A non-coaxial power transmission harmonic reducer

Abstract

The application provides a non-coaxial power transmission harmonic reducer, and relates to the technical field of precision transmission, and comprises a universal cam, the universal cam is connected with a power input shaft, a flexible bearing is arranged on the outer part of the universal cam, a flexspline is arranged on the outer part of the flexible bearing, a flexspline tooth is arranged on the outer part of the flexspline, the flexspline tooth is engaged with a rigid tooth in a corresponding mode, and the rigid tooth is fixedly arranged on the inner ring of a rigid gear, wherein the universal cam is designed as a circumferential profile, so that the power transmission of the harmonic reducer is free from the restriction that the input shaft and the output shaft must be coaxial, the change from linear transmission to curve (angle) transmission is realized, the space reserved for the linear power transmission path is no longer needed, the structure of the whole transmission system can be designed to be more compact and small, the miniaturization and light weight of equipment are facilitated, the harmonic reducer can be applied to a mechanical system with compact structure, limited space or special obstacle avoidance requirements, and the overall structure design is optimized.

Description

Technical Field

[0001] This invention relates to the field of precision transmission technology, specifically to a harmonic reducer for non-coaxial power transmission. Background Technology

[0002] Harmonic reducers are precision transmission devices that utilize the elastic deformation of flexible elements (flexible wheels) to transmit motion and power. They have advantages such as large transmission ratio, small size, high precision, strong load-bearing capacity, and low backlash, and are widely used in high-precision fields such as industrial robots, aerospace, and precision machine tools. The structure of a harmonic reducer mainly includes three core components: a wave generator, a flexible wheel, and a rigid wheel. The wave generator, which is usually composed of an elliptical cam and a flexible bearing mounted on it, is the input component for motion. The cam forces the flexible wheel to undergo elastic deformation through the flexible bearing, causing it to mesh with the rigid wheel at the long axis and disengage at the short axis. As the wave generator rotates continuously, the meshing area between the flexible wheel and the rigid wheel changes continuously, thereby realizing the transmission and deceleration of motion. However, existing harmonic reducers have an inherent structural limitation: the input and output shafts must be coaxial. Specifically, the input axis of the wave generator, the output axis of the flex wheel (when the rigid wheel is fixed), or the output axis of the rigid wheel (when the flex wheel is fixed) must be on the same straight line. This coaxial design severely limits the application of harmonic reducers in complex mechanical structures. In practical applications, such as in the wrist and shoulder of multi-joint robots in compact spaces, or in special transmission situations where it is necessary to avoid intermediate obstacles, this forced linear power transmission path leads to the following problems: In order to achieve coaxial transmission, the design of the transmission system must reserve space for the linear arrangement of the input and output shafts. This often requires additional structures to accommodate the linear layout of the input and output, resulting in an increased space occupied by the entire transmission component. This is not conducive to the miniaturization and weight reduction of the equipment, making the overall structure less flexible and difficult to adapt to complex or restricted installation environments. When designing mechanical structures, engineers are constrained by the requirement that power must be transmitted linearly and cannot freely arrange the angles of power input and output according to optimal mechanical performance or spatial layout. Summary of the Invention

[0003] This invention provides a harmonic reducer for non-coaxial power transmission, which solves the problem mentioned above. In order to achieve coaxial transmission, the design of the transmission system must reserve space for the linear arrangement of the input and output shafts. This often requires additional structures to accommodate the linear layout of the input and output, resulting in an increase in the space occupied by the entire transmission component. This is not conducive to the miniaturization and weight reduction of the equipment, and makes the overall structure less flexible and difficult to adapt to complex or restricted installation environments. Engineers are constrained by the requirement that power must be transmitted in a linear manner when designing mechanical structures, and cannot freely arrange the angle of power input and output according to the optimal mechanical performance or spatial layout.

[0004] To solve the above-mentioned technical problems, the present invention discloses a harmonic reducer for non-coaxial power transmission, including a universal cam, a power input shaft connected to the universal cam, a flexible bearing movably sleeved on the outside of the universal cam, a flexible wheel mounted on the outside of the flexible bearing, a flexible wheel tooth fixedly sleeved on the outside of the flexible wheel, the flexible wheel tooth meshing with the rigid wheel tooth, and the rigid wheel tooth fixedly set on the inner ring of the rigid wheel.

[0005] Preferably, the outer peripheral surface of the universal cam has a circular profile. The specific shape of the circular profile is that the radial section of the universal cam is an ellipse, and the axial section is an arc with the same radius as the center of the universal cam axis.

[0006] Preferably, the axis of the power input shaft coincides with the rotation axis of the universal cam, and the rotation axis of the universal cam and the axis of the flexible bearing have a deflection angle in the vertical direction.

[0007] Preferably, a bushing is fixedly provided in the middle of the universal cam, and mounting holes are provided through the front and rear ends of the bushing. A keyway is provided on the side end of the mounting hole. The mounting hole is transitionally fitted with the power input shaft, the keyway is interference-fitted with the connecting key, and the connecting key is interference-fitted with the mating groove of the power input shaft.

[0008] Preferably, the flexible wheel or rigid wheel is connected to the output shaft.

[0009] Preferably, the flexible bearing includes a flexible inner ring with a mating hole inside that mates with a universal cam. The flexible inner ring has symmetrical grooves and a cage on its front and rear sides. The cage is fitted over the flexible inner ring. The cage on the front and rear sides has several open slots at its closest points. The open slots are evenly distributed circumferentially on the cage. Balls are movably disposed in the open slots. The ball is movably disposed in the first groove. A flexible outer ring is fitted over the cage. The inner ring of the flexible outer ring has symmetrical grooves on its front and rear sides. Balls are movably disposed in the second groove.

[0010] Preferably, the flexible gear includes a flexible gear ring one and a flexible gear ring two, which are fixedly disposed on the outside of the flexible gear. The rigid gear includes a rigid gear ring one and a rigid gear ring two, with the flexible gear ring one meshing with the rigid gear ring one and the flexible gear ring two meshing with the rigid gear ring two. The rigid gear ring one and the rigid gear ring two are fixedly disposed on the inner ring of the rigid gear.

[0011] Preferably, the rigid wheel is evenly provided with a plurality of threaded holes and sliding grooves in its circumference. The plurality of threaded holes are threadedly connected to a plurality of screws. The head of the screws is correspondingly engaged with the limiting groove in the limiting sleeve. A rotating gear ring is fitted on the outside of the limiting sleeve. The rotating gear ring is rotatably connected to the side end of the rigid wheel. A fixing block is fixedly provided on the outside of the rotating gear ring. The limiting sleeve is in corresponding contact with the limiting block. The limiting block is fixedly connected to the sliding rod. The sliding rod is slidably connected to the sliding groove. The fixing block is provided with a sliding hole for the sliding rod to pass through. A spring is fixedly provided between the fixing block and the limiting block.

[0012] Preferably, the rotating gear ring meshes with the gear, the gear is fixedly connected to the threaded rod, the threaded section of the threaded rod is threadedly connected to the first and second gear rings of the rigid wheel, the cylindrical sections on the front and rear sides of the threaded rod are rotatably connected to the fixed ring, and the fixed ring is fixedly installed on the front and rear sides of the inner ring of the rigid wheel.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. A breakthrough in power transmission path: This invention, by designing the universal cam with a circular profile, frees the power transmission of the harmonic reducer from the constraint that the input and output shafts must be collinear, realizing the change of power transmission from linear transmission to curved (angle) transmission. 2. Greatly improves layout flexibility: The rotation axis of the universal cam can be deflected relative to the axis of the flexible bearing, so that the input shaft and the output shaft can be arranged at a certain angle. Therefore, the harmonic reducer of this application can be applied to more mechanical systems with compact structure, limited space or special obstacle avoidance requirements, and optimize the overall structural design. 3. Saves installation space: Since there is no need to reserve space for a straight power transmission path, the structure of the entire transmission system can be designed to be more compact and small, which is conducive to the miniaturization and weight reduction of the equipment; 4. Increased design freedom: It provides mechanical engineers with entirely new design possibilities, allowing them to freely arrange the position and angle of the input and output shafts according to the principles of optimal performance and minimal space consumption. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the universal cam structure of the present invention; Figure 3 This is a schematic diagram of the flexible bearing structure of the present invention; Figure 4 This is a schematic diagram of the cage connection structure of the present invention; Figure 5 This is a schematic diagram of the flexible wheel connection structure of the present invention; Figure 6 This is a schematic diagram of the flexible wheel structure of the present invention; Figure 7 This is a schematic diagram of the rigid wheel structure of the present invention. Figure 1 ; Figure 8 for Figure 7 A magnified structural diagram of region A in the diagram; Figure 9 This is a schematic diagram of the rigid wheel structure of the present invention. Figure 2 ; Figure 10 This is a schematic diagram of the limiting sleeve structure of the present invention.

[0015] In the diagram: 1. Rigid wheel; 11. Threaded hole; 12. Sliding groove; 2. Universal cam; 21. Mounting hole; 22. Bushing; 23. Keyway; 24. Through hole; 3. Flexible bearing; 31. Flexible inner ring; 32. Cage; 33. Flexible outer ring; 34. Ball; 35. Open groove; 36. Groove one; 4. Flexible wheel; 41. Flexible gear ring one; 42. Flexible gear ring two; 5. Screw; 51. Limiting block; 52. Fixing ring; 53. Threaded rod; 54. Rigid wheel gear ring one; 55. Rigid wheel gear ring two; 56. Gear; 57. Rotating gear ring; 58. Sliding rod; 59. Fixing block; 6. Limiting sleeve; 61. Limiting groove. Detailed Implementation

[0016] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0017] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0018] The present invention provides the following embodiments. Example 1: This embodiment of the invention provides a harmonic reducer for non-coaxial power transmission, such as... Figure 1As shown, it includes a universal cam 2, which is connected to a power input shaft. A flexible bearing 3 is movably sleeved on the outside of the universal cam 2. A flexible wheel 4 is mounted on the outside of the flexible bearing 3. Flexible wheel teeth are fixedly sleeved on the outside of the flexible wheel 4. The flexible wheel teeth mesh with the rigid wheel teeth. The rigid wheel teeth are fixedly set on the inner ring of the rigid wheel 1.

[0019] The working principle of the above technical solution is as follows: The universal cam 2 is placed inside the flexible bearing 3. The long axis of the universal cam 2 opens the flexible bearing 3, causing the open end of the flexible bearing 3 to deform from a circle to an ellipse. The universal cam 2 forces the flexible wheel 4 to undergo elastic deformation through the flexible bearing 3, so that the long axis of the flexible wheel teeth on the flexible wheel 4 meshes with the rigid wheel teeth of the rigid wheel 1, and the short axis of the flexible wheel teeth on the flexible wheel 4 disengages from the rigid wheel teeth of the rigid wheel 1. As the universal cam 2 and the flexible bearing 3 rotate continuously, the flexible wheel 4 undergoes periodic elastic deformation, causing the meshing area between the flexible wheel 4 and the rigid wheel 1 to change continuously, and meshing with the rigid wheel 1 to transmit motion, thereby realizing the transmission and deceleration of motion. The flexible bearing 3 is externally mounted on the universal cam 2, allowing the universal cam 2 to deflect back and forth within the flexible bearing 3, thereby allowing the rotation axis of the universal cam 2 to deflect relative to the axis of the flexible bearing 3, thus realizing the interaction between the universal cam 2 and the flexible bearing. The non-linear power transmission between the three axes allows the power transmission path to deflect freely within a certain angle, realizing curved or angular power transmission. This gives mechanical design greater flexibility and freedom, avoiding the inflexible layout, large space occupation, and low design freedom of traditional harmonic reducers in complex mechanical structures. It also solves the problem that in order to achieve coaxial transmission, the design of the transmission system must reserve space for the linear arrangement of the input and output shafts, which often requires additional structures to accommodate the linear layout of the input and output. This results in an increase in the space occupied by the entire transmission component, which is not conducive to the miniaturization and lightweighting of the equipment. It also makes the overall structure less flexible and difficult to adapt to complex or restricted installation environments. Engineers are constrained by the requirement that power must be transmitted in a linear manner when designing mechanical structures, and cannot freely arrange the angle of power input and output according to the optimal mechanical performance or spatial layout.

[0020] Example 2: Based on Example 1, such as Figures 1-2 As shown, the outer peripheral surface of the universal cam 2 is a circular profile. The specific shape of the circular profile is that the radial section of the universal cam 2 is an ellipse, and the axial section is an arc with the same radius centered at the midpoint of the axis of the universal cam 2. The universal cam 2 rotates along the left and right vertical planes in the flexible bearing 3, and deflects along the front and back vertical planes in the flexible bearing 3. The axis of the power input shaft coincides with the rotation axis of the universal cam 2, and there is a deflection angle between the rotation axis of the universal cam 2 and the axis of the flexible bearing 3 in the vertical direction.

[0021] The working principle of the above technical solution is as follows: Because the long shaft of the universal cam 2 supports the flexible bearing 3, the open end of the flexible bearing 3 is deformed from a circle to an ellipse. The shape of the open end of the flexible bearing 3 only changes with the rotation of the universal cam 2. The axial tangent of the universal cam 2 is an arc with the same radius as the center of the axis of the universal cam 2. That is, when the universal cam 2 deflects back and forth in the flexible bearing 3, the rotation axis of the universal cam 2 can deflect in the vertical direction relative to the axis of the flexible bearing 3. At this time, the vertical spacing of the flexible bearing 3 will not change, so that the universal cam 2 will not be stuck or have excessive local stress when it deflects in the flexible bearing 3.

[0022] Example 3: Based on Example 1, such as Figures 1-2 As shown, the universal cam 2 is provided with several through holes 24 evenly distributed in the circumferential direction. A bushing 22 is fixed in the middle of the universal cam 2. Mounting holes 21 are provided through the front and rear ends of the bushing 22. A keyway 23 is provided on the side end of the mounting hole 21. The mounting hole 21 is transitionally fitted with the power input shaft. The keyway 23 is interference-fitted with the connecting key. The connecting key is interference-fitted with the mating groove of the power input shaft. The flexible wheel 4 or the rigid wheel 1 is connected to an output shaft.

[0023] The working principle of the above technical solution is as follows: The harmonic reducer can operate in two modes: either the flexible wheel 4 is fixed and the power is output from the rigid wheel 1, or the rigid wheel 1 is fixed and the power is output from the flexible wheel 4. By inserting the power input shaft into the mounting hole 21, and then making the connecting key press against the power input shaft and the universal cam 2, the power input shaft is connected to the universal cam 2. When the power input shaft rotates, it drives the universal cam 2 to rotate. The setting of several through holes 24 is used to reduce the weight of the universal cam 2 and achieve the purpose of lightweighting.

[0024] Example 4: Based on Example 1, as follows Figures 1-4 As shown, the flexible bearing 3 includes a flexible inner ring 31. The flexible inner ring 31 has a mating hole inside, which is correspondingly mated with the universal cam 2. The flexible inner ring 31 has symmetrical grooves 36 and cages 32 on its front and rear sides. The cages 32 are fitted on the outside of the flexible inner ring 31. The cages 32 on the front and rear sides have several open grooves 35 at their close ends. The several open grooves 35 are evenly distributed circumferentially on the cages 32. Balls 34 are movably disposed in the open grooves 35. The balls 34 are movably disposed in the grooves 36. The flexible outer ring 33 is fitted on the outside of the cage 32. The flexible outer ring 33 has symmetrical grooves 2 on its front and rear sides. Balls 34 are movably disposed in the grooves 2.

[0025] The working principle of the above technical solution is as follows: After the universal cam 2 engages with the flexible inner ring 31, the long shaft of the universal cam 2 expands the flexible inner ring 31, making the flexible inner ring 31 present an elliptical profile. The flexible inner ring 31 expands the retainer 32 and the flexible outer ring 33 through the ball bearings 34. The flexible outer ring 33 compresses the flexible wheel 4 into an elliptical profile, thereby realizing the transfer of the elliptical profile of the universal cam 2 to the flexible wheel 4. When the universal cam 2 rotates, it drives the flexible inner ring 31 to rotate. The flexible inner ring 31 drives the flexible wheel 4 to deform synchronously through the ball bearings 34 and the flexible outer ring 33, so that the flexible wheel teeth in the flexible wheel 4 and the rigid wheel teeth in the rigid wheel 1 alternately mesh / disengage. Under the action of cyclic stress and alternating stress, the flexible wheel 4 and the rigid wheel 1 realize torque transmission and high reduction ratio transmission.

[0026] Example 5: Based on Example 1, as follows Figures 1-7 As shown, the flexible gear includes a first flexible gear ring 41 and a second flexible gear ring 42, which are fixedly disposed on the outside of the flexible gear 4. The rigid gear includes a first rigid gear ring 54 and a second rigid gear ring 55, with the first flexible gear ring 41 meshing with the first rigid gear ring 54 and the second flexible gear ring 42 meshing with the second rigid gear ring 55. The first rigid gear ring 54 and the second rigid gear ring 55 are fixedly disposed on the inner ring of the rigid gear 1.

[0027] The working principle of the above technical solution is as follows: Flexible gear ring 41 meshes with rigid gear ring 54, and flexible gear ring 42 meshes with rigid gear ring 55. That is, when flexible gear ring 41 meshes with rigid gear ring 54, flexible gear ring 42 disengages from rigid gear ring 55, and when flexible gear ring 41 disengages from rigid gear ring 54, flexible gear ring 42 meshes with rigid gear ring 55. The tooth ratio between flexible gear ring 41 and rigid gear ring 54 is different from that between flexible gear ring 42 and rigid gear ring 55. Therefore, the transmission ratio of the harmonic reducer of this application can be changed by switching the meshing of flexible gear ring 41 with rigid gear ring 54 and flexible gear ring 42 with rigid gear ring 55.

[0028] Example 6: Based on Example 5, such as Figures 1-10 As shown, the rigid wheel 1 is evenly provided with a number of threaded holes 11 and sliding grooves 12 around its circumference. The number of threaded holes 11 are threadedly connected to a number of screws 5. The head of the screw 5 is correspondingly engaged with the limiting groove 61 in the limiting sleeve 6. A rotating toothed ring 57 is fitted on the outside of the limiting sleeve 6. The rotating toothed ring 57 is rotatably connected to the side end of the rigid wheel 1. A fixing block 59 is fixedly provided on the outside of the rotating toothed ring 57. The limiting sleeve 6 is in corresponding contact with the limiting block 51. The limiting block 51 is fixedly connected to the sliding rod 58. The sliding rod 58 is slidably connected to the sliding groove 12. The fixing block 59 is provided with a sliding hole for the sliding rod 58 to pass through. A spring is fixedly provided between the fixing block 59 and the limiting block 51. Rotating gear ring 57 meshes with gear 56, gear 56 is fixedly connected to threaded rod 53, threaded section of threaded rod 53 is threadedly connected to rigid wheel gear ring 1 54 and rigid wheel gear ring 2 55, cylindrical sections on the front and rear sides of threaded rod 53 are rotatably connected to fixed ring 52, and fixed ring 52 is fixedly installed on the front and rear sides of the inner ring of rigid wheel 1.

[0029] The working principle of the above technical solution is as follows: The inner diameter of the rotating gear ring 57 is larger than the diameter of the limiting sleeve 6. When the flexible wheel 4 is connected to the input shaft, the rigid wheel 1 is fixed. The rigid wheel 1 can be fixed in the installation position by several screws 5. After tightening the screws 5, the limiting block 51 is pulled. The limiting block 51 drives the sliding rod 58 to move. The spring is stretched until the distance between the limiting block 51 and the fixing block 59 in the front-back direction is greater than the thickness of the limiting sleeve 6. Then the limiting groove 61 of the limiting sleeve 6 is matched with the head of the screw 5. The limiting block 51 is released. Under the elastic action of the spring, the limiting block 51 returns to its original position. The limiting block 51 limits the limiting sleeve 6. The limiting block 51 is equivalent to a plug. It can limit the screw 5 and prevent the screw 5 from moving away from the rigid wheel 1, thus improving the connection stability between the screw 5 and the rigid wheel 1. Pull the limiting block 51 until the sliding rod 58 moves out of the sliding groove 12. The limiting block 51 and the sliding rod 58 drive the fixed block 59 to rotate. The fixed block 59 drives the rotating gear ring 57 to rotate. Several serrations on the rotating gear ring 57 drive the gear 56 to rotate. The gear 56 drives the threaded rod 53 to rotate. The threaded rod 53 drives the rigid wheel gear ring 1 54 and rigid wheel gear ring 2 55 to move back and forth. After the rotating gear ring 57 rotates a full circle, the rigid wheel gear ring 1 54 and rigid wheel gear ring 2 55 move to the target position. Then release the limiting block 51. Under the elastic action of the spring, the sliding rod 58 can be driven into the sliding groove 12. In the moving groove 12, the limiting block 51 returns to its original position, realizing the meshing of flexible gear ring 41 with rigid gear ring 54 or flexible gear ring 42 with rigid gear ring 55. The meshing of flexible gear ring 41 with rigid gear ring 54 or flexible gear ring 42 with rigid gear ring 55 can be adjusted in real time according to the required transmission ratio of the harmonic reducer. To facilitate the control of the forward and backward movement of rigid gear ring 54 and rigid gear ring 55, two gears 56 can be symmetrically distributed. Through the setting of the limiting block 51 and the rotating gear ring 57, the function of adjusting the reduction ratio of the harmonic reducer and preventing the screw 5 from loosening can be realized.

[0030] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A harmonic reducer for non-coaxial power transmission, characterized in that: It includes a universal cam (2), which is connected to a power input shaft. A flexible bearing (3) is movably sleeved on the outside of the universal cam (2). A flexible wheel (4) is installed on the outside of the flexible bearing (3). A flexible wheel tooth is fixedly sleeved on the outside of the flexible wheel (4). The flexible wheel tooth meshes with the rigid wheel tooth. The rigid wheel tooth is fixedly set on the inner ring of the rigid wheel (1).

2. The harmonic reducer for non-coaxial power transmission according to claim 1, characterized in that: The outer periphery of the universal cam (2) is a circular profile. The specific shape of the circular profile is that the radial section of the universal cam (2) is an ellipse, and the axial section is an arc with the same radius as the center of the universal cam (2) axis.

3. A harmonic reducer for non-coaxial power transmission according to claim 1, characterized in that: The axis of the power input shaft coincides with the rotation axis of the universal cam (2), and the rotation axis of the universal cam (2) and the axis of the flexible bearing (3) have a deflection angle in the vertical direction.

4. A harmonic reducer for non-coaxial power transmission according to claim 1, characterized in that: A bushing (22) is fixedly provided in the middle of the universal cam (2). The bushing (22) has mounting holes (21) through its front and rear ends. A keyway (23) is provided on the side of the mounting hole (21). The mounting hole (21) is transitionally fitted with the power input shaft. The keyway (23) is interference-fitted with the connecting key. The connecting key is interference-fitted with the mating groove of the power input shaft.

5. A harmonic reducer for non-coaxial power transmission according to claim 1, characterized in that: The flexible wheel (4) or rigid wheel (1) is connected to the output shaft.

6. A harmonic reducer for non-coaxial power transmission according to claim 1, characterized in that: The flexible bearing (3) includes a flexible inner ring (31). The flexible inner ring (31) has a mating hole inside, which is matched with the universal cam (2). The flexible inner ring (31) has a groove (36) and a cage (32) symmetrically arranged on the front and rear sides of the outer side. The cage (32) is fitted on the outer side of the flexible inner ring (31). The cage (32) on the front and rear sides has a number of open slots (35) at the end that is close to each other. The number of open slots (35) are evenly arranged on the cage (32) in the circumference. The ball (34) is movably arranged in the open slot (35). The ball (34) is movably arranged in the groove (36). The flexible outer ring (33) is fitted on the outer side of the cage (32). The inner ring of the flexible outer ring (33) has a groove (2) symmetrically arranged on the front and rear sides. The ball (34) is movably arranged in the groove (2).

7. A harmonic reducer for non-coaxial power transmission according to claim 1, characterized in that: The flexible gear includes a flexible gear ring one (41) and a flexible gear ring two (42), which are fixedly disposed on the outside of the flexible gear (4). The rigid gear includes a rigid gear ring one (54) and a rigid gear ring two (55), which mesh with the rigid gear ring one (54) and the flexible gear ring two (42) mesh with the rigid gear ring two (55). The rigid gear ring one (54) and the rigid gear ring two (55) are fixedly disposed on the inner ring of the rigid gear (1).

8. A harmonic reducer for non-coaxial power transmission according to claim 7, characterized in that: The rigid wheel (1) is evenly provided with several threaded holes (11) and sliding grooves (12) in the circumference. Several threaded holes (11) are threadedly connected to several screws (5). The head of the screw (5) is correspondingly engaged with the limiting groove (61) in the limiting sleeve (6). A rotating toothed ring (57) is fitted on the outside of the limiting sleeve (6). The rotating toothed ring (57) is rotatably connected to the side end of the rigid wheel (1). A fixing block (59) is fixedly provided on the outside of the rotating toothed ring (57). The limiting sleeve (6) is in corresponding contact with the limiting block (51). The limiting block (51) is fixedly connected to the sliding rod (58). The sliding rod (58) is slidably connected to the sliding groove (12). A sliding hole is provided on the fixing block (59) for the sliding rod (58) to pass through. A spring is fixedly provided between the fixing block (59) and the limiting block (51).

9. A harmonic reducer for non-coaxial power transmission according to claim 8, characterized in that: The rotating gear ring (57) meshes with the gear (56), the gear (56) is fixedly connected to the threaded rod (53), the threaded section of the threaded rod (53) is threadedly connected to the first gear ring (54) and the second gear ring (55) of the rigid wheel, the cylindrical sections on the front and rear sides of the threaded rod (53) are rotatably connected to the fixed ring (52), and the fixed ring (52) is fixedly set on the front and rear sides of the inner ring of the rigid wheel (1).

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