: acquiring torque feedback signals and vibration acceleration signals of the input shaft of the harmonic reducer, load change signals of the output shaft, and strain signals of the flexible wheel; calculating the target stiffness of the flexible wheel based on the torque feedback signals, vibration acceleration signals, load change signals, and strain signals; generating current and frequency adjustment commands for the electromagnetic drive circuit based on the target stiffness, and controlling the electromagnetic drive circuit in the actuator to drive the actuator element to move; and adjusting the stiffness of the flexible wheel by squeezing the outer surface of the flexible wheel through the movement of the actuator element.

[0017] The present invention also provides an electronic device, comprising: a processor, and a memory storing a program, the stored program including instructions that, when executed by the processor, cause the processor to perform the aforementioned flexible wheel stiffness adjustment method.

[0018] The present invention also provides a non-transient machine-readable medium storing computer instructions for causing the computer to perform the aforementioned flexible wheel stiffness adjustment method.

[0019] Compared with the prior art, the above-described technical solution of the present invention has the following advantages:

[0020] This invention provides a harmonic reducer and a method for adjusting the stiffness of a flexible wheel based on the giant magnetostrictive effect. A rigid support layer is placed between the second region of the flexible wheel and the rigid wheel, and an actuator is placed between the rigid support layer and the second region of the flexible wheel. Driven by an electromagnetic drive circuit, the actuator generates a magnetic field change, causing it to expand and contract based on the giant magnetostrictive effect. Because the actuator is supported by the rigid support layer, it applies a radial compressive force to the flexible wheel during expansion and contraction. The expansion and contraction amount of the actuator can be changed by adjusting the current through the electromagnetic drive circuit, thereby changing the deformation of the flexible wheel and achieving continuous adjustment of its deformation. This allows the stiffness of the flexible wheel to meet dynamic load changes. When the harmonic reducer operates under light load, reducing the stiffness of the flexible wheel reduces energy consumption and improves overall energy efficiency. When the harmonic reducer operates under high load, increasing the stiffness of the flexible wheel can cope with heavy-load meshing impacts and extend the life of the flexible wheel, solving the problem of the inability to adjust the stiffness of the flexible wheel and dynamically match load requirements. Attached Figure Description

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

[0022] Figure 1 This is a schematic diagram of the structure of a harmonic reducer based on the super magnetostrictive effect, according to an embodiment of the present invention.

[0023] Figure 2 This is a partial cross-sectional view of the connection between the flexible wheel, actuator, rigid support layer and rigid wheel in an embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the actuator structure according to an embodiment of the present invention.

[0025] Figure 4 This is a schematic flowchart of a method for adjusting the stiffness of a harmonic reducer based on the super magnetostrictive effect, according to an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the control system of an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of the electronic device created by this invention.

[0028] Figure reference numerals:

[0029] 1. Flexible wheel; 11. Gear; 2. Rigid wheel; 3. Wave generator; 4. Actuator; 41. Actuating element; 42. Support sleeve; 43. Actuator housing; 44. Magnetic guide pad; 5. Elastic layer; 51. Protrusion; 52. Slot; 6. Rigid support layer; 71. Signal acquisition module; 72. Signal processing module; 73. Control drive module. Detailed Implementation

[0030] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0031] To address the problem in related technologies that the stiffness of the flexure cannot be adjusted and cannot dynamically match load requirements, the embodiments of this invention provide a harmonic reducer based on the super magnetostrictive effect and a method for adjusting the stiffness of the flexure.

[0032] Among them, such as Figure 1 , Figure 2 As shown, the harmonic reducer based on the super magnetostrictive effect provided by the embodiment of the present invention includes: a flexible wheel 1, a rigid support layer 6, and an actuator 4.

[0033] Specifically, the outer surface of the flexible wheel 1 includes a first region and a second region; the first region is provided with teeth 11; the outer surface of the flexible wheel 1 is connected to the rigid wheel 2 through the teeth 11; the inner surface of the flexible wheel 1 is fitted onto the wave generator 3.

[0034] A rigid support layer 6 is disposed between the second region and the rigid wheel 2, and is fixedly connected to the housing of the harmonic reducer.

[0035] Actuator 4, disposed between the second region and the rigid support layer 6, includes: an actuating element 41 and an electromagnetic drive circuit; wherein, the fixed end of the actuating element 41 is fixedly connected to the rigid support layer 6, and the moving end of the actuating element 41 is fixedly connected to the flexible wheel 1, for radial extension and retraction movement along the flexible wheel 1 under the action of a magnetic field based on the super magnetostrictive effect; the electromagnetic drive circuit is connected to the actuating element 41 and is used to regulate the magnetic field and extension length of the actuating element 41 to drive the flexible wheel 1 to produce radial deformation.

[0036] Specifically, in this embodiment of the invention, the flexible wheel 1 is a thin-walled cylindrical structure that can be elastically deformed. A first region is provided with teeth; therefore, the first region is also called the toothed region. Correspondingly, the second region is the non-toothed region. The flexible wheel 1 is mounted on the wave generator 3, and its thin-walled cylindrical structure will elastically deform according to the shape of the wave generator 3. The first region and the second region are alternately arranged on the outer surface of the flexible wheel 1.

[0037] The flexible wheel 1 can be made of chromium-molybdenum alloy steel (Cr-Mo Steel), nickel-chromium-molybdenum alloy steel (Ni-Cr-Mo Steel), martensitic stainless steel, titanium alloy, or high-strength spring steel, etc. In the embodiments of the present invention, the material of the flexible wheel 1 is preferably chromium-molybdenum alloy steel, which has a balance of high strength and high toughness, excellent fatigue resistance, good elastic deformation ability, and takes into account both rigidity and plasticity, which can meet the requirements of harmonic reducers.

[0038] The thinner the flexible wheel 1, the easier it is to elastically deform under the action of the wave generator. However, if the thickness is too thin, it will reduce the structural strength of the flexible wheel, and the cylinder may dent or the tooth root may break due to excessive force on the teeth during meshing. Therefore, the present invention takes into account the requirements for the structural strength and deformation capacity of the flexible wheel, and preferably the thickness of the flexible wheel 1 is 0.8mm to 1.2mm.

[0039] Furthermore, the wave generator 3 includes a cam and a flexible bearing. The cam is interference-fitted with the inner ring of the flexible bearing, and the outer ring of the flexible bearing is interference-fitted with the inner hole of the flexure. This interference fit ensures a tight connection between the wave generator and the flexure, allowing the wave generator to drive the flexure to undergo elastic deformation when rotating, thereby achieving harmonic drive.

[0040] Wave generator 3 is generally driven by a motor. The output shaft of the motor is coaxially and fixedly connected to the inner hole of the wave generator, preferably by a key connection. The output shaft of the motor is also the input shaft of the harmonic reducer.

[0041] The rigid gear 2 is a rigid internal gear structure. The internal teeth on the rigid gear 2 mesh with the teeth on the outer surface of the flexible gear 1, achieving gear transmission. When the motor starts, the wave generator rotates coaxially with the motor's output shaft, causing the flexible gear 1 to rotate, which in turn drives the rigid gear 2 to rotate through gear transmission. Because the flexible gear 1 deforms from a circle to an ellipse under the action of the wave generator 3, the flexible gear 1 and the rigid gear 2 form a partial mesh. Furthermore, since the number of teeth on the rigid gear 2 is greater than the number of teeth on the flexible gear 1, the flexible gear 1 and the rigid gear 2 are in a differential engagement, with the flexible gear rotating slowly in the opposite direction to the rigid gear, thus achieving high-precision speed reduction output.

[0042] Actuator 4 is the core component used to regulate the stiffness of flexible wheel 1 in the embodiment of the present invention. By setting a rigid support layer between flexible wheel 1 and rigid wheel 2, a stable support force can be provided to actuator 4 so that actuator 4 can provide sufficient radial extrusion force to flexible wheel 1 when it is stretched or deformed, thereby changing the local curvature of flexible wheel 1 and generating radial deformation.

[0043] When the extension and retraction of actuator 4 increases, the compressive force on flexure 1 increases, which increases the local curvature of flexure 1. This increases the effective moment of inertia of flexure 1 at key stress points, enhances the equivalent torsional stiffness of flexure 1, and thus improves the overall structural stiffness of flexure 1.

[0044] When the extension and retraction of actuator 4 decreases, the compressive force on flexure 1 decreases, which reduces the local curvature of flexure 1 and the equivalent torsional stiffness of flexure 1, thereby reducing the overall structural stiffness of flexure 1.

[0045] Furthermore, the axis of the actuator 41 in the actuator 4 is the radial direction of the flexure 1. The actuator 41 has a coil inside, which is connected to the electromagnetic drive circuit. When the electromagnetic drive circuit transmits an electrical signal to the coil, the coil transmits the electrical signal as a magnetic field. Based on the super magnetostrictive effect, the actuator 4 moves radially along the flexure 1 under the action of the magnetic field.

[0046] The super magnetostrictive effect refers to the physical phenomenon in which the length or volume of super magnetostrictive materials (such as rare earth-iron-based alloys and rare earth-aluminum-based alloys) undergoes significant and reversible nonlinear changes under the influence of an external magnetic field. The deformation amplitude produced by the super magnetostrictive effect is much greater than that of traditional magnetostrictive materials (such as nickel and ferrite), typically reaching 1000-2000 ppm (parts per million), which is 10-100 times that of traditional materials, hence the name "super" magnetostrictive effect.

[0047] This invention, through the provision of an actuator based on the magnetostrictive effect, allows for adjustment of its expansion and contraction by changing the magnetic field. Since the expansion and contraction of the actuator can reach 1000-2000 ppm, the flexible wheel 1 can undergo significant radial deformation, thus meeting the stiffness adjustment requirements of the flexible wheel 1.

[0048] Furthermore, in the embodiments of the present invention, the actuating element is controlled by an electromagnetic drive circuit to regulate its extension and contraction. By adjusting the current of the electromagnetic drive circuit, the deformation of the flexible wheel 1 can be continuously adjusted with a precision down to the micrometer level. This allows the stiffness of the flexible wheel 1 to be flexibly adjusted according to the load conditions, resulting in extremely high reliability and fast response speed, which can meet the dynamic requirements for the stiffness of the flexible wheel 1.

[0049] Furthermore, the electromagnetic drive circuit in the embodiments of the present invention preferably includes: an instruction receiving module, a microcontroller, a power drive module, and an electromagnetic execution module.

[0050] The command receiving module is connected to an external control system to receive current and frequency adjustment commands sent by the control system. In this embodiment of the invention, the control system collects the torque feedback signal and vibration acceleration signal of the input shaft of the harmonic reducer, the load change signal of the output shaft of the harmonic reducer, and the strain signal of the flexure 1. It calculates the target stiffness of the flexure, generates current and frequency adjustment commands for the electromagnetic drive circuit based on the target stiffness, and then sends the current and frequency adjustment commands to the command receiving module.

[0051] The microcontroller is connected to the command receiving module and is used to compare the received current and frequency adjustment commands with the feedback coil current. It generates a PWM (Pulse Width Modulation) signal to drive the power drive module through control algorithms such as PID (Proportional-Integral-Derivative) control.

[0052] The power drive module, connected to the microcontroller, amplifies the PWM signal and inputs it into the coil of the actuator 41. The coil then converts the electrical signal into a magnetic field, driving the actuator 41 to extend and retract under the action of the magnetic field.

[0053] Furthermore, the preferred driving frequency range for the PWM signal output by the power drive module of the electromagnetic drive circuit is 20kHz to 25kHz. Within this range, the actuator can achieve its maximum or near-maximum dynamic expansion and contraction capacity while meeting the requirements for quiet operation, realizing a maximum axial expansion and contraction displacement of ±20μm to 30μm.

[0054] The harmonic reducer based on the giant magnetostrictive effect provided by this invention features a rigid support layer between the second region of the flex wheel and the rigid wheel, and an actuator positioned between the rigid support layer and the second region of the flex wheel. Driven by an electromagnetic drive circuit, the actuator generates a magnetic field change, causing it to extend and retract based on the giant magnetostrictive effect. Because the actuator is supported by the rigid support layer, it applies a radial compressive force to the flex wheel during extension and retraction. Adjusting the current through the electromagnetic drive circuit changes the amount of extension and retraction, thereby altering the deformation of the flex wheel and achieving continuous adjustment of its deformation. This allows the stiffness of the flex wheel to meet the dynamic changes in load.

[0055] When the harmonic reducer is running under light load, reducing the stiffness of the flexure can reduce energy consumption and improve overall energy efficiency. When the harmonic reducer is running under high load, increasing the stiffness of the flexure can cope with heavy-load meshing impact and extend the life of the flexure, thus solving the problem that the stiffness of the flexure cannot be adjusted and cannot dynamically match the load requirements.

[0056] Furthermore, the harmonic reducer also includes an elastic layer 5. The elastic layer 5 is disposed in the second region and is fixedly connected to the outer surface of the flexure 1 and the moving end of the actuator 41. By providing the elastic layer, this embodiment of the invention flexibly transfers the rigid, concentrated radial extrusion force generated by the actuator to the outer surface of the flexure, making the force on the flexure more uniform and continuous. This avoids the extremely high stress generated by point contact, which could cause indentation, localized plastic deformation, or fatigue damage to the flexure, thereby compromising its integrity and lifespan.

[0057] Furthermore, the elastic layer 5 is preferably spaced at a safe distance from the first region of the flexible wheel 1. The safe distance is generally 2mm to 3mm, so as to avoid the extrusion force of the actuator being transmitted to the teeth of the flexible wheel, affecting the stress of the teeth and the meshing state of the flexible wheel.

[0058] Furthermore, the tooth root transition area of ​​the flexible gear 1 is provided with a stop or shoulder transition area, which plays a limiting role for the elastic layer and prevents the elastic layer from "crawling" along the axial direction.

[0059] Furthermore, the material of the elastic layer 5 is preferably a fatigue-resistant, high-resilience, oil-resistant, and temperature-resistant elastomer (such as high-hardness polyurethane PU, Shore A85–95; or fluororubber FKM, silicone rubber VMQ). Alternatively, a metal elastic component (thin-walled metal sheet / corrugated sheet) can be used as the "elastic layer" to improve lifespan and temperature resistance.

[0060] Furthermore, the thickness of the elastic layer 5 is 0.3 to 0.6 times the thickness of the flexible wheel 1; the thickness of the flexible wheel 1 is the distance between the outer surface and the inner surface of the flexible wheel 1 in the second region along its radial direction. This embodiment of the invention, by limiting the thickness of the elastic layer, ensures sufficient compliance to "amplify" the actuator's displacement without being too soft and weakening force transmission and bandwidth. The final value is verified using FEA (Finite Element Analysis Verification) for meshing stiffness / life.

[0061] Furthermore, the actuator 41 is preferably a GMM rod made of giant magnetostrictive material (GMM), with a typical size of Φ4mm×40mm. It has the advantages of high strain, fast response, large output force, high electromechanical coupling and wide temperature range stability, and can efficiently convert electromagnetic energy (through magnetic field) directly into significant mechanical expansion and contraction, while outputting a large force.

[0062] Furthermore, the actuator 41 can also be made into a stacked, ring-shaped or cylindrical, composite amplification structure, or integrated with a hydraulic or flexible amplification mechanism to meet different displacement, force and spatial layout requirements.

[0063] In addition, the actuator 41 can also be a super magnetostrictive servo valve, an annular super magnetostrictive actuator, or a transducer made using the magnetostrictive effect of GMM.

[0064] Furthermore, the ratio of the extension / retraction of the actuator 41 to the thickness of the flexure 1 is not less than 2%. Within this range, the target of a local meshing stiffness change of approximately ±30% can be achieved through coupled estimation of the thin-shell equivalent stiffness and contact stiffness of the flexure. The feasibility of this range is ensured by performing a combined operating condition-frequency domain verification using FEA software (including the elliptical basis introduced by the wave generator 3).

[0065] Furthermore, in the embodiments of the present invention, multiple actuators 4 are generally provided. Multiple actuators 4 are evenly distributed in a group along the axis of the flexible wheel 1 at equal intervals. Multiple groups of actuators 4 are provided in the second region of the flexible wheel 1, and the multiple groups of actuators 4 are evenly distributed at equal angles between each other along the outer circumference of the flexible wheel 1.

[0066] This invention provides an embodiment in which multiple sets of actuators are evenly arranged at various angles on the outer surface of the flexible wheel, thereby making the force on the outer surface of the flexible wheel 1 more uniform and avoiding localized stress concentration that could lead to localized deformation or even eccentricity. By arranging multiple actuators along the axis of the flexible wheel in a set of actuators, the uniformity of the force on the flexible wheel can be further ensured, resulting in more stable force transmission.

[0067] Furthermore, taking into account both the flexibility and cost of the flexible wheel deformation, the present invention preferably provides 8 to 12 groups of actuators 4, with 1 to 3 actuators per group. The spacing between adjacent groups of actuators is preferably 5 mm to 8 mm to allow for better heat dissipation. If a larger local amplitude adjustment is required, 2 to 3 actuators can be connected in parallel within a single group, or the effective cross-sectional area of ​​the actuators can be increased.

[0068] Furthermore, a protrusion 51 is preferably provided on the side of the elastic layer 5 near the flexible wheel 1; the protrusion 51 is inserted into a groove on the outer surface of the flexible wheel 1 and is fixedly connected to the outer surface of the flexible wheel 1. The groove is located in the second region of the flexible wheel 1, and its shape can be flexibly adjusted according to requirements, and can be a stepped groove or other structure. This embodiment of the invention improves the interface reliability under cyclic loads by providing a protrusion on the elastic layer and shallowly embedding the root of the protrusion into the groove on the outer wall of the flexible wheel 2.

[0069] The elastic layer 5 is preferably fixed to the flexible wheel by a combination of adhesive bonding and mechanical positioning. The mechanical positioning may include: dovetail groove or pin positioning.

[0070] Furthermore, the protrusion 51 is preferably configured as a three-step structure. The protrusion 51 with a three-step structure forms a mechanical lock between the elastic layer and the flexible wheel, while also reducing stress concentration as a transition geometry and leaving a tolerance zone for the wire / gasket.

[0071] Furthermore, a slot 52 is provided on the side of the elastic layer 5 near the actuator 4, and the position of the slot 52 corresponds to the position of each actuator 4; the moving end of each actuator element 41 in each actuator 4 is inserted into a slot 52 and fixedly connected to the wall of the slot 52.

[0072] This invention, through its embodiment, inserts the moving end of the actuator into the elastic layer, allowing the elastic layer to better absorb the impact energy during the extension and contraction of the actuator, thus protecting the actuator and flexure from impact damage. Simultaneously, it compensates for installation deviations of the actuator, ensuring uniform deformation transmission and preventing stress concentration.

[0073] More preferably, such as Figure 3 As shown, the actuator 4 also includes: actuator housing 43, magnetic pad 44, and support sleeve 42.

[0074] The actuator housing 43 covers the outside of the actuator element 41 and the electromagnetic drive circuit; one side of the actuator housing 4 is connected to the support layer, the other side is fixedly connected to the elastic layer 5, and is provided with a through hole for the actuator element 41 to pass through.

[0075] The magnetic pad 44 is disposed at the moving end of the actuator 41 and is fixedly connected to the elastic layer 5.

[0076] The support sleeve 42 is disposed on the housing of the actuator 4 and coaxially disposed outside the moving end of the actuator element 41.

[0077] The present invention provides an embodiment in which a magnetic pad is provided at the moving end of the actuator 41. By guiding and concentrating energy through the magnetic field of the magnetic pad, the magnetic field of the actuator can be optimized, thus solving the problems of uneven magnetic field distribution and severe magnetic leakage of the actuator.

[0078] Furthermore, in the radial direction of the flexible wheel 1, the distance between the side surface of the rigid support layer 6 away from the actuator 4 and the center of the flexible wheel 1 is less than the radius of the tooth tip circle of the flexible wheel 1 and greater than the outer radius of the second region of the flexible wheel 1, thereby ensuring that the actuator and the rigid actuation layer do not affect the meshing transmission between the flexible wheel 1 and the rigid wheel 2, and do not affect the tooth surface contact and lubrication flow field.

[0079] Furthermore, in the radial direction of the flexible wheel 1, the distance between the side surface of the rigid support layer 6 away from the actuator 4 and the center of the flexible wheel 1 is equal to the base circle radius of the flexible wheel 1.

[0080] Furthermore, the rigid support layer 6 is preferably made of a high-modulus aluminum alloy or titanium alloy. The high modulus is generally greater than or equal to 60 GPa. Considering specific strength, thermal conductivity, processability, and cost, when the rigid support layer is made of aluminum alloy, an elastic modulus of 68 GPa to 75 GPa is generally selected; when the rigid support layer is made of titanium alloy, an elastic modulus of 100 GPa to 120 GPa is generally selected. This ensures that the rigid support layer does not deform during actuator operation, thus ensuring effective displacement transmission.

[0081] Furthermore, such as Figure 5 As shown, the electromagnetic drive circuit is connected to the control system. The control system preferably includes: a signal acquisition module 71, a signal processing module 72, and a control drive module 73.

[0082] The signal acquisition module 71 is installed on the input shaft, output shaft and flexure 1 of the harmonic reducer, and is used to acquire the torque feedback signal and vibration acceleration signal of the input shaft, the load change signal of the output shaft and the strain signal of the flexure 1.

[0083] The signal processing module 72 is connected to the signal acquisition module 71 and is used to calculate the target stiffness of the flexible wheel 1 based on the torque feedback signal, vibration acceleration signal, load change signal and strain signal.

[0084] The control drive module 73 is connected to the signal processing module 72 and the electromagnetic drive circuit. It is used to calculate and generate current and frequency adjustment commands for the electromagnetic drive circuit based on the target stiffness, so as to control the electromagnetic drive circuit to drive the actuator 41 to operate.

[0085] The embodiments of this invention utilize a control system that collects torque feedback signals and vibration acceleration signals from the input shaft of the harmonic reducer, load change signals from the output shaft of the harmonic reducer, and strain signals from the flexure 1. The system calculates the target stiffness of the flexure and generates current and frequency adjustment commands for the electromagnetic drive circuit based on the target stiffness. These commands are then sent to the command receiving module, enabling effective regulation of the electromagnetic drive circuit and precise control over the extension and contraction of the actuator and the deformation of the flexure.

[0086] After receiving torque feedback signals, vibration acceleration signals, load change signals, and strain signals, the signal processing module preferably calculates the target stiffness of the flexspline by including the following steps:

[0087] Step 1: Calculate the actual stiffness of the flexspline based on the operating parameters. The preferred calculation formula is as follows:

[0088] .

[0089] .

[0090] .

[0091] in, This indicates the current actual stiffness of the flexible wheel; Indicates the current torque of the flexible gear; This indicates the current deformation of the flexible wheel; This indicates the current strain value of the flexible wheel; Indicates the diameter of the flexspline; Indicates the current input torque; Indicates the transmission ratio.

[0092] Step 2: Correct the actual stiffness according to the working conditions to obtain the target stiffness of the flexible wheel.

[0093] Specifically, the current vibration acceleration, load torque, and current fluctuation are compared with set thresholds. If the vibration acceleration exceeds the threshold, a target stiffness based on vibration acceleration correction is output; if the current fluctuation exceeds the threshold, a target stiffness based on current fluctuation is output; if the load torque exceeds the threshold, a target stiffness based on load torque correction is output.

[0094] The expression for the target stiffness based on vibration acceleration correction is as follows:

[0095] .

[0096] in, This represents the target stiffness based on vibration acceleration correction; Indicates the vibration correction factor; It represents vibration acceleration.

[0097] The expression for the target stiffness based on current fluctuation is as follows:

[0098] .

[0099] in, This represents the target stiffness based on current fluctuations. Indicates the current correction factor; This indicates current fluctuations, typically within a time window of 10ms to 100ms.

[0100] The expression for the target stiffness based on load torque correction is as follows:

[0101] .

[0102] in, This represents the target stiffness based on load torque correction; This represents the torque correction factor.

[0103] Furthermore, the correction factor It was obtained through experimental calibration.

[0104] Finally, the collected signals, the target stiffness of the flexspline, and the basic parameters of the flexspline, actuator, and load are input into the GMM mathematical model in the control drive module, and the current regulation command is output through the GMM mathematical model.

[0105] The GMM mathematical model is based on the mechanical properties of the flexible wheel material, the magnetostrictive response curve of the GMM actuator, and the frequency characteristics of the load in actual applications.

[0106] Specifically, based on the mechanical properties of the flexible wheel material, an expression for the radial deformation of the flexible wheel is constructed, preferably... ,in, This indicates the radial deformation of the flexible wheel; Indicates the amount of extension or retraction of the actuator; This represents the transmission coefficient, with a value range of 0.6-0.8.

[0107] Based on the magnetostrictive response curve of the GMM actuator, an expression for the extension amount of the actuator element is constructed, preferably... , ,in, Indicates the amount of extension or retraction of the actuator; Indicates the length of the actuator; Indicates the magnetostriction coefficient; Indicates magnetic field strength; Indicates the number of coil turns of the actuator; Indicates current; Indicates a saturated magnetic field; Indicates the hysteresis coefficient; Represents a symbolic function; This represents the rate of change of magnetic field strength over time.

[0108] Based on the actual application load frequency characteristics, an expression for dynamic load is constructed, preferably... ,in, This represents the dynamic load at time t; Indicates steady-state load; Indicates the volatility coefficient; Indicates the fundamental frequency.

[0109] Next, based on the target stiffness of the flexspline and the real-time load, the required current is calculated, and the calculation expression is as follows:

[0110] .

[0111] in, This represents the current at time t; This indicates the target stiffness of the flexible wheel.

[0112] Furthermore, after outputting the current adjustment command through the GMM mathematical model, the drive control module can dynamically optimize the frequency parameters and generate the frequency adjustment command with the goal of minimizing meshing impact and maximizing transmission efficiency.

[0113] Furthermore, the radial deformation of the flexure generated by each actuator is preferably ±30% of the flexure thickness, and the overall radial deformation of the flexure is preferably ±15% of the flexure thickness.

[0114] Specifically, in the embodiments of the present invention, the overall radial deformation of the flexible wheel can be achieved to be ±15% of the thickness of the flexible wheel by three methods, provided that the radial deformation of the flexible wheel is ±30% of the thickness of the flexible wheel.

[0115] The first method is the full synchronization mode, which involves simultaneously, in phase and with the same amplitude, driving all grouped GMM actuators to extend and retract, and setting a limiting coefficient of less than or equal to 0.5 to ensure that the overall radial deformation of the flexure is ±15% of the flexure thickness.

[0116] The second method is a partitioned / cosine-weighted mode, which applies a current whose amplitude is distributed according to a cosine function and is related to its angular position θ to each actuator arranged circumferentially around the flexure. The formula for calculating the amplitude of the drive current is: ,in, Indicates the magnitude of the drive current; This represents the average drive current of each actuator; Represents the modulation coefficient. , This represents a second-order cosine function, corresponding to elliptic deformation. This method generates a stable ellipse with controlled overall average deformation by applying a specific waveform (such as a cosine wave) along the circumferential direction. This preserves local enhancement along the principal axis of the ellipse (approximately ±30%) while suppressing the circumferential average deformation to approximately ±15%.

[0117] The third method is the subset-driven mode, which activates only alternating sectors at the same time (e.g., select 6 out of 12 groups, and only activate half), and balances the overall average stiffness according to the duty cycle and amplitude.

[0118] like Figure 4 As shown in the embodiments of the present invention, the method for adjusting the stiffness of the flexure 1 of a harmonic reducer based on the super magnetostrictive effect is applied to the harmonic reducer based on the super magnetostrictive effect in the above embodiments, and preferably includes the following steps S1 to S4.

[0119] Step S1: Collect the torque feedback signal and vibration acceleration signal of the input shaft of the harmonic reducer, the load change signal of the output shaft, and the strain signal of the flexible wheel 1.

[0120] Step S2: Calculate the target stiffness of the flexible wheel 1 based on the torque feedback signal, vibration acceleration signal, load change signal, and strain signal.

[0121] Step S3: Calculate and generate current and frequency adjustment commands for the electromagnetic drive circuit based on the target stiffness, and control the electromagnetic drive circuit in the actuator 4 to drive the actuator element 41 to move.

[0122] In step S4, the outer surface of the flexible wheel 1 is squeezed by the action of the actuator 41, so that the flexible wheel 1 undergoes radial deformation to adjust the stiffness of the flexible wheel 1.

[0123] The present invention provides a method for adjusting the stiffness of a flexure wheel in a harmonic reducer based on the giant magnetostrictive effect. This method involves setting a rigid support layer between the second region of the flexure wheel and the rigid wheel, and placing an actuator between the rigid support layer and the second region of the flexure wheel. A control system sends current and frequency adjustment commands to the electromagnetic drive circuit of the actuator, thereby regulating the current and magnetic field of the coil of the actuator connected to the electromagnetic drive circuit. This allows the actuator to expand and contract under the influence of the magnetic field based on the giant magnetostrictive effect. Because the actuator is supported by the rigid support layer, it applies a radial compressive force to the flexure wheel during expansion and contraction. By adjusting the current through the electromagnetic drive circuit, the expansion and contraction amount of the actuator can be changed, thus altering the deformation of the flexure wheel. This allows for continuous adjustment of the flexure wheel's deformation, ensuring that the stiffness of the flexure wheel can meet the dynamic changes of the load.

[0124] When the harmonic reducer is running under light load, reducing the stiffness of the flexure can reduce energy consumption and improve overall energy efficiency. When the harmonic reducer is running under high load, increasing the stiffness of the flexure can cope with heavy-load meshing impact and extend the life of the flexure, thus solving the problem that the stiffness of the flexure cannot be adjusted and cannot dynamically match the load requirements.

[0125] Embodiments of the present invention also provide a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to an embodiment of the present invention.

[0126] Embodiments of the present invention also provide a computer program product, including a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform the method of an embodiment of the present invention.

[0127] An embodiment of the present invention also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, causes the electronic device to perform the method of the embodiment of the present invention.

[0128] refer to Figure 6 This is a structural block diagram of an electronic device for a server or client, representing an embodiment of the present invention, and is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0129] like Figure 6 As shown, the electronic device includes a computing unit 801, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. The RAM 803 may also store various programs and data required for the operation of the electronic device. The computing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0130] Multiple components in the electronic device are connected to I / O interface 805, including: input unit 806, output unit 807, storage unit 808, and communication unit 809. Input unit 806 can be any type of device capable of inputting information into the electronic device. Input unit 806 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of the electronic device. Output unit 807 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 808 may include, but is not limited to, disks and optical discs. Communication unit 809 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, and / or wireless communication transceivers, such as Bluetooth devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0131] The computing unit 801 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, CPUs, graphics processing units (GPUs), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present invention can be implemented as computer programs tangibly contained in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 802 and / or communication unit 809. In some embodiments, the computing unit 801 can be configured to perform the methods described above by any other suitable means (e.g., by means of firmware).

[0132] Computer programs for implementing the methods of embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0133] In the context of embodiments of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0134] It should be noted that the term "comprising" and its variations used in the embodiments of this invention are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "a plurality" mentioned in the embodiments of this invention are illustrative and not restrictive, and those skilled in the art should understand that unless explicitly indicated otherwise in the context, they should be understood as "one or more".

[0135] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this invention are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0136] The steps described in the method embodiments provided by the present invention can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of protection of the present invention is not limited in this respect.

[0137] The term "embodiment" in this specification refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily imply the same embodiment, nor does it imply independence or alternativeity from other embodiments. The various embodiments in this specification are described in a related manner, with reference to each other for similar or identical parts. In particular, for apparatus, device, and system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, and relevant details are referred to in the description of the method embodiments.

[0138] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A harmonic reducer based on the supermagnetostrictive effect, characterized in that, include: The flexible wheel (1) has an outer surface comprising a first region and a second region; the first region is provided with teeth (11); the outer surface of the flexible wheel (1) is connected to a rigid wheel (2) by meshing through the teeth (11); the inner surface of the flexible wheel (1) is fitted onto a wave generator (3); A rigid support layer (6) is disposed between the second region and the rigid wheel (2) and is fixedly connected to the housing of the harmonic reducer; An actuator (4) is disposed between the second region and the rigid support layer (6), comprising: an actuator element (41) and an electromagnetic drive circuit; wherein, the fixed end of the actuator element (41) is fixedly connected to the rigid support layer (6), and the moving end of the actuator element (41) is fixedly connected to the flexible wheel (1), for radial extension and retraction movement along the flexible wheel (1) under the action of a magnetic field based on the super magnetostrictive effect; the electromagnetic drive circuit is connected to the actuator element (41) for regulating the magnetic field and extension length of the actuator element (41) to drive the flexible wheel (1) to generate radial deformation.

2. The harmonic reducer based on the supermagnetostrictive effect according to claim 1, characterized in that, The harmonic reducer also includes: An elastic layer (5) is disposed in the second region and is fixedly connected to the outer surface of the flexible wheel (1) and the moving end of the actuator (41); The thickness of the elastic layer (5) is 0.3 to 0.6 times the thickness of the flexible wheel (1); the thickness of the flexible wheel (1) is the distance between the outer surface of the flexible wheel (1) and the inner surface of the flexible wheel (1) in the second region in the radial direction of the flexible wheel (1).

3. The harmonic reducer based on the supermagnetostrictive effect according to claim 2, characterized in that, The actuator (41) is a GMM rod made of super magnetostrictive material; The ratio of the extension / retraction of the actuator (41) to the thickness of the flexure (1) is not less than 2%.

4. The harmonic reducer based on the supermagnetostrictive effect according to claim 3, characterized in that, Multiple actuators (4) are evenly arranged in a group along the axis of the flexible wheel (1); The second region of the flexible wheel (1) is provided with multiple sets of actuators (4), and the multiple sets of actuators (4) are evenly distributed at equal angles between each other and along the outer circumference of the flexible wheel (1).

5. The harmonic reducer based on the supermagnetostrictive effect according to claim 4, characterized in that, The elastic layer (5) has a protrusion (51) on the side near the flexible wheel (1); the protrusion (51) is inserted into the groove on the outer surface of the flexible wheel (1) and is fixedly connected to the outer surface of the flexible wheel (1); The elastic layer (5) is provided with a slot (52) on the side near the actuator (4), and the position of the slot (52) corresponds to the position of each actuator (4); the moving end of each actuator element (41) in each actuator (4) is inserted into a slot (52) and fixedly connected to the wall of the slot (52).

6. The harmonic reducer based on the supermagnetostrictive effect according to any one of claims 2 to 5, characterized in that, The actuator (4) further includes: The actuator housing (43) covers the outside of the actuator element (41) and the electromagnetic drive circuit; one side of the actuator (4) housing is connected to the support layer, and the other side is fixedly connected to the elastic layer (5), and is provided with a through hole for the actuator element (41) to pass through; A magnetic pad (44) is disposed at the moving end of the actuator (41) and is fixedly connected to the elastic layer (5); A support sleeve (42) is disposed on the housing of the actuator (4) and coaxially disposed outside the moving end of the actuator element (41).

7. The harmonic reducer based on the supermagnetostrictive effect according to claim 1, characterized in that, In the radial direction of the flexible wheel (1), the distance between the rigid support layer (6) on the side surface away from the actuator (4) and the center of the flexible wheel (1) is less than the radius of the tooth tip circle of the flexible wheel (1) and greater than the outer radius of the second region of the flexible wheel (1).

8. The harmonic reducer based on the supermagnetostrictive effect according to claim 7, characterized in that, In the radial direction of the flexible wheel (1), the distance between the side surface of the rigid support layer (6) away from the actuator (4) and the center of the flexible wheel (1) is equal to the base circle radius of the flexible wheel (1).

9. The harmonic reducer based on the supermagnetostrictive effect according to claim 1, characterized in that, The electromagnetic drive circuit is connected to the control system; the control system includes: The signal acquisition module (71) is installed on the input shaft, output shaft and the flexible wheel (1) of the harmonic reducer, and is used to acquire the torque feedback signal and vibration acceleration signal of the input shaft, the load change signal of the output shaft and the strain signal of the flexible wheel (1); The signal processing module (72) is connected to the signal acquisition module (71) and is used to calculate the target stiffness of the flexible wheel (1) based on the torque feedback signal, the vibration acceleration signal, the load change signal and the strain signal. The control drive module (73) is connected to the signal processing module (72) and the electromagnetic drive circuit, and is used to calculate and generate current and frequency adjustment commands for the electromagnetic drive circuit according to the target stiffness, so as to control the electromagnetic drive circuit to drive the actuator (41) to operate.

10. A method for adjusting the stiffness of the flexure wheel in a harmonic reducer based on the giant magnetostrictive effect, applied to the harmonic reducer based on the giant magnetostrictive effect as described in claim 1, characterized in that, Includes the following steps: The torque feedback signal and vibration acceleration signal of the input shaft of the harmonic reducer, the load change signal of the output shaft, and the strain signal of the flexible wheel (1) are collected. The target stiffness of the flexible wheel (1) is calculated based on the torque feedback signal, the vibration acceleration signal, the load change signal, and the strain signal. The current and frequency adjustment commands of the electromagnetic drive circuit are calculated based on the target stiffness, and the electromagnetic drive circuit in the actuator (4) is controlled to drive the actuator (41) to move. The actuator (41) presses the outer surface of the flexible wheel (1) to cause radial deformation of the flexible wheel (1) in order to adjust the stiffness of the flexible wheel (1).

11. An electronic device, comprising: A processor and a memory storing a program, characterized in that the stored program includes instructions that, when executed by the processor, cause the processor to perform the flexible wheel stiffness adjustment method according to claim 10.

12. A non-transitory machine-readable medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the flexible wheel stiffness adjustment method according to claim 10.

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