Harmonic reducer with load speed reduction function

Abstract

The harmonic reducer with the load speed reduction function comprises a harmonic reducer body and a connecting sleeve, an input flange is installed on one side of the harmonic reducer body, an input shaft is arranged in the input flange, an output shaft is rotationally arranged at the other end of the harmonic reducer body, and the connecting sleeve is arranged on one side of the input flange. The connecting sleeve is used for being connected with an external connecting bearing in a clamped mode, the transmission connecting shaft is arranged at one end of the input shaft, the connecting sleeve is arranged on the outer side of the transmission connecting shaft, a connecting ring is installed at one end of the air exhaust negative pressure mechanism and the transmission connecting shaft, a positioning hole is formed in the connecting ring, and the air exhaust negative pressure mechanism is arranged in the connecting ring in a clamped mode. Compared with the prior art, when an emergency stop accident occurs in the using process, the auxiliary speed reduction effect can be achieved under the cooperation of the connecting sleeve and the transmission connecting shaft, and the problems that impact and stress concentration are generated between transmission parts in the harmonic reducer, and abrasion or breakage or deformation is possibly caused are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of speed reducer, in particular to a harmonic reducer with load deceleration function. BACKGROUND

[0002] Harmonic reducer is a kind of transmission device, widely used in many fields, harmonic reducer because of its high precision, high torque, small size and low noise, etc. Characteristics, plays an important role in modern industry and automation system, widely used in industrial robots, service robots, CNC machine tools and other fields.

[0003] In the process of using harmonic reducer, especially in the process of using CNC machine tool, often because of unexpected situation need to stop machine, in normal operation, the cooperation precision and dynamic balance between parts. Emergency stop will suddenly break this balance, resulting in impact and stress concentration between transmission parts, may cause wear, fracture or deformation and other problems, emergency operation will make the transmission parts of harmonic reducer bear a large impact force in a short time, this impact force will be converted into dynamic load, additional stress on the internal structure of harmonic reducer, the existing harmonic reducer does not have the function of auxiliary deceleration, unable to take buffer measures in advance to reduce impact force and stress concentration, for this purpose, we propose a harmonic reducer with load deceleration function to solve the above problems. SUMMARY

[0004] The present application relates to the technical field of speed reducer, in particular to a harmonic reducer with load deceleration function.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a harmonic reducer with load deceleration function, comprising,

[0006] Harmonic reducer body;

[0007] Connecting sleeve, the harmonic reducer body one side is provided with input flange, the input flange is internally provided with input shaft, the other end of the harmonic reducer body is provided with output shaft, the connecting sleeve is provided on the input flange side, the connecting sleeve is used for and external connecting bearing clamping;

[0008] Transmission connecting shaft, the transmission connecting shaft is provided on one end of the input shaft, the connecting sleeve is provided on the outer side of the transmission connecting shaft, the outer side of the transmission connecting shaft is provided with a pair of sealing baffle ring, the sealing baffle ring is used for dustproof;

[0009] The suction negative pressure mechanism is clamped in the connecting ring. When the harmonic reducer needs to be used, external equipment can be installed on the connecting sleeve. When an emergency situation such as sudden stop occurs during use, the connecting sleeve and the transmission connecting shaft can cooperate to play a role in auxiliary speed reduction, so as to avoid impact and stress concentration between the transmission parts in the harmonic reducer, which may cause problems such as wear, fracture or deformation. The gas pressure in the negative pressure chamber can be adjusted again with the help of the suction negative pressure mechanism, and the negative pressure chamber can be recycled.

[0010] Preferably, a plurality of clamping grooves are formed in the outer wall of the connecting sleeve, and the clamping grooves are used in cooperation with the external bearing. An arc abutment block is installed on the inner wall of the connecting sleeve. A plurality of stop pressure plates are installed on the inner wall of the arc abutment block, and the stop pressure plates are longitudinally arranged on the inner wall of the arc abutment block.

[0011] Preferably, a connecting pipe is installed at one end of the connecting sleeve. A welding plate is installed on one side of the connecting pipe. A plurality of abutment balls are fixedly connected to the inner wall of the welding plate. A buffer pad ring is installed on the outer wall of the welding plate.

[0012] Preferably, a circular groove is arranged in the transmission connecting shaft, and a push shaft is clamped in the circular groove. The outer diameter of the top end of the push shaft is smaller than the inner diameter of the circular groove. An annular groove is formed in the top end of the push shaft, and a positioning ring is installed in the annular groove. A plurality of arc grooves are arranged on the surface of the positioning ring, and the positions of the arc grooves correspond to the positions of the abutment balls. An arc-shaped plate is installed on the outer wall of the top end of the push shaft for subsequent pulling and resetting of the push shaft.

[0013] One end of the push shaft is provided with a negative pressure chamber. The negative pressure chamber is provided with a transmission pipe. The push shaft is provided with a fixed channel. The fixed channel is connected to the negative pressure chamber through the transmission pipe. Sealing gasket rings are installed at both ends of the fixed channel to ensure the air tightness of the push shaft and the transmission connecting shaft.

[0014] Preferably, a pair of transmission blocks are installed on the surface of the transmission connecting shaft. The transmission blocks are symmetrically arranged at both ends of the transmission connecting shaft. A clamping ring is clamped on the outside of the transmission block. The clamping ring is in the shape of "C". The clamping ring is used for abutting connection with the connecting sleeve.

[0015] The transmission block is provided with a transmission channel. A clamping plug-in plate is clamped on the surface of the transmission block. An oil pressure cavity is arranged in the clamping plug-in plate, and the oil pressure cavity is connected to the fixed channel through the transmission channel. A plurality of hydraulic shafts are inserted into the clamping plug-in plate. The hydraulic shafts are uniformly arranged on the surface of the clamping plug-in plate.

[0016] Preferably, a plurality of straight grooves are arranged in the clamping ring, and the positions of the straight grooves correspond to the positions of the hydraulic shafts. The clamping ring can rotate with the transmission block.

[0017] Preferably, the inner wall of the clamping ring is provided with a mounting block, the length of the mounting block is less than the gap of the transmission block, the surface of the mounting block is provided with a plurality of insertion holes, and a buffer insertion plate is inserted in the insertion hole.

[0018] Preferably, the air extraction negative pressure mechanism comprises a hollow pipe and a conveying ball, the hollow pipe is clamped in the connecting ring, the conveying ball is mounted at one end of the hollow pipe, the conveying ball is elastic and has a plurality of compression shafts fixedly connected to the surface thereof, and the compression shafts are arranged in an array on the surface of the conveying ball.

[0019] Preferably, a sealing cover is clamped at one end of the hollow pipe, the bottom of the sealing cover is provided with an air pressure ring, the air pressure ring is provided with a plurality of gas conveying pipes penetrating the conveying ball, a plurality of elastic shafts are clamped on the air pressure ring, and one end of the elastic shaft is clamped on the side wall of the sealing cover.

[0020] Compared with the prior art, the present application has the following advantages:

[0021] 1. When the input end of the harmonic reducer rotates at high speed and encounters an emergency stop, there is a gap between the notch of the clamping ring and the circular arc butt block, the push shaft can move inward under the cooperation of the butt ball and the positioning ring, the transmission channel and the fixed channel can be connected, the hydraulic oil in the clamping insertion plate can be quickly extracted under the action of the negative pressure chamber, the hydraulic shaft can be reset, the transmission connecting shaft can rotate in the clamping ring, the speed can be slowly reduced, and the harmonic reducer can be prevented from being damaged;

[0022] 2. When the input end of the harmonic reducer rotates at low speed and encounters an emergency stop, the mounting block can be clamped in the clamping ring, the clamping ring can rotate with the external connecting bearing, the transmission connecting shaft can rotate under the action of inertia when the connecting sleeve stops rotating, the buffer insertion plate on one side of the mounting block can abut against the adjacent transmission block, the buffer insertion plate can slowly insert into the insertion hole, the buffer effect can be achieved, and the internal parts can be prevented from being damaged during the emergency stop;

[0023] 3. The transmission connecting shaft rotates in the clamping ring after the emergency stop, and the stop pressing plate can abut against the surface of the clamping insertion plate during the rotation process, the transmission connecting shaft can assist in speed reduction during the input rotation process, and the damage of the harmonic reducer can be reduced;

[0024] 4. During the conveying or extraction of hydraulic oil by the negative pressure extraction mechanism, the sealing cover can be pulled, the air pressure in the air pressure ring can be changed by the elastic shaft, the compression shaft can swing with the conveying ball, and the internal blockage can be prevented. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is the whole structure schematic diagram of the application;

[0026] Figure 2 It is the split structure schematic diagram of the input shaft side of the application;

[0027] Figure 3 It is the transmission connection shaft structure schematic diagram of the application;

[0028] Figure 4 It is the transmission connection rear partial section structure schematic diagram of the application;

[0029] Figure 5 It is the one side structure schematic diagram of the connecting ring of the application;

[0030] Figure 6 It is the air extraction negative pressure mechanism structure schematic diagram of the application;

[0031] Figure 7 It is the internal structure schematic diagram of the clamping ring of the application;

[0032] Figure 8 It is the internal structure schematic diagram of the connecting sleeve of the application;

[0033] In the figure: 1, harmonic reducer body; 2, connecting sleeve; 3, transmission connection shaft; 4, air extraction negative pressure mechanism; 11, output shaft; 12, input flange; 13, input shaft; 14, sealing baffle ring; 21, buffer pad ring; 22, circular arc butt joint block; 23, stop pressure plate; 24, connecting pipe; 241, welding plate; 25, butt joint ball; 31, clamping ring; 32, connecting ring; 33, transmission block; 331, transmission channel; 34, clamping plug-in board; 341, hydraulic shaft; 35, push shaft; 351, positioning ring; 352, arc plate; 353, fixed channel; 36, negative pressure chamber; 37, mounting block; 371, buffer plug-in board; 41, hollow pipe; 42, conveying ball; 421, compression shaft; 43, air pressure ring; 44, sealing cover; 45, elastic shaft. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the application.

[0035] Please refer to Figures 1-8 The application provides a technical solution: a harmonic reducer with load speed reduction function, comprising,

[0036] Harmonic reducer body 1;

[0037] The connecting sleeve 2 is installed on one side of the harmonic reducer body 1 with an input flange 12. An input shaft 13 is provided inside the input flange 12. An output shaft 11 is rotatably provided at the other end of the harmonic reducer body 1. The connecting sleeve 2 is set on one side of the input flange 12 and is used to be connected to an external bearing.

[0038] The transmission connecting shaft 3 is located at one end of the input shaft 13. The connecting sleeve 2 is located on the outside of the transmission connecting shaft 3. A pair of sealing retaining rings 14 are provided on the outside of the transmission connecting shaft 3. The sealing retaining rings 14 are used for sealing and dust prevention.

[0039] The vacuum negative pressure mechanism 4 has a connecting ring 32 installed at one end of the transmission connecting shaft 3. The connecting ring 32 has a positioning hole inside. The vacuum negative pressure mechanism 4 is locked inside the connecting ring 32. When the harmonic reducer needs to be used, external equipment can be installed on the connecting sleeve 2. In case of an emergency stop during use, it can play an auxiliary role in speed reduction with the cooperation of the connecting sleeve 2 and the transmission connecting shaft 3, so as to avoid impact and stress concentration between the internal transmission components of the harmonic reducer, which may cause wear, breakage or deformation. In addition, the vacuum negative pressure mechanism 4 can readjust the air pressure inside the negative pressure chamber 36 and can be used in a cyclic manner.

[0040] like Figure 8 As shown, in order to assist the transmission connecting shaft 3 in reducing speed, multiple snap-fit ​​grooves are provided on the outer wall of the connecting sleeve 2, and the snap-fit ​​grooves are used to cooperate with external bearings. An arc-shaped mating block 22 is installed on the inner wall of the connecting sleeve 2, and multiple stop pressure plates 23 are installed on the inner wall of the arc-shaped mating block 22. The stop pressure plates 23 are elastic and longitudinally arranged on the inner wall of the arc-shaped mating block 22. During the circumferential movement of the transmission connecting shaft 3 inside the snap-fit ​​ring 31, the snap-fit ​​insert 34 can abut against the stop pressure plate 23, which can reduce the speed of the high-speed rotating input end and reduce the damage of the harmonic reducer to the sudden stop.

[0041] To assist in slowing down the movement of the push shaft 35, a connecting pipe 24 is installed at one end of the connecting sleeve 2, and a welding plate 241 is installed on one side of the connecting pipe 24. Multiple mating balls 25 are fixedly connected to the inner wall of the welding plate 241, and a buffer pad ring 21 is installed on the outer wall of the welding plate 241. The arc-shaped mating block 22 can have a certain gap with the notch of the snap ring 31. When an emergency stop is encountered, the mating balls 25 can abut against the positioning ring 351, which can also play an auxiliary role in slowing down the movement of the push shaft 35 and prevent the arc-shaped mating block 22 and the snap ring 31 from impacting and forcibly slowing down the movement.

[0042] like Figure 3 and Figure 5As shown, in order to ensure smooth movement of the push shaft 35, the transmission connecting shaft 3 has a circular groove inside, and the push shaft 35 is locked inside the circular groove. The outer diameter of the top end of the push shaft 35 is smaller than the inner diameter of the circular groove. The top end of the push shaft 35 has an annular groove, and a positioning ring 351 is installed inside the annular groove. The surface of the positioning ring 351 has multiple arc grooves, and the position of the circular grooves corresponds to the docking ball 25. An arc plate 352 is installed on the outer wall of the top end of the push shaft 35 for subsequent pulling of the push shaft 35 to reset. After the hydraulic oil is transported back to the locking plate 34, the push shaft 35 can be pulled to reset by using a tool to lock it on the arc plate 352.

[0043] The push shaft 35 has a negative pressure chamber 36 at one end and a transmission pipe at the other end. The push shaft 35 has a fixed channel 353 inside, which is connected to the negative pressure chamber 36 through the transmission pipe. Sealing gaskets are installed at both ends of the fixed channel 353 to ensure the airtightness between the push shaft 35 and the transmission connection shaft 3. The sealing gaskets can reduce the occurrence of hydraulic oil leakage during use and avoid affecting the normal operation of the equipment.

[0044] like Figure 4 As shown, in order to ensure smooth movement of the transmission connecting shaft 3, a pair of transmission blocks 33 are installed on the surface of the transmission connecting shaft 3. The transmission blocks 33 are symmetrically arranged at both ends of the transmission connecting shaft 3. A snap ring 31 is snapped on the outside of the transmission block 33. The snap ring 31 is "C" shaped and is used to connect and transmit with the connecting sleeve 2.

[0045] The transmission block 33 has a transmission channel 331 inside, and a snap-fit ​​plate 34 is snapped onto the surface of the transmission block 33. The snap-fit ​​plate 34 has a hydraulic chamber inside, and the hydraulic chamber is connected to the fixed channel 353 through the transmission channel 331. Multiple hydraulic shafts 341 are inserted into the snap-fit ​​plate 34. The hydraulic shafts 341 are arranged in a uniform array on the surface of the snap-fit ​​plate 34. When the transmission channel 331 and the fixed channel 353 are aligned, the hydraulic oil inside the snap-fit ​​plate 34 can be quickly extracted under the action of the negative pressure chamber 36, which can also cause the hydraulic shafts 341 to retract into the snap-fit ​​plate 34, so that the transmission connecting shaft 3 and the snap-fit ​​ring 31 are separated. The transmission connecting shaft 3 can rotate with the input end of the harmonic reducer, avoiding the accidental wear or even breakage of the internal parts of the harmonic reducer caused by direct sudden stop, and playing an auxiliary protection role.

[0046] When the input shaft 13 needs to be stopped urgently due to high-speed rotation, the snap ring 31 has multiple straight grooves inside, and the position of the straight grooves corresponds to the hydraulic shaft 341. The snap ring 31 can rotate with the transmission block 33. There is a certain gap between the notch of the snap ring 31 and the arc docking block 22. Under the cooperation of the docking ball 25 and the positioning ring 351, the push shaft 35 can move inward, which can make the transmission channel 331 and the fixed channel 353 connect. Under the action of the negative pressure chamber 36, the hydraulic oil inside the snap plate 34 can be quickly extracted, which can reset the hydraulic shaft 341 and make the transmission connecting shaft 3 rotate inside the snap ring 31.

[0047] When the input shaft 13 needs to be stopped urgently at low speed, a mounting block 37 is installed on the inner wall of the snap ring 31. The length of the mounting block 37 is less than the gap of the transmission block 33. The surface of the mounting block 37 is provided with multiple insertion holes, and a buffer plate 371 is inserted into the insertion hole. The buffer plate 371 is used to assist in buffering and decelerating. The connecting sleeve 2 stops rotating, and the transmission connecting shaft 3 can rotate under the action of inertia. The buffer plate 371 on one side of the mounting block 37 can abut against the adjacent transmission block 33 on one side. The buffer plate 371 can be slowly inserted into the insertion hole with the help of the buffer plate 371, which plays a buffering role and can avoid damage to internal parts during the emergency stop.

[0048] like Figure 7 As shown, in order to control the air pressure inside the negative pressure chamber 36, the vacuum negative pressure mechanism 4 includes a hollow tube 41 and a conveying ball 42. The hollow tube 41 is inserted into the connecting ring 32, and the conveying ball 42 is installed at one end of the hollow tube 41. The conveying ball 42 is elastic and has multiple compression shafts 421 fixedly connected to its surface. The compression shafts 421 are arranged in a uniform array on the surface of the conveying ball 42. External equipment can extract air from inside the negative pressure chamber 36, which is convenient for responding to emergency stops.

[0049] To reduce the amount of impurities remaining in the hydraulic oil used in internal circulation, a sealing cap 44 is attached to one end of the hollow tube 41. A pressure ring 43 is located at the bottom of the sealing cap 44. Multiple air supply pipes are located inside the pressure ring 43 and communicate with the conveying ball 42. Multiple elastic shafts 45 are attached to the pressure ring 43. One end of the elastic shaft 45 is attached to the side wall of the sealing cap 44. During the hydraulic oil transportation process, the operator can pull the sealing cap 44, and the elastic shaft 45 can change the air pressure inside the pressure ring 43, thereby causing the compression shaft 421 to swing with the conveying ball 42, adsorbing and separating impurities in the hydraulic oil, and preventing blockage inside the hollow tube 41.

[0050] Working principle: First, when the harmonic reducer is needed, external equipment can be installed on the connecting sleeve 2. In case of an emergency stop during use, the connecting sleeve 2 and the transmission connecting shaft 3 work together to assist in speed reduction, avoiding impact and stress concentration between the internal transmission components of the harmonic reducer, which may cause wear, breakage, or deformation. Furthermore, the air pressure inside the negative pressure chamber 36 can be readjusted using the vacuum negative pressure mechanism 4, allowing for cyclical use. When the input end of the harmonic reducer is rotating at low speed, the mounting block 37 can be engaged in the locking mechanism. Inside the ring 31, the snap ring 31 can rotate in conjunction with the external connecting bearing. When an emergency stop occurs, the connecting sleeve 2 stops rotating, and the transmission connecting shaft 3 can rotate under inertia. The buffer plate 371 on one side of the mounting block 37 can abut against the adjacent transmission block 33. The buffer plate 371 can be slowly inserted into the insertion hole to play a buffering role, which can prevent damage to internal parts during the emergency stop. After the auxiliary deceleration buffer is completed, the transmission connecting shaft 3 can be disassembled and the buffer plate 371 can be reset for reuse.

[0051] Then, when the harmonic reducer rotates at high speed at the input end, the mounting block 37 can be removed. The hydraulic shaft 341 can be used to abut against the inside of the straight groove to install the snap ring 31. The arc-shaped mating block 22 inside the connecting sleeve 2 can abut against the notch of the snap ring 31, which can drive the transmission connecting shaft 3 to rotate with the connecting sleeve 2. When encountering an emergency stop, there is a certain gap between the notch of the snap ring 31 and the arc-shaped mating block 22. Under the cooperation of the mating ball 25 and the positioning ring 351, the push shaft 35 can move inward, which can connect the transmission channel 331 and the fixed channel 353. Under the action of the negative pressure chamber 36, the hydraulic oil inside the snap plate 34 can be quickly extracted, which can reset the hydraulic shaft 341 and make the transmission connecting shaft 3 rotate inside the snap ring 31. During the rotation, the stop pressure plate 23 can abut against the surface of the snap plate 34, which plays an auxiliary role in reducing speed during the rotation of the transmission connecting shaft 3 following the input, which can reduce the damage to the harmonic reducer.

[0052] Finally, after the stop is completed, it can be connected to the hollow pipe 41 with the help of external oil conveying equipment, and the internal hydraulic oil can be replaced. During the conveying or extraction process, the sealing cover 44 can be pulled, and the elastic shaft 45 can change the air pressure inside the air pressure ring 43, so that the compression shaft 421 swings with the conveying ball 42 to prevent internal blockage.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A harmonic reducer with load speed reduction function, characterized in that: include, Harmonic reducer body (1); The connecting sleeve (2) is provided with an input flange (12) installed on one side of the harmonic reducer body (1). An input shaft (13) is provided inside the input flange (12). An output shaft (11) is rotatably provided at the other end of the harmonic reducer body (1). The connecting sleeve (2) is located on one side of the input flange (12). The connecting sleeve (2) is used to snap into an external connecting bearing. A transmission connecting shaft (3) is provided at one end of the input shaft (13), and a connecting sleeve (2) is provided on the outside of the transmission connecting shaft (3). A pair of sealing retaining rings (14) are provided on the outside of the transmission connecting shaft (3). The sealing retaining rings (14) are used for sealing and dust prevention. The vacuum negative pressure mechanism (4) has a connecting ring (32) installed at one end of the transmission connecting shaft (3). The connecting ring (32) has a positioning hole inside, and the vacuum negative pressure mechanism (4) is locked inside the connecting ring (32).

2. The harmonic reducer with load speed reduction function according to claim 1, characterized in that: The outer wall of the connecting sleeve (2) is provided with multiple snap-fit ​​grooves, which are used to cooperate with external bearings. The inner wall of the connecting sleeve (2) is provided with an arc-shaped mating block (22), and the inner wall of the arc-shaped mating block (22) is provided with multiple stop pressure plates (23). The stop pressure plates (23) are elastic and are arranged longitudinally on the inner wall of the arc-shaped mating block (22).

3. The harmonic reducer with load speed reduction function according to claim 2, characterized in that: A connecting pipe (24) is installed at one end of the connecting sleeve (2), a welding plate (241) is installed on one side of the connecting pipe (24), a plurality of butt balls (25) are fixedly connected on the inner wall of the welding plate (241), and a buffer pad ring (21) is installed on the outer wall of the welding plate (241).

4. The harmonic reducer with load speed reduction function according to claim 1, characterized in that: The transmission connecting shaft (3) has a circular groove inside, and a push shaft (35) is locked inside the circular groove. The outer diameter of the top end of the push shaft (35) is smaller than the inner diameter of the circular groove. An annular groove is opened at the top end of the push shaft (35), and a positioning ring (351) is installed inside the annular groove. Multiple arc grooves are provided on the surface of the positioning ring (351), and the position of the arc groove corresponds to the docking ball (25). An arc plate (352) is installed on the outer wall of the top end of the push shaft (35) for subsequent pulling of the push shaft (35) to reset. The push shaft (35) is provided with a negative pressure chamber (36) at one end and a transmission pipe at the other end. The push shaft (35) is provided with a fixed channel (353) inside. The fixed channel (353) is connected to the negative pressure chamber (36) through the transmission pipe. Sealing gaskets are installed at both ends of the fixed channel (353) to ensure the airtightness of the push shaft (35) and the transmission connection shaft (3).

5. The harmonic reducer with load speed reduction function according to claim 4, characterized in that: A pair of transmission blocks (33) are mounted on the surface of the transmission connecting shaft (3). The transmission blocks (33) are symmetrically arranged at both ends of the transmission connecting shaft (3). A snap ring (31) is snapped on the outside of the transmission block (33). The snap ring (31) is "C" shaped and is used to connect and transmit with the connecting sleeve (2). The transmission block (33) has a transmission channel (331) inside. A snap-fit ​​plate (34) is snapped onto the surface of the transmission block (33). The snap-fit ​​plate (34) has a hydraulic chamber inside, and the hydraulic chamber is connected through the transmission channel (331) and the fixing channel (353). Multiple hydraulic shafts (341) are inserted into the snap-fit ​​plate (34), and the hydraulic shafts (341) are arranged in a uniform array on the surface of the snap-fit ​​plate (34).

6. The harmonic reducer with load speed reduction function according to claim 5, characterized in that: The snap ring (31) has multiple straight grooves inside, and the position of the straight grooves corresponds to the hydraulic shaft (341). The snap ring (31) can rotate with the transmission block (33).

7. The harmonic reducer with load speed reduction function according to claim 5, characterized in that: An mounting block (37) is installed on the inner wall of the snap ring (31). The length of the mounting block (37) is less than the gap of the transmission block (33). The mounting block (37) has multiple insertion holes on its surface, and a buffer plate (371) is inserted into the insertion hole. The buffer plate (371) is used to assist in buffering and speed reduction.

8. The harmonic reducer with load speed reduction function according to claim 1, characterized in that: The vacuum negative pressure mechanism (4) includes a hollow tube (41) and a conveying ball (42). The hollow tube (41) is installed inside the connecting ring (32). The conveying ball (42) is installed at one end of the hollow tube (41). The conveying ball (42) is elastic and has multiple compression shafts (421) fixedly connected to its surface. The compression shafts (421) are arranged in a uniform array on the surface of the conveying ball (42).

9. The harmonic reducer with load speed reduction function according to claim 8, characterized in that: One end of the hollow tube (41) is fitted with a sealing cap (44), and the bottom of the sealing cap (44) is fitted with a pressure ring (43). The pressure ring (43) has multiple air supply pipes inside that communicate with the conveying ball (42). Multiple elastic shafts (45) are fitted on the pressure ring (43), and one end of the elastic shaft (45) is fitted on the side wall of the sealing cap (44).

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