Corner harmonic reducer

Abstract

The invention provides a corner harmonic reducer, which belongs to the technical field of reducers and comprises an upper shell, a lower shell arranged on the left side of the upper shell, the upper shell and the lower shell are connected through a plurality of fasteners, a bevel gear I is arranged on the inner side, extending into the upper shell, of the lower end of an input shaft, and a bevel gear II meshed with the bevel gear I is arranged on the inner side, extending into the lower shell, of one end of an output shaft. The other end of the output shaft is sleeved with a wave generator, the left end of the lower shell is fixedly connected with a steel wheel through a fourth screw, a flexible gear is arranged between the steel wheel and the wave generator, the flexible gear and the wave generator are connected through a flexible bearing, and the left side of the steel wheel is connected with a cross bearing through a third screw. The other end of the flexible gear is connected with an inner ring of the cross bearing through a fifth screw. The harmonic reducer solves the problems that an existing harmonic reducer cannot meet the angle requirement, meanwhile, a traditional planetary reducer is not high in transmission and positioning precision, and when two harmonic reducers are used for meeting the angle requirement, the cost is greatly increased.

Description

Technical Field

[0001] This invention belongs to the field of speed reducer technology, specifically relating to an angle harmonic speed reducer. Background Technology

[0002] A speed reducer is a transmission device installed between a motor and a machine to reduce speed and increase torque. Harmonic reducers are one type of speed reducer.

[0003] Existing harmonic reducers are basically aligned with the direction of the motor shaft. When there is a corner and angular misalignment is required, two harmonic reducers are often needed to cope with it. In the current reducer market, planetary reducers are often used to deal with this scenario. However, planetary reducers cannot meet the requirements of high precision and high positioning. Therefore, a single conventional harmonic reducer cannot cope with the angular (input and output directions are different) requirements. At the same time, the transmission and positioning accuracy of traditional planetary reducers is not high, and the cost increases significantly when two harmonic reducers are used. Summary of the Invention

[0004] This invention provides an angle harmonic reducer, which aims to solve the problems that existing harmonic reducers cannot handle angle (different directions of input and output), while traditional planetary reducers have low transmission and positioning accuracy, and the cost increases significantly when two harmonic reducers are used.

[0005] This invention provides an angled harmonic reducer, comprising an upper housing, a lower housing mounted on the left side of the upper housing, the upper and lower housings being connected by several fasteners, an input shaft mounted on the upper housing via a deep groove ball bearing, a motor flange fixed to the upper end of the upper housing via two screws, a bevel gear 1 mounted on the lower end of the input shaft extending into the inner side of the upper housing, an output shaft mounted on the lower housing via a double-row angular contact ball bearing, a bevel gear 2 meshing with the bevel gear 1 mounted on one end of the output shaft extending into the inner side of the lower housing, a wave generator sleeved on the other end of the output shaft, a limiting plate fixed to the end of the output shaft via one screw, the end of the wave generator contacting the limiting plate, a steel wheel fixed to the left end of the lower housing via four screws, a flexible wheel mounted between the steel wheel and the wave generator, the flexible wheel and the wave generator being connected via a flexible bearing, a cross bearing connected to the left side of the steel wheel via three screws, and the other end of the flexible wheel connected to the inner ring of the cross bearing via five screws.

[0006] Furthermore, an oil seal skeleton is installed above the deep groove ball bearing.

[0007] Furthermore, the fastener includes: A connecting block is installed on the lower shell. A connecting seat is installed on the connecting block. A pair of connecting ends are installed in the connecting seat in a mirror image. A rotating cylinder is screwed onto the connecting block and clamped to the connecting seat. Fasteners also include: The connecting post is screwed onto the upper shell and embedded in the connecting seat. A pair of mirror-image connecting ends are installed on one side of the connecting post. A docking unit connected to the connecting post is installed on the connecting seat. The docking unit can work when the connecting post is embedded in the connecting seat to control the connecting end two to move to the area cooperating with the connecting end one. The docking unit includes an arched opening and a strip opening that are reserved on the connecting seat and mirrored. The edges of the arched opening and the strip opening are connected. A constraint rod that is movably connected to the arched opening and the strip opening is installed on the periphery of the connecting column. The rotary stop unit is installed in the rotary cylinder and connected to the docking unit. The connecting seat is equipped with a constraint unit connected to the rotary cylinder. The rotary stop unit can work when the docking unit moves to stop the position of the docking unit through the constraint unit. The rotating stop unit includes a strip-shaped opening 2, a curved opening 1, and an arched opening 2 that are pre-reserved on the inner surface of the rotating cylinder and mirrored. The curved opening 1 is coiled around the circumference of the rotating cylinder. Both sides of the curved opening 1 are connected to the edges of the strip-shaped opening 2 and the arched opening 2. The constraint rod is movably connected to the strip-shaped opening 2, the curved opening 1, and the arched opening 2. A following part connected to the connecting seat is installed in the rotating cylinder.

[0008] Furthermore, the following part includes a curved opening two reserved on the inner surface of the rotating cylinder. The curved opening two is coiled around the circumference of the rotating cylinder. A variable cylinder that is movably connected to the connecting seat is movably installed in the rotating cylinder. A protrusion is installed on the outer circumference of the variable cylinder. The protrusion and the curved opening two are movably connected. A spiral beryllium copper wire two is clamped on the connecting seat. Both sides of the spiral beryllium copper wire two and the connecting post are tightly attached to the variable cylinder. A guide part connected to the variable cylinder is installed on the connecting seat.

[0009] Furthermore, the guiding part includes a constraint port reserved on the inner surface of the variable cylinder, and a constraint bar that is movably connected to the constraint port is installed on the outer surface of the connecting seat.

[0010] Furthermore, the constraint unit includes a groove reserved on the outer surface of the connector, in which a moving platform is movably installed, and a spiral beryllium copper wire three closely attached to the moving platform is installed in the groove. A guiding unit connected to the moving platform is installed on the rotating cylinder.

[0011] Furthermore, the guiding unit includes an arched opening three, a strip opening three, and an arched opening four pre-reserved on the wall of the rotating cylinder. The two sides of the strip opening three are connected to the sides of the arched opening three and the arched opening four, and an avoidance unit is installed on the moving platform.

[0012] Furthermore, the avoidance unit includes a wedge-shaped seat installed on the side of the variable platform, a support rod is installed on the wedge-shaped seat, and the support rod is movably connected to the arched opening three, the strip opening three, and the arched opening four. A control panel is installed on the side of the support rod.

[0013] The beneficial effects of this invention are as follows: 1. This invention uses a standard harmonic reducer and a precision bevel gear to meet the needs of manufacturers whose input and output angles are misaligned. The harmonic reducer itself has the technical characteristics of high precision and high torque, and is more precise than the corner planetary reducer. It also has a more compact and simpler structure, which greatly saves design and processing costs.

[0014] 2. The present invention can control the rotation of the connecting column through the docking unit to ensure that the second connecting end moves to the position cooperating with the first connecting end. When the connecting column is inserted into the connecting seat, under the cooperation of the docking unit, the connecting column is controlled to rotate to a certain position so that the second connecting end moves to the position cooperating with the first connecting end, ensuring that they can be smoothly inserted together. This prevents the second connecting end from being unable to initially insert and connect with the first connecting end if the second connecting end is not aligned with the first connecting end due to the offset of the second connecting end. It can also stop the position of the connecting column through the cooperation of the rotating stop unit and the constraint unit to ensure that the second connecting end cannot be separated from the first connecting end. With the cooperation of the docking unit, the rotating stop unit is controlled to move to constrain the vertical movement of the connecting column. With the cooperation of the constraint unit, the rotating stop unit is constrained to rotate to ensure that the connecting column cannot move and cause disintegration. During the assembly of the connector and the connector post, it is only necessary to manipulate the connector post to be inserted into the connector to achieve the stop position of the second connector end, and then to fasten the connector post. The structure is simple and the assembly is convenient. When disassembling the connecting post, a spiral beryllium copper wire 1 is also installed in the connecting seat. When the connecting post is inserted into the connecting seat, the spiral beryllium copper wire 1 is compressed and shortened. At this time, the control panel can be manually operated to move the support rod through the strip-shaped opening 3 to the arch-shaped opening 4, so that the wedge-shaped seat and the constraint rod are separated. The rotating cylinder is also controlled to rotate, so that the support rod moves into the arch-shaped opening 4. With the cooperation of the arch-shaped opening 4, the wedge-shaped seat cannot return to its original position. The constraint rod moves along the arch-shaped opening 2. When the constraint rod moves to the point where the arch-shaped opening 2 and the curved opening 1 connect, the spiral beryllium copper wire 1 releases its deformation force and pushes out the connecting post. The constraint rod moves along the curved opening 1 and the strip-shaped opening 2, so that the rotating cylinder returns to the starting position. The support rod moves away from the arch-shaped opening 4 and returns to the starting position again with the cooperation of the spiral beryllium copper wire 3. By controlling the control panel and rotating the cylinder, the disassembly purpose can be achieved. In summary, the installation of fasteners facilitates the assembly and disassembly of the upper and lower shells, thereby facilitating the maintenance and repair of the internal bevel gears.

[0015] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention; Figure 2 This is a cross-sectional structural diagram of an embodiment of the present invention; Figure 3 This is a first-view structural diagram of a fastener according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the fastener structure from a second perspective according to an embodiment of the present invention; Figure 5 This is a schematic cross-sectional view of the rotating cylinder and connecting seat in an embodiment of the present invention; Figure 6 This is a schematic diagram of the connection structure of the docking unit, part of the constraint unit, and part of the rotation stop unit in an embodiment of the present invention; Figure 7 This is a schematic cross-sectional view of the rotating cylinder according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the disassembled structure of the docking unit and part of the rotating stop unit in an embodiment of the present invention; Figure 9 This is a schematic diagram of a portion of the constraint unit structure according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the partial constraint unit split structure according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the connecting column, constraint rod, and connecting end structure according to an embodiment of the present invention; Reference numerals: 1. Upper shell; 2. Lower shell; 3. Fastener; 4. Input shaft; 5. Bevel gear one; 6. Motor flange; 7. Output shaft; 8. Bevel gear two; 9. Wave generator; 10. Steel wheel; 11. Limiting plate; 12. Flexible wheel; 13. Screw one; 14. Screw two; 15. Screw three; 16. Screw four; 17. Deep groove ball bearing; 18. Oil seal skeleton; 19. Double row angular contact ball bearing; 20. Cross bearing; 21. Flexible bearing; 22. Screw five; 31. Connecting block; 32. Connecting seat; 321. Arched opening one; 322. Strip opening one; 323. Groove 33. Connecting end one; 34. Spiral beryllium copper wire one; 35. Rotating cylinder; 351. Strip-shaped opening two; 352. Curved opening one; 353. Arched opening two; 354. Arched opening three; 355. Strip-shaped opening three; 356. Arched opening four; 357. Curved opening two; 36. Variable cylinder; 37. Protrusion; 38. Spiral beryllium copper wire two; 39. Constraint opening; 310. Constraint bar; 311. Variable platform; 312. Spiral beryllium copper wire three; 313. Wedge seat; 314. Support rod; 315. Control panel; 316. Connecting column; 317. Constraint rod; 318. Connecting end two. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Reference Figure 1 and Figure 2This invention provides an angle harmonic reducer, comprising an upper housing 1, a lower housing 2 mounted on the left side of the upper housing 1, an input shaft 4 mounted on the upper housing 1 via a deep groove ball bearing 17, a motor flange 6 fixed to the upper end of the upper housing 1 via a screw 14, a bevel gear 5 mounted on the lower end of the input shaft 4 extending into the inner side of the upper housing 1, and an output shaft 7 mounted on the lower housing 2 via a double-row angular contact ball bearing 19, one end of the output shaft 7 extending into the inner side of the lower housing 2 and mounting a bevel gear 8 meshing with the bevel gear 5, and the other end of the output shaft 7... A wave generator 9 is fitted at one end, and the end of the output shaft 7 is fixed to the limiting plate 11 by screw 13. The end of the wave generator 9 is in contact with the limiting plate 11. The left end of the lower shell 2 is fixed to the steel wheel 10 by screw 4 16. A flexible wheel 12 is installed between the steel wheel 10 and the wave generator 9. The flexible wheel 12 is connected to the wave generator 9 by a flexible bearing 21. The left side of the steel wheel 10 is connected to the cross bearing 20 by screw 3 15. The other end of the flexible wheel 12 is connected to the inner ring of the cross bearing 20 by screw 5 22.

[0019] The motor is connected to the harmonic reducer, and the motor power is transmitted to the harmonic reducer. The harmonic reducer transmits the power to the flexible wheel 12 through the flexible bearing 21 on the harmonic reducer. After the long and short axes of the wave generator 9 are stretched into an ellipse, the steel wheel 10 and the flexible wheel 12 form four meshing states, namely meshing, disengaging, engaging, and disengaging. These states change cyclically under the trend of motor power. The number of teeth of the rigid and flexible wheels have different speed ratios (such as 30, 50, 80, etc.), thereby achieving a deceleration effect and obtaining output torque.

[0020] Reference Figure 2 An oil seal skeleton 18 is installed above the deep groove ball bearing 17 to ensure the sealing of the input shaft 4 connection. Example

[0021] Reference Figures 3-11 The difference from Embodiment 1 is that the upper shell 1 and the lower shell 2 are connected by several fasteners 3. The fasteners 3 facilitate the assembly and disassembly of the upper shell 1 and the lower shell 2, and thus facilitate the maintenance and repair of the internal bevel gears.

[0022] Fastener 3 includes: Connecting block 31 is installed on the lower shell 2. Connecting seat 32 is installed on the connecting block 31. A pair of connecting ends 33 are installed in the connecting seat 32. A rotating cylinder 35 is screwed onto the connecting block 31 and clamped to the connecting seat 32. Reference Figures 3-6 , Figure 8 and Figure 11 Fastener 3 also includes: A connecting post 316 is screwed onto the upper shell 1 and embedded in the connecting seat 32. A pair of mirror-image connecting ends 318 are installed on one side of the connecting post 316. A docking unit connected to the connecting post 316 is installed on the connecting seat 32. The docking unit can operate when the connecting post 316 is embedded in the connecting seat 32 to control the second connecting end 318 to move to the area cooperating with the first connecting end 33. The docking unit includes an arched opening 321 and a strip opening 322 reserved on the connecting seat 32 and mirror-image. The edges of the arched opening 321 and the strip opening 322 are connected. A constraint rod 317 is installed on the circumference of the connecting post 316 and is movably connected to the arched opening 321 and the strip opening 322.

[0023] The arched opening 321 adopts an arched structure. During assembly, the connecting post 316 must be inserted into the connecting seat 32, and the connecting end 318 must be successfully inserted into the connecting end 33. Therefore, when the connecting post 316 is inserted into the connecting seat 32, the constraint rod 317 and the arched opening 321 are in close contact. At this moment, the connecting post 316 is given an external force towards the connecting seat 32. With the cooperation of the constraint rod 317 and the arched opening 321, the connecting post 316 can be pulled to rotate towards the side of the strip opening 322 until the constraint rod 317 moves away from the arched opening 321 and moves into the strip opening 322. Then the connecting post 316 rotates to the designated position, and the connecting end 318 is moved to the position cooperating with the connecting end 33. At this moment, the connecting post 316 continues to move until the connecting end 318 is fully inserted into the connecting end 33.

[0024] Since both connecting end 1 33 and connecting end 2 318 are mirror images, when the constraint rod 317 contacts the arched opening 321 at any point, it can pull the constraint rod 317 to move into the strip opening 322, allowing connecting end 2 318 to move to the same vertical plane as connecting end 1 33, thereby achieving the purpose of stopping the connecting post 316. This prevents connecting end 2 318 from not being able to be inserted into connecting end 1 33 due to the misalignment of the connecting post 316, and also prevents connecting end 2 318 from failing to initially connect with connecting end 1 33 when the orientation of connecting end 2 318 is misaligned and not directly aligned with connecting end 1 33.

[0025] Reference Figures 5-8A rotating stop unit is installed in the rotating cylinder 35 and connected to the docking unit. The rotating stop unit includes a strip-shaped opening 351, a curved opening 352, and an arched opening 353, which are mirror images of each other and are reserved on the inner surface of the rotating cylinder 35. The curved opening 352 is coiled around the circumference of the rotating cylinder 35, and each side of the curved opening 352 is connected to the edge of the strip-shaped opening 351 and the arched opening 353. The constraint rod 317 is movably connected to the strip-shaped opening 351, the curved opening 352, and the arched opening 353. A following part connected to the connecting seat 32 is installed in the rotating cylinder 35. The following part includes a curved opening 357 reserved on the inner surface of the rotating cylinder 35. A curved opening 357 is coiled around the circumference of the rotating cylinder 35. A variable cylinder 36, which is movably connected to the connecting seat 32, is movably installed in the rotating cylinder 35. A protrusion 37 is installed on the outer circumference of the variable cylinder 36. The protrusion 37 and the curved opening 357 are movably connected. A spiral beryllium copper wire 38 is clamped on the connecting seat 32. Both sides of the spiral beryllium copper wire 38 and the connecting post 316 are tightly attached to the variable cylinder 36. A guide part connected to the variable cylinder 36 is installed on the connecting seat 32. The guide part includes a constraint opening 39 reserved on the inner surface of the variable cylinder 36. A constraint strip 310 movably connected to the constraint opening 39 is installed on the outer surface of the connecting seat 32.

[0026] The second strip opening 351 passes through the edge of the rotating cylinder 35. Initially, the second spiral beryllium copper wire 38 is shortened, positioning the rotating cylinder 36 at the end of the path farther from the connecting block 31. This positions the protrusion 37 at the end of the path of the second curved opening 357 at the end of the path farther from the connecting block 31. With the assistance of the second spiral beryllium copper wire 38, the rotating cylinder 35 gains the momentum to rotate towards the other side of the second curved opening 357. At this moment, the second strip opening 351 and the first strip opening 322 are on the same axial direction. When the connecting post 316 is inserted into the connecting seat 32, the constraint rod 317 moves along the path of the first arch opening 321 until the constraint rod 31... 7. When the constraint rod 317 moves away from the arched opening 321 and into the strip opening 322, because the connecting area between the arched opening 321 and the strip opening 322 is located at the top of one side of the strip opening 351, the constraint rod 317 successfully moves into the strip opening 351 as it moves along the strip opening 322. When the constraint rod 317 moves to the connecting point between the strip opening 351 and the curved opening 352, because the constraint rod 317 is still movably connected to the strip opening 322, the connecting column 316 cannot rotate, preventing the constraint rod 317 from deflecting. Therefore, when the constraint rod 317 moves into the curved opening 352, the rotating cylinder 35 rotates because the curved opening 352... Since the rotation direction of 352 is consistent with that of the curved opening 357, the protrusion 37 also moves along the curved opening 357. Because the constraint bar 310 and the constraint opening 39 have a guiding function, they ensure that the moving cylinder 36 cannot rotate with the rotating cylinder 35. With the cooperation of the protrusion 37 and the curved opening 357, the moving cylinder 36 moves along the axial direction of the connecting seat 32 and compresses and shortens the spiral beryllium copper wire 38. When the constraint bar 317 moves to the point where the curved opening 352 and the arched opening 353 connect, the moving cylinder 36 moves to the end of the path towards the connecting block 31. At this moment, the spiral beryllium copper wire 38 releases deformation force, driving the moving cylinder 36 towards the starting point. The movement of the protrusion 37 within the curved opening 357 causes the rotating cylinder 35 to rotate towards the starting point. At this moment, the constraint rod 317 moves into the arched opening 353. When the protrusion 37 moves to the edge of the curved opening 357, the constraint rod 317 moves to the side of the arched opening 353 that is farther from the curved opening 352. With the cooperation of the spiral beryllium copper wire 38, the rotating cylinder 35 continues to rotate, thus ensuring that the constraint rod 317 remains at the edge of the arched opening 353. The constraint rod 317 and the arched opening 353 constrain the vertical movement of the connecting post 316, ensuring that the connecting post 316 cannot move away from the connecting seat 32.

[0027] During the assembly of the connector 32 and the connector 316, it is only necessary to manipulate the connector 316 to be inserted into the connector 32 to achieve the stop position of the second connector 318 and to fasten the connector 316. The structure is simple and the assembly is convenient.

[0028] Reference Figures 3-7 , Figure 9 and Figure 10 A constraint unit connected to the rotating cylinder 35 is installed on the connecting seat 32. The rotating stop unit can operate when the docking unit moves to stop the orientation of the docking unit through the constraint unit. The constraint unit includes a groove 323 reserved on the outer surface of the connecting seat 32. A moving platform 311 is movably installed in the groove 323. A spiral beryllium copper wire 312 tightly attached to the moving platform 311 is installed in the groove 323. A guiding unit connected to the moving platform 311 is installed on the rotating cylinder 35. The guiding unit includes a groove 323 reserved on the outer surface of the connecting seat 32. 5. The wall surface has an arched opening 354, a strip opening 355, and an arched opening 456. The two sides of the strip opening 355 are connected to the sides of the arched opening 354 and the arched opening 456. An obstacle avoidance unit is installed on the moving platform 311. The obstacle avoidance unit includes a wedge-shaped seat 313 installed on the side of the moving platform 311. A support rod 314 is installed on the wedge-shaped seat 313. The support rod 314 is movably connected to the arched opening 354, the strip opening 355, and the arched opening 456. A control panel 315 is installed on the side of the support rod 314.

[0029] One end of the wedge-shaped seat 313 is a slanted wall, and the other end is a right-angled wall. The radial span of the support rod 314 is less than the width of the strip-shaped opening 355. Initially, the spiral beryllium copper wire 312 is under compression and shortening, so that the moving platform 311 is at the end of the path of the trench 323, which is farther from the connecting block 31. At this time, the wedge-shaped seat 313 forms a barrier against the arch-shaped opening 356. The support rod 314 is at the connection between the strip-shaped opening 355 and the arch-shaped opening 354. When connecting to the connecting column 316, the constraint rod 317 moves through the arch-shaped opening 321 to the strip-shaped opening 322, and the constraint rod 317 can also move along the strip-shaped opening 356. 1. With the movement of the curved opening 352, when the constraint rod 317 moves into the curved opening 352, the rotating cylinder 35 rotates, causing the support rod 314 to move in the arched opening 354. In cooperation with the curved opening 357 and the protrusion 37, the rotating cylinder 36 compresses and shortens the spiral beryllium copper wire 38. The deformation force of the spiral beryllium copper wire 312 is less than that of the spiral beryllium copper wire 38. When the constraint rod 317 moves away from the curved opening 352 and into the arched opening 353, in cooperation with the spiral beryllium copper wire 38, the rotating cylinder 35 rotates towards the starting point to control the movement of the constraint rod 317. The cylinder 35 moves into the arched opening 353, and the rotating cylinder 35 can also control the movement of the arched opening 354, reducing the distance between the strip opening 355 and the support rod 314. Before the constraint rod 317 is in close contact with the inclined wall of the wedge seat 313, the strip opening 355 moves to cooperate with the support rod 314. Therefore, when the constraint rod 317 moves to be in close contact with the inclined wall of the wedge seat 313, the wedge seat 313 will retract, and the traction platform 311 moves along the groove 323 to compress and shorten the spiral beryllium copper wire 312. The wedge seat 313 drives the support rod 314 to move into the strip opening 355. When the constraint rod 31... When the edge of wedge seat 313 is in close contact with the support rod 314, the support rod 314 moves completely into the arched opening 356. When the constraint rod 317 separates from the inclined wall of wedge seat 313, the constraint rod 317 moves to the end of the path of arched opening 353. At this moment, the spiral beryllium copper wire 312 releases its deformation force, allowing the moving platform 311 to return to its original position, so that wedge seat 313 can return to its original position. The support rod 314 returns to the connection between arched opening 354 and strip opening 355. With the cooperation of the right-angle wall of wedge seat 313, the constraint rod 317 moves in the circumferential direction of rotating cylinder 35 to ensure that connecting column 316 cannot move away from connecting seat 32.

[0030] With the double-layer fastening of the wedge-shaped seat 313 and the arched opening 353, the spiral beryllium copper wire 38 can still provide a fastening effect when the control panel 315 is subjected to changes caused by external factors, ensuring that the rotating cylinder 35 cannot rotate, thus ensuring that the connecting column 316 cannot move. If the connecting column 316 needs to be disassembled, the connecting seat 32 is also equipped with a spiral beryllium copper wire 34. When the connecting column 316 is embedded in the connecting seat 32, the spiral beryllium copper wire 34 is compressed and shortened. At this time, the control panel 315 can be manually operated to move the support rod 314 through the strip-shaped opening 355 to the arched opening 356, so that the wedge-shaped seat 313 and the constraint rod 317 can be separated. Then, the rotating cylinder 35 can be rotated to move the support rod 314 into the arched opening 356. With the cooperation of the four-shaped opening 356, the wedge seat 313 is prevented from returning to its original position. The constraint rod 317 moves along the arched opening 353. When the constraint rod 317 moves to the point where the arched opening 353 and the curved opening 352 connect, the spiral beryllium copper wire 34 releases deformation force and pushes out the connecting post 316, allowing the constraint rod 317 to move along the curved opening 352 and the strip opening 351, allowing the rotating cylinder 35 to return to the starting position. The support rod 314 moves away from the four-shaped opening 356 and, with the cooperation of the spiral beryllium copper wire 312, returns to the starting position. By controlling the control panel 315 and the rotating cylinder 35 to rotate, the purpose of disassembly can be achieved. The spiral beryllium copper wire 34 has the function of self-extraction, thereby achieving the purpose of easy disassembly and quick removal of the connecting post 316.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A corner harmonic reducer, characterized in that, The device includes an upper shell, with a lower shell mounted on its left side. The upper and lower shells are connected by several fasteners. An input shaft is mounted on the upper shell via a deep groove ball bearing. The upper end of the upper shell is fixed to a motor flange via two screws. The lower end of the input shaft extends into the inner side of the upper shell and houses a bevel gear. An output shaft is mounted on the lower shell via a double-row angular contact ball bearing. One end of the output shaft extends into the inner side of the lower shell and houses a bevel gear that meshes with the bevel gear. A wave generator is mounted on the other end of the output shaft. The end of the output shaft is fixed to a limiting plate via one screw, and the end of the wave generator contacts the limiting plate. A steel wheel is fixed to the left end of the lower shell via four screws. A flexible wheel is mounted between the steel wheel and the wave generator. The flexible wheel is connected to the wave generator via a flexible bearing. A cross bearing is connected to the left side of the steel wheel via three screws, and the other end of the flexible wheel is connected to the inner ring of the cross bearing via five screws.

2. The corner harmonic reducer according to claim 1, characterized in that: An oil seal skeleton is installed above the deep groove ball bearing.

3. The corner harmonic reducer according to claim 1, characterized in that: Fasteners include: A connecting block is installed on the lower shell. A connecting seat is installed on the connecting block. A pair of connecting ends are installed in the connecting seat in a mirror image. A rotating cylinder is screwed onto the connecting block and clamped to the connecting seat. Fasteners also include: The connecting post is screwed onto the upper shell and embedded in the connecting seat. A pair of mirror-image connecting ends are installed on one side of the connecting post. A docking unit connected to the connecting post is installed on the connecting seat. The docking unit can work when the connecting post is embedded in the connecting seat to control the connecting end two to move to the area cooperating with the connecting end one. The docking unit includes an arched opening and a strip opening that are reserved on the connecting seat and mirrored. The edges of the arched opening and the strip opening are connected. A constraint rod that is movably connected to the arched opening and the strip opening is installed on the periphery of the connecting column. The rotary stop unit is installed in the rotary cylinder and connected to the docking unit. The connecting seat is equipped with a constraint unit connected to the rotary cylinder. The rotary stop unit can work when the docking unit moves to stop the position of the docking unit through the constraint unit. The rotating stop unit includes a strip-shaped opening 2, a curved opening 1, and an arched opening 2 that are pre-reserved on the inner surface of the rotating cylinder and mirrored. The curved opening 1 is coiled around the circumference of the rotating cylinder. Both sides of the curved opening 1 are connected to the edges of the strip-shaped opening 2 and the arched opening 2. The constraint rod is movably connected to the strip-shaped opening 2, the curved opening 1, and the arched opening 2. A following part connected to the connecting seat is installed in the rotating cylinder.

4. The corner harmonic reducer according to claim 3, characterized in that: The following part includes a curved opening two reserved on the inner surface of the rotating cylinder. The curved opening two is coiled around the circumference of the rotating cylinder. A variable cylinder is movably installed in the rotating cylinder and movably connected to the connecting seat. A protrusion is installed on the outer circumference of the variable cylinder. The protrusion and the curved opening two are movably connected. A spiral beryllium copper wire two is clamped on the connecting seat. Both sides of the spiral beryllium copper wire two and the connecting post are tightly attached to the variable cylinder. A guide part connected to the variable cylinder is installed on the connecting seat.

5. A corner harmonic reducer according to claim 4, characterized in that: The guide section includes a constraint port reserved on the inner surface of the variable cylinder, and a constraint bar that is movably connected to the constraint port is installed on the outer surface of the connecting seat.

6. A corner harmonic reducer according to claim 3, characterized in that: The constraint unit includes a groove reserved on the outer surface of the connector, in which a moving platform is movably installed, and a spiral beryllium copper wire three tightly attached to the moving platform is installed in the groove. A guide unit connected to the moving platform is installed on the rotating cylinder.

7. A corner harmonic reducer according to claim 6, characterized in that: The guiding unit includes three arched openings, three strip openings, and four arched openings pre-reserved on the wall of the rotating cylinder. Each side of the strip opening is connected to the side of the arched openings three and four. An avoidance unit is installed on the moving platform.

8. A corner harmonic reducer according to claim 7, characterized in that: The avoidance unit includes a wedge-shaped seat installed on the side of the platform, a support rod installed on the wedge-shaped seat, and the support rod is movably connected to arched opening three, strip opening three, and arched opening four. A control panel is installed on the side of the support rod.

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