Harmonic reducer with load deceleration function

Abstract

The application discloses a harmonic reducer with load deceleration function, comprising a harmonic reducer body, a connecting sleeve, an input flange installed on one side of the harmonic reducer body, an input shaft arranged in the input flange, an output shaft rotatably arranged at the other end of the harmonic reducer body, the connecting sleeve arranged on one side of the input flange and used for being clamped with an external connecting bearing, a transmission connecting shaft, the transmission connecting shaft arranged at one end of the input shaft, the connecting sleeve arranged on the outer side of the transmission connecting shaft, a suction negative pressure mechanism, a connecting ring installed at one end of the transmission connecting shaft, a positioning hole arranged in the connecting ring, and the suction negative pressure mechanism clamped in the connecting ring; compared with the prior art, when an unexpected situation of emergency stop occurs in the use process, the connecting sleeve and the transmission connecting shaft can play an auxiliary deceleration role, impact and stress concentration between internal transmission parts of the harmonic reducer are avoided, and problems such as abrasion, fracture or deformation can be caused.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, specifically a harmonic speed reducer with load reduction function. Background Technology

[0002] Harmonic reducers are a type of transmission device widely used in various fields. Due to their high precision, high torque, small size, and low noise, harmonic reducers play an important role in modern industry and automation systems, and are widely used in industrial robots, service robots, CNC machine tools, and many other fields.

[0003] During the use of harmonic reducers, especially in CNC machine tool applications, unexpected situations often necessitate emergency stops. During normal operation, the various components maintain a certain level of precision and dynamic balance. An emergency stop abruptly disrupts this balance, causing impacts and stress concentrations between transmission components, potentially leading to wear, breakage, or deformation. The emergency stop forces the harmonic reducer's transmission components to withstand significant impact forces in a short period, which are converted into dynamic loads, generating additional stress on the reducer's internal structure. Existing harmonic reducers lack auxiliary speed reduction capabilities and cannot proactively mitigate impact forces and stress concentrations. Therefore, we propose a harmonic reducer with load-based speed reduction functionality to address these issues. Summary of the Invention

[0004] The purpose of this invention is to provide a harmonic reducer with load reduction function to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a harmonic reducer with load speed reduction function, comprising,

[0006] Harmonic reducer body;

[0007] A connecting sleeve is provided. An input flange is installed on one side of the harmonic reducer body. An input shaft is provided inside the input flange. An output shaft is rotatably provided at the other end of the harmonic reducer body. The connecting sleeve is provided on one side of the input flange and is used to snap into an external connecting bearing.

[0008] A transmission connecting shaft is provided at one end of the input shaft, and a connecting sleeve is provided on the outside of the transmission connecting shaft. A pair of sealing retaining rings are provided on the outside of the transmission connecting shaft for sealing and dust prevention.

[0009] The vacuum negative pressure mechanism has a connecting ring installed at one end of the transmission connecting shaft. The connecting ring has a positioning hole inside, and the vacuum negative pressure mechanism is locked inside the connecting ring. When the harmonic reducer needs to be used, external equipment can be installed on the connecting sleeve. In case of an emergency stop during use, it can play an auxiliary role in speed reduction with the cooperation of the connecting sleeve and the transmission connecting shaft, avoiding 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 can readjust the air pressure inside the negative pressure chamber and can be used repeatedly.

[0010] Preferably, the outer wall of the connecting sleeve is provided with multiple snap-fit ​​grooves, which are used to cooperate with external bearings. An arc-shaped mating block is installed on the inner wall of the connecting sleeve, and multiple stop pressure plates are installed on the inner wall of the arc-shaped mating block. The stop pressure plates are elastic and are arranged longitudinally on the inner wall of the arc-shaped mating 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 butt joint balls are fixedly connected to the inner wall of the welding plate, and a buffer pad ring is installed on the outer wall of the welding plate.

[0012] Preferably, the transmission connecting shaft has a circular groove inside, and a push shaft is locked inside 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 opened at the top end of the push shaft, and a positioning ring is installed inside the annular groove. Multiple arc grooves are provided on the surface of the positioning ring, and the position of the circular grooves corresponds to the docking ball. An arc plate is installed on the outer wall of the top end of the push shaft for subsequent pulling of the push shaft to reset.

[0013] The push shaft has a negative pressure chamber at one end and a transmission pipe at the other end. The push shaft has a fixed channel inside, which is connected to the negative pressure chamber through the transmission pipe. Sealing gaskets are installed at both ends of the fixed channel to ensure the airtightness of the push shaft and the transmission connection shaft.

[0014] Preferably, a pair of transmission blocks are mounted on the surface of the transmission connecting shaft. The transmission blocks are symmetrically arranged at both ends of the transmission connecting shaft. A snap ring is clamped on the outside of each transmission block. The snap ring is "C" shaped and is used for docking and transmission with the connecting sleeve.

[0015] The transmission block has a transmission channel inside, and a snap-fit ​​plate is snapped onto the surface of the transmission block. The snap-fit ​​plate has a hydraulic chamber inside, and the hydraulic chamber is connected through the transmission channel and the fixing channel. Multiple hydraulic shafts are inserted into the snap-fit ​​plate, and the hydraulic shafts are arranged in a uniform array on the surface of the snap-fit ​​plate.

[0016] Preferably, the snap ring has multiple straight grooves inside, and the positions of the straight grooves correspond to the hydraulic shaft, so that the snap ring can rotate with the transmission block.

[0017] Preferably, an mounting block is installed on the inner wall of the snap ring. The length of the mounting block is less than the gap of the transmission block. The surface of the mounting block is provided with multiple insertion holes, and a buffer plate is inserted into the insertion holes. The buffer plate is used to assist in buffering and speed reduction.

[0018] Preferably, the vacuum negative pressure mechanism includes a hollow tube and a conveying ball. The hollow tube is inserted inside the connecting ring, and the conveying ball is installed at one end of the hollow tube. The conveying ball is elastic and has multiple compression shafts fixedly connected to its surface. The compression shafts are arranged in a uniform array on the surface of the conveying ball.

[0019] Preferably, a sealing cap is fitted at one end of the hollow tube, a pressure ring is provided at the bottom of the sealing cap, multiple air supply pipes are provided inside the pressure ring and communicate with the conveying ball, and multiple elastic shafts are fitted on the pressure ring, with one end of the elastic shaft fitted on the side wall of the sealing cap.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. In the case of a sudden stop when the input end of the harmonic reducer is rotating at high speed, the notch of the snap ring and the arc docking block have a certain gap. Under the cooperation of the docking ball and the positioning ring, the pushing axis can move inward, the transmission channel and the fixed channel can be connected, the hydraulic oil inside the snap ring can be quickly extracted under the action of the negative pressure chamber, the hydraulic shaft can be reset, the transmission connecting shaft can rotate inside the snap ring, the speed can be reduced slowly, and the harmonic reducer can be damaged.

[0022] 2. In this invention, when the input end of the harmonic reducer is rotating at low speed and encounters an emergency stop, the mounting block can be locked inside the snap ring, allowing the snap ring to rotate in conjunction with the external connecting bearing. When an emergency stop occurs, the connecting sleeve stops rotating, and the transmission connecting shaft can rotate under inertia. The buffer plate on one side of the mounting block can abut against the adjacent transmission block on the other side, and can be slowly inserted into the insertion hole with the help of the buffer plate, playing a buffering role and avoiding damage to internal parts during the emergency stop.

[0023] 3. In this invention, the transmission connecting shaft rotates inside the snap ring after an emergency stop. During the rotation, the stop pressure plate can abut against the surface of the snap plate, which plays an auxiliary role in reducing speed as the transmission connecting shaft follows the input rotation, thereby reducing the damage to the harmonic reducer.

[0024] 4. In the process of conveying or removing hydraulic oil by means of a negative pressure extraction mechanism, the present invention can pull the sealing cover, and the elastic shaft can change the air pressure inside the air pressure ring, so that the compression shaft swings with the conveying ball, thus preventing internal blockage. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the split structure on one side of the input shaft of the present invention;

[0027] Figure 3 This is a schematic diagram of the transmission connection shaft structure of the present invention;

[0028] Figure 4 This is a partial cross-sectional view of the transmission connection structure of the present invention;

[0029] Figure 5 This is a schematic diagram of one side of the connecting ring structure of the present invention;

[0030] Figure 6 This is a schematic diagram of the vacuum negative pressure mechanism of the present invention;

[0031] Figure 7 This is a schematic diagram of the internal structure of the snap ring of the present invention;

[0032] Figure 8 This is a schematic diagram of the internal structure of the connecting sleeve of the present invention;

[0033] In the diagram: 1. Harmonic reducer body; 2. Connecting sleeve; 3. Transmission connecting shaft; 4. Vacuum negative pressure mechanism; 11. Output shaft; 12. Input flange; 13. Input shaft; 14. Sealing retaining ring; 21. Buffer pad ring; 22. Arc-shaped butt block; 23. Stop pressure plate; 24. Connecting pipe; 241. Welding plate; 25. Butt ball; 31. Snap-fit ​​ring; 32. Connecting ring; 33. Transmission block; 331. Transmission channel; 34. Snap-fit ​​insert plate; 341. Hydraulic shaft; 35. Push shaft; 351. Positioning ring; 352. Arc plate; 353. Fixing channel; 36. Negative pressure chamber; 37. Mounting block; 371. Buffer insert plate; 41. Hollow pipe; 42. Conveying ball; 421. Compression shaft; 43. Air pressure ring; 44. Sealing cover; 45. Elastic shaft. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figures 1-8 This invention 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). 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). 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 is provided at the other end of the negative pressure chamber (36). The push shaft (35) is provided with a fixed channel (353) inside, and 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 between the push shaft (35) and the transmission connection shaft (3). 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).

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 1, 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).

4. The harmonic reducer with load speed reduction function according to claim 1, 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.

5. 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).

6. The harmonic reducer with load speed reduction function according to claim 5, 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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