Bionic shoulder-raising and shoulder-broadening exercise structure

Abstract

This invention belongs to the field of biomimetic robot technology, and specifically relates to a biomimetic shrug and broad-shoulder movement structure. The technical solution is as follows: A biomimetic shrug and broad-shoulder movement structure includes a housing. A shrug joint is embedded in the lower part of the side of the housing. The output end of the shrug joint is connected to a shrug output flange. A shrug connecting rod is rotatably connected to the edge of the shrug output flange. A clavicle module is rotatably connected to the top of the housing. The other end of the shrug connecting rod is rotatably connected to the clavicle module. A fixing member is also fixed to the top of the housing. A broad-shoulder joint is installed inside the fixing member. The output end of the broad-shoulder joint is connected to a broad-shoulder output flange. A broad-shoulder connecting rod is rotatably connected to the edge of the broad-shoulder joint output flange. The other end of the broad-shoulder connecting rod is rotatably connected to the clavicle module. This invention provides a biomimetic shrug and broad-shoulder movement structure to simulate the real structure and movement of the human shoulder.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology, and specifically relates to a biomimetic shrug and broaden shoulder movement structure. Background Technology

[0002] Bionic robots aim to mimic the movement mechanisms and behavioral characteristics of living organisms to improve their adaptability and maneuverability in complex environments. The shoulder structure, as a crucial link connecting the torso and upper limbs of a bionic robot, directly determines the range of motion, dexterity, and bionic degree of the robot's upper limbs. In the shoulder complex of humans and higher animals, the scapula or shoulder girdle not only supports the glenohumeral joint but also possesses independent movement capabilities relative to the thorax, primarily including planar movements such as elevation, descent, extension, and retraction. These movements enable the shoulder to achieve posture adjustments such as "shrugging" and "broadening," significantly increasing the spatial reach of the upper limbs and providing a stable biomechanical basis for complex actions such as arm swinging, lifting, and carrying. Therefore, realizing the aforementioned shrugging and broadening movements in bionic robots is of great significance for improving the robot's maneuverability and task generalization ability.

[0003] Patent application CN202311221035.3 discloses a linkage-type shoulder movement mechanism, including a torso fixation base, a shoulder fixation base fixed to the top of the torso fixation base, a shoulder structure rotatably connected to the shoulder fixation base, a forward tilting drive linkage rotatably connected to the shoulder structure, a forward tilting power source mounted on the torso fixation base, the outer ring of the output end of the forward tilting power source being rotatably connected to the forward tilting drive linkage, and the forward tilting power source being located on the rear side of the shoulder structure; a shoulder shrug power source mounted on the forward tilting drive linkage, the outer ring of the output end of the shoulder shrug power source being rotatably connected to a shoulder shrug drive linkage, and the other end of the shoulder shrug drive linkage being rotatably connected to the side of the torso fixation base. This invention provides a linkage-type shoulder movement mechanism capable of realizing forward tilting and up-and-down shoulder shrugs.

[0004] However, the aforementioned shoulder movement mechanism requires the shrug power source to be mounted on the forward tilt drive linkage in order to drive the shoulder structure to perform the shrug movement through the reverse thrust of the shrug power source. In other words, the shrug power source needs to be located outside the torso fixation base. The forward tilt power source, also mounted on the torso fixation base, requires sufficient space to connect its output end to the forward tilt drive linkage; therefore, the forward tilt power source also needs to be located outside the torso fixation base. Since both the shrug and forward tilt power sources are located outside the torso fixation base, they occupy a significant amount of space and cannot simulate the actual structure of the human shoulder. Summary of the Invention

[0005] In order to solve the above-mentioned problems in the existing technology, the purpose of this invention is to provide a biomimetic shoulder shrug and broaden movement structure to simulate the real structure and movement of the human shoulder.

[0006] The technical solution adopted in this invention is as follows: A biomimetic shoulder-shrugging and broad-shoulder movement structure includes a housing. A shoulder-shrugging joint is embedded in the lower part of the side of the housing. The output end of the shoulder-shrugging joint is connected to a shoulder-shrugging output flange. A shoulder-shrugging connecting rod is rotatably connected to the edge of the shoulder-shrugging output flange. A clavicle module is rotatably connected to the top of the housing. The other end of the shoulder-shrugging connecting rod is rotatably connected to the clavicle module. A fixing member is also fixed to the top of the housing. A broad-shoulder joint is installed inside the fixing member. The output end of the broad-shoulder joint is connected to a broad-shoulder output flange. A broad-shoulder connecting rod is rotatably connected to the edge of the broad-shoulder joint output flange. The other end of the broad-shoulder connecting rod is rotatably connected to the clavicle module.

[0007] The shrug joint of this invention is fixed to the housing. The output end of the shrug joint is equipped with a shrug output flange. Rotation of the shrug joint drives the shrug output flange to push the shrug connecting rod upwards or downwards, simulating the actual shrug motion of the human shoulder. The housing and the fixing component are integrated. The broad shoulder joint is fixed to the fixing component. Rotation of the broad shoulder joint, through the broad shoulder output flange, pushes the broad shoulder connecting rod forwards or backwards, realizing broad shoulder movement. This invention can simulate the upward, backward, downward, and forward movements of the human shoulder.

[0008] This invention uses a shoulder-shrugging linkage to raise or lower the clavicle module, and a broad-shoulder linkage to extend or retract the clavicle module. Both the shoulder-shrugging and broad-shoulder linkages are rod-like components, occupying minimal space. In this invention, the shoulder-shrugging joint is installed inside the housing, and the broad-shoulder joint is installed inside a fixing component, which is fixed to the top of the housing. Therefore, neither the shoulder-shrugging nor the broad-shoulder joint occupies space around the housing, allowing for a better simulation of the real human body structure.

[0009] In a preferred embodiment of the present invention, both the shoulder shrug joint and the clavicle module are horizontally arranged, with the clavicle module located above the shoulder shrug joint, and the upper end of the shoulder shrug linkage rotatably connected to the lower part of the clavicle module. When the shoulder shrug joint moves, the shoulder shrug linkage is driven to rise or fall through the shoulder shrug output flange, thereby causing the clavicle module to rise or fall.

[0010] In a preferred embodiment of the present invention, the lower end of the shrug link is connected to the edge of the shrug output flange via a first spherical bearing. During the movement of the shrug joint and the broad shoulder joint, the shrug link may move in multiple directions relative to the shrug output flange. Therefore, connecting the shrug link and the shrug output flange via the first spherical bearing can avoid motion interference.

[0011] In a preferred embodiment of the present invention, the end of the clavicle module away from the shoulder shrug link is connected to the top of the housing via a second fisheye bearing. The clavicle module can move in multiple directions relative to the housing, including lifting, lowering, extending forward, and retracting, thereby avoiding motion interference when the clavicle module and the housing are connected via the second fisheye bearing.

[0012] In a preferred embodiment of the present invention, the upper end of the shoulder shrug linkage is connected to the lower part of the clavicle module via a needle roller bearing, the axis of which is horizontally positioned. During the shoulder shrug, the angle between the clavicle module and the shoulder shrug linkage changes in real time; therefore, by incorporating a needle roller bearing, it can adapt to these angle changes.

[0013] In a preferred embodiment of the present invention, the fixing member and the clavicle module are arranged side-by-side at the top of the housing, with the front end of the broad shoulder connecting rod rotatably connected to the edge of the broad shoulder output flange and the rear end of the broad shoulder connecting rod rotatably connected to the lower part of the clavicle module. The fixing member and the clavicle module are arranged side-by-side at the top of the housing, thus the broad shoulder connecting rod is nearly horizontal. When the broad shoulder joint moves, the broad shoulder connecting rod laterally pushes the clavicle module forward or backward.

[0014] In a preferred embodiment of the present invention, the front end of the broad shoulder connecting rod is connected to the edge of the broad shoulder output flange via a third spherical bearing. During the movement of the shoulder shrug joint and broad shoulder joint, the broad shoulder connecting rod may move in multiple directions relative to the broad shoulder output flange. Therefore, connecting the broad shoulder connecting rod and the broad shoulder output flange via the third spherical bearing can avoid motion interference.

[0015] In a preferred embodiment of the present invention, the rear end of the broad shoulder link is connected to the lower part of the clavicle module via a fourth fisheye bearing. During the movement of the shrug and broad shoulder joints, the broad shoulder link may move in multiple directions relative to the clavicle module. Therefore, connecting the broad shoulder link and the clavicle module via the fourth fisheye bearing can avoid motion interference.

[0016] As a preferred embodiment of the present invention, both the shoulder shrug joint and the broad shoulder joint include a harmonic reduction motor; the harmonic reduction motor includes a central shaft, a motor stator is mounted on the central shaft, a motor rotor is sleeved on the motor stator, a cam is fixed on the motor rotor, the cam is connected to a flexible wheel through a flexible bearing, the flexible wheel meshes with a harmonic rigid wheel, the number of teeth of the flexible wheel is less than the number of teeth of the harmonic rigid wheel, an output flange is fixed on the flexible wheel, the output flange and the flexible wheel are fixed, a rear cover is fixed to one end of the central shaft, and the rear cover is fixed to the harmonic rigid wheel; The harmonic rigid wheel of the shoulder joint is fixed to the housing, and the output flange of the shoulder joint is fixedly connected to the shoulder output flange; the harmonic rigid wheel of the broad shoulder joint is fixed to the fastener, and the output flange of the broad shoulder joint is fixedly connected to the broad shoulder output flange.

[0017] When the motor is powered on, the motor rotor rotates relative to the motor stator. The motor rotor drives the cam to rotate, and the cam drives the flex wheel to mesh with the harmonic rigid wheel through a flexible bearing. If the number of teeth on the flex wheel is N less than the number of teeth on the harmonic rigid wheel, then when the cam rotates one revolution, the flex wheel rotates N teeth relative to the harmonic rigid wheel. This results in a greater speed reduction for the output flange connected to the flex wheel, ensuring a stable output force, and ensuring transmission accuracy through gear transmission.

[0018] As a preferred embodiment of the present invention, a rolling bearing is provided between the central shaft and the cam; the harmonic reduction motor further includes a crossed roller bearing, the inner ring of which is integrally formed or fixedly connected to the output flange, and the outer ring of which is integrally formed or fixedly connected to the harmonic rigid wheel.

[0019] The beneficial effects of this invention are as follows: 1. The shrug joint of this invention is fixed to the housing. The output end of the shrug joint is equipped with a shrug output flange. Rotation of the shrug joint drives the shrug output flange to push the shrug connecting rod upwards or downwards, simulating the real shrug motion of the human body. The housing and the fixing component are integrated. The broad shoulder joint is fixed to the fixing component. Rotation of the broad shoulder joint, through the broad shoulder output flange, pushes the broad shoulder connecting rod forwards or backwards, realizing broad shoulder movement. This invention can simulate the upward, backward, downward, and forward movements of the human shoulder.

[0020] 2. This invention uses a shoulder-shrugging linkage to lift or lower the clavicle module, and a broad-shoulder linkage to extend or retract the clavicle module. Both the shoulder-shrugging and broad-shoulder linkages are rod-like components, occupying minimal space. In this invention, the shoulder-shrugging joint is installed inside the housing, and the broad-shoulder joint is installed inside a fixing component, which is fixed to the top of the housing. Therefore, neither the shoulder-shrugging nor the broad-shoulder joint occupies space around the housing, allowing for better simulation of the real human body structure. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional view of a harmonic geared motor; Figure 3 This is a partial structural diagram of a harmonic geared motor.

[0022] In the diagram: 1-box; 2-shoulder joint; 3-shoulder output flange; 4-shoulder connecting rod; 5-clavicle module; 6-fixing component; 7-broad shoulder joint; 8-broad shoulder output flange; 9-broad shoulder connecting rod; 11-second fisheye bearing; 41-first fisheye bearing; 42-needle roller bearing; 91-third fisheye bearing; 92-fourth fisheye bearing; a1-central shaft; a2-motor stator; a3-motor rotor; a4-cam; a5-flexible wheel; a6-harmonic rigid wheel; a7-output flange; a8-flexible bearing; a9-rear cover; a10-rolling bearing; a11-cross roller bearing. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments 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. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0025] like Figure 1 As shown, the biomimetic shoulder shrug and broad shoulder movement structure of this embodiment includes a housing 1. A shoulder shrug joint 2 is embedded in the lower part of the side of the housing 1. The output end of the shoulder shrug joint 2 is connected to a shoulder shrug output flange 3. A shoulder shrug connecting rod 4 is rotatably connected to the edge of the shoulder shrug output flange 3. A clavicle module 5 is rotatably connected to the top of the housing 1. The other end of the shoulder shrug connecting rod 4 is rotatably connected to the clavicle module 5. A fixing member 6 is also fixed to the top of the housing 1. A broad shoulder joint 7 is installed inside the fixing member 6. A broad shoulder output flange 8 is connected to the output end of the broad shoulder joint 7. A broad shoulder connecting rod 9 is rotatably connected to the edge of the output flange 8 of the broad shoulder joint 7. The other end of the broad shoulder connecting rod 9 is rotatably connected to the clavicle module 5.

[0026] The shrug joint 2 of this invention is fixed to the housing 1. The output end of the shrug joint 2 is provided with a shrug output flange 3. Rotation of the shrug joint 2 drives the shrug output flange 3 to push the shrug connecting rod 4 upwards or downwards, simulating the real human shrug movement. The housing 1 and the fixing member 6 are integrated. The broad shoulder joint 7 is fixed to the fixing member 6. Rotation of the broad shoulder joint 7 pushes the broad shoulder connecting rod 9 forwards or backwards through the broad shoulder output flange 8, realizing broad shoulder movement. This invention can simulate the upward, backward, downward, and forward movements of the human shoulder.

[0027] This invention uses a shoulder shrug linkage 4 to lift or lower the clavicle module 5, and a broad shoulder linkage 9 to extend or retract the clavicle module 5. Both the shoulder shrug linkage 4 and the broad shoulder linkage 9 are rods, which do not occupy too much space. In this invention, the shoulder shrug joint 2 is installed inside the housing 1, and the broad shoulder joint 7 is installed inside the fixing member 6, which is fixed to the top of the housing 1. Therefore, neither the shoulder shrug joint 2 nor the broad shoulder joint 7 occupies the space around the housing 1, which can better simulate the real human body structure.

[0028] Specifically, both the shoulder shrug joint 2 and the clavicle module 5 are horizontally arranged, with the clavicle module 5 located above the shoulder shrug joint 2. The upper end of the shoulder shrug linkage 4 is rotatably connected to the lower part of the clavicle module 5. When the shoulder shrug joint 2 moves, it drives the shoulder shrug linkage 4 to lift or lower through the shoulder shrug output flange 3, thereby causing the clavicle module 5 to lift or lower.

[0029] The lower end of the shrug link 4 is connected to the edge of the shrug output flange 3 via a first fisheye bearing 41. During the movement of the shrug joint 2 and the broad shoulder joint 7, the shrug link 4 may move in multiple directions relative to the shrug output flange 3. Therefore, the connection between the shrug link 4 and the shrug output flange 3 via the first fisheye bearing 41 can avoid motion interference.

[0030] The end of the clavicle module 5 furthest from the shoulder shrug link 4 is connected to the top of the housing 1 via a second fisheye bearing 11. The clavicle module 5 can move in multiple directions relative to the housing 1, such as lifting, lowering, extending forward, and retracting, thus avoiding motion interference when the clavicle module 5 is connected to the housing 1 via the second fisheye bearing 11.

[0031] The upper end of the shoulder shrug link 4 is connected to the lower part of the clavicle module 5 via a needle roller bearing 42, the axis of which is horizontally set. During the shoulder shrug, the angle between the clavicle module 5 and the shoulder shrug link 4 changes in real time, so the needle roller bearing 42 can be used to adapt to the angle change.

[0032] Specifically, the fixing member 6 and the clavicle module 5 are arranged side-by-side at the top of the housing 1. The front end of the broad shoulder connecting rod 9 is rotatably connected to the edge of the broad shoulder output flange 8, and the rear end of the broad shoulder connecting rod 9 is rotatably connected to the lower part of the clavicle module 5. The fixing member 6 and the clavicle module 5 are arranged side-by-side at the top of the housing 1, thus the broad shoulder connecting rod 9 is nearly horizontal. When the broad shoulder joint 7 moves, the broad shoulder connecting rod 9 laterally pushes the clavicle module 5 forward or backward.

[0033] The front end of the broad shoulder connecting rod 9 is connected to the edge of the broad shoulder output flange 8 via a third fisheye bearing 91. During the movement of the shoulder shrug joint 2 and the broad shoulder joint 7, the broad shoulder connecting rod 9 may move in multiple directions relative to the broad shoulder output flange 8. Therefore, the connection between the broad shoulder connecting rod 9 and the broad shoulder output flange 8 via the third fisheye bearing 91 can avoid motion interference.

[0034] The rear end of the broad shoulder link 9 is connected to the lower part of the clavicle module 5 via a fourth fisheye bearing 92. During the movement of the shoulder shrug joint 2 and the broad shoulder joint 7, the broad shoulder link 9 may move in multiple directions relative to the clavicle module 5. Therefore, the connection between the broad shoulder link 9 and the clavicle module 5 via the fourth fisheye bearing 92 can avoid motion interference.

[0035] Specifically, such as Figure 2 and Figure 3As shown, both the shoulder shrug joint 2 and the broad shoulder joint 7 include a harmonic reduction motor; the harmonic reduction motor includes a central shaft a1, a motor stator a2 is mounted on the central shaft a1, a motor rotor a3 is sleeved on the motor stator a2, a cam a4 is fixed on the motor rotor a3, the cam a4 is connected to a flexible wheel a5 through a flexible bearing a8, the flexible wheel a5 meshes with a harmonic rigid wheel a6, the number of teeth of the flexible wheel a5 is less than the number of teeth of the harmonic rigid wheel a6, an output flange a7 is fixed on the flexible wheel a5, the output flange a7 and the flexible wheel a5 are fixed, a rear cover a9 is fixed at one end of the central shaft a1, and the rear cover a9 is fixed to the harmonic rigid wheel a6; The harmonic rigid wheel a6 of the shoulder joint 2 is fixed to the housing 1, and the output flange a7 of the shoulder joint 2 is fixedly connected to the shoulder output flange 3; the harmonic rigid wheel a6 of the broad shoulder joint 7 is fixed to the fixing member 6, and the output flange a7 of the broad shoulder joint 7 is fixedly connected to the broad shoulder output flange 8.

[0036] When the motor is powered on, the motor rotor a3 rotates relative to the motor stator a2. The motor rotor a3 drives the cam a4 to rotate, and the cam a4 drives the flexure a5 to mesh with the harmonic rigid wheel a6 through the flexible bearing a8. If the number of teeth of the flexure a5 is N less than the number of teeth of the harmonic rigid wheel a6, then when the cam a4 rotates one revolution, the flexure a5 rotates N teeth relative to the harmonic rigid wheel a6. This results in a greater speed reduction for the output flange a7 connected to the flexure a5, ensuring a stable output force, and ensuring transmission accuracy through gear transmission.

[0037] A rolling bearing a10 is provided between the central shaft a1 and the cam a4; the harmonic reduction motor also includes a crossed roller bearing a11, the inner ring of the crossed roller bearing a11 is integrally formed or fixedly connected to the output flange a7, and the outer ring of the crossed roller bearing a11 is integrally formed or fixedly connected to the harmonic rigid wheel a6.

[0038] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A biomimetic shoulder-shrugging and shoulder-broadening movement structure, characterized in that: The enclosure includes a housing (1), a shoulder joint (2) is embedded in the lower part of the side of the housing (1), the output end of the shoulder joint (2) is connected to a shoulder output flange (3), the edge of the shoulder output flange (3) is rotatably connected to a shoulder connecting rod (4), the top of the housing (1) is rotatably connected to a clavicle module (5), and the other end of the shoulder connecting rod (4) is rotatably connected to the clavicle module (5); the top of the housing (1) is also fixed with a fastener (6), a broad shoulder joint (7) is installed inside the fastener (6), the output end of the broad shoulder joint (7) is connected to a broad shoulder output flange (8), the edge of the output flange (a7) of the broad shoulder joint (7) is rotatably connected to a broad shoulder connecting rod (9), and the other end of the broad shoulder connecting rod (9) is rotatably connected to the clavicle module (5).

2. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 1, characterized in that: The shoulder shrug joint (2) and the clavicle module (5) are both horizontally arranged. The clavicle module (5) is located above the shoulder shrug joint (2), and the upper end of the shoulder shrug link (4) is rotatably connected to the lower part of the clavicle module (5).

3. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 2, characterized in that: The lower end of the shrug connecting rod (4) is connected to the edge of the shrug output flange (3) via a first fisheye bearing (41).

4. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 2, characterized in that: The clavicle module (5) is connected to the top of the housing (1) at the end away from the shoulder shrug link (4) via a second fisheye bearing (11).

5. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 2, characterized in that: The upper end of the shoulder shrug link (4) is connected to the lower part of the clavicle module (5) via a needle roller bearing (42), and the axis of the needle roller bearing (42) is set horizontally.

6. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 1, characterized in that: The fastener (6) and the clavicle module (5) are arranged side by side on the top of the housing (1). The front end of the wide shoulder connecting rod (9) is rotatably connected to the edge of the wide shoulder output flange (8), and the rear end of the wide shoulder connecting rod (9) is rotatably connected to the lower part of the clavicle module (5).

7. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 6, characterized in that: The front end of the wide-shoulder connecting rod (9) is connected to the edge of the wide-shoulder output flange (8) via a third fisheye bearing (91).

8. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 6, characterized in that: The rear end of the broad shoulder connecting rod (9) is connected to the lower part of the clavicle module (5) via a fourth fisheye bearing (92).

9. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 1, characterized in that: Both the shoulder shrug joint (2) and the broad shoulder joint (7) include a harmonic reduction motor; the harmonic reduction motor includes a central shaft (a1), a motor stator (a2) is mounted on the central shaft (a1), a motor rotor (a3) ​​is sleeved on the motor stator (a2), a cam (a4) is fixed on the motor rotor (a3), the cam (a4) is connected to a flexible wheel (a5) through a flexible bearing (a8), the flexible wheel (a5) meshes with a harmonic rigid wheel (a6), the number of teeth of the flexible wheel (a5) is less than the number of teeth of the harmonic rigid wheel (a6), an output flange (a7) is fixed on the flexible wheel (a5), the output flange (a7) and the flexible wheel (a5) are fixed, a rear cover (a9) is fixed at one end of the central shaft (a1), and the rear cover (a9) is fixed to the harmonic rigid wheel (a6); The harmonic rigid wheel (a6) of the shoulder joint (2) is fixed to the housing (1), and the output flange (a7) of the shoulder joint (2) is fixedly connected to the shoulder output flange (3); the harmonic rigid wheel (a6) of the broad shoulder joint (7) is fixed to the fastener (6), and the output flange (a7) of the broad shoulder joint (7) is fixedly connected to the broad shoulder output flange (8).

10. The biomimetic shoulder-shrugging and shoulder-broadening movement structure according to claim 9, characterized in that: A rolling bearing (a10) is provided between the central shaft (a1) and the cam (a4); the harmonic geared motor also includes a cross roller bearing (a11), the inner ring of the cross roller bearing (a11) is integrally formed or fixedly connected to the output flange (a7), and the outer ring of the cross roller bearing (a11) is integrally formed or fixedly connected to the harmonic rigid wheel (a6).

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