Cap-type harmonic reducer

Abstract

The utility model discloses a cap type harmonic reducer, and relates to the technical field of harmonic reducers, the cap type harmonic reducer comprises a flange, a cam input shaft and a flexible gear transmission assembly, the flange comprises a flexible gear connecting flange and a rigid gear connecting flange, and a first input shaft stepped hole and a second input shaft stepped hole are concentrically arranged; the cam input shaft comprises a first shaft section, a second shaft section, a third shaft section and a fourth shaft section which are coaxially and sequentially connected, the diameters of the first shaft section, the second shaft section, the third shaft section and the fourth shaft section are sequentially increased, and the first shaft section is installed in a stepped hole of the first input shaft through a first deep groove ball bearing; the flexible gear transmission assembly comprises a flexible gear, a crossed roller bearing, a rigid gear and a flexible bearing, one end of the rigid gear abuts against the end face, away from the flexible gear connecting flange, of the crossed roller bearing, and the other end of the rigid gear is suitable for being embedded in the rigid gear connecting flange. By optimizing the structure, the structure is compact, the installation space is saved, product damage caused by installation is avoided, and the use feeling of a user is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of hat-shaped harmonic reducer transmission, in particular to a hat-shaped harmonic reducer. Background Art

[0002] The hat-type harmonic reducer is mainly composed of three main basic components: wave generator, flexible wheel and rigid wheel. The hat-type harmonic reducer is a new transmission structure in the gear reducer. It uses flexible gears to generate controllable elastic deformation waves, causing the teeth of the rigid wheel and the flexible wheel to be staggered relative to transmit power and motion. The hat-type harmonic reducer is widely used in aerospace, energy, navigation, shipbuilding, bionic machinery and transportation due to its advantages such as large transmission ratio, strong load-bearing capacity, high transmission accuracy and high transmission efficiency. The use of hat-type harmonic reducers in servo systems with particularly high dynamic performance can better demonstrate the superiority of hat-type harmonic reducers.

[0003] At present, the installation of the hat-type harmonic reducer on the market is relatively complicated for new users. It is difficult for customers to determine the installation position of the flexible bearing, which can easily cause product damage. Moreover, the input and output of the traditional hat-type harmonic reducer are separated, which will cause a gap between the input and output axes during use, causing greater vibration during movement and the accuracy retention is not long-term. Finally, during long-term movement, the misalignment of the axes will cause damage to the hat-type harmonic reducer. Utility Model Content

[0004] The main purpose of the utility model is to provide a hat-shaped harmonic reducer, aiming to solve the technical problems of the existing hat-shaped harmonic reducer, such as complex installation, easy damage and large vibration.

[0005] In order to achieve the above-mentioned purpose, the utility model proposes a cap-shaped harmonic reducer, comprising:

[0006] The flange comprises a flexible wheel connecting flange and a rigid wheel connecting flange respectively having a first input shaft stepped hole and a second input shaft stepped hole, wherein the first input shaft stepped hole and the second input shaft stepped hole are concentrically arranged;

[0007] A cam input shaft comprises a first shaft section, a second shaft section, a third shaft section and a fourth shaft section which are coaxially connected in sequence, wherein the diameters of the first shaft section, the second shaft section, the third shaft section and the fourth shaft section increase in sequence, and the first shaft section is installed in the stepped hole of the first input shaft through a first deep groove ball bearing;

[0008] The flexible wheel transmission assembly includes a flexible wheel embedded in the flexible wheel connecting flange, a cross roller bearing and a rigid wheel sleeved on the outer ring of the flexible wheel, and a flexible bearing sleeved between the fourth shaft segment and the flexible wheel. One end of the rigid wheel abuts against the end surface of the cross roller bearing away from the flexible wheel connecting flange, and the other end is suitable for being embedded in the rigid wheel connecting flange.

[0009] Optionally, a first bearing hole is provided on a side of the first input shaft stepped hole close to the rigid wheel connecting flange, the first bearing hole is suitable for installing the first deep groove ball bearing, and one end of the first deep groove ball bearing close to the second shaft segment is suitable for abutting against the left end face of the second shaft segment.

[0010] Optionally, both ends of the first deep groove ball bearing are respectively provided with a first shaft elastic retaining ring embedded in the first shaft ring groove of the first shaft section and a first hole elastic retaining ring embedded in the first retaining ring groove of the first input shaft stepped hole, and the first shaft elastic retaining ring is suitable for abutting against the left bottom end face of the first deep groove ball bearing, and the first hole elastic retaining ring is suitable for abutting against the right top end face of the first deep groove ball bearing.

[0011] Optionally, the flexible wheel includes a flange section and a cylinder section that are coaxially and integrally connected. A second inner stop is also provided on the side of the flexible wheel connecting flange close to the flexible wheel. The flange section is suitable for being inserted into the second inner stop. The flexible wheel connecting flange, the flange section and the rigid wheel are fixedly connected by a plurality of evenly distributed and horizontally arranged first locking members.

[0012] Optionally, the flexible wheel transmission assembly also includes a bearing pressure plate sleeved on the third shaft segment, and the side of the bearing pressure plate close to the fourth shaft segment is suitable for abutting against the end face of the flexible bearing, and the other side of the bearing pressure plate abuts against the second shaft elastic retaining ring, and the second shaft elastic retaining ring is embedded in the second shaft ring groove of the third shaft segment.

[0013] Optionally, a first inner stop is provided on the side of the rigid wheel connecting flange close to the flexible wheel connecting flange, the rigid wheel is suitable for being inserted into the first inner stop, and the rigid wheel connecting flange, the rigid wheel and the cross roller bearing are fixedly connected by a plurality of evenly distributed and horizontally arranged fourth locking members.

[0014] Optionally, a first outer stop is provided on a side of the rigid wheel close to the cross roller bearing, and the first outer stop is suitable for being inserted into an inner hole of the cross roller bearing.

[0015] Optionally, third sealing ring grooves are respectively provided on both end surfaces of the rigid wheel, and the third sealing ring grooves are filled with third O-rings.

[0016] Optionally, a pressure plate mounting hole is formed at one end of the cam input shaft facing the stepped hole of the second input shaft, and the pressure plate mounting hole is suitable for fixing the motor pressure plate through the second locking member and the third locking member.

[0017] Optionally, a first sealing ring groove and a second sealing ring groove are respectively provided at both ends of the flexible wheel connecting flange, the first sealing ring groove and the second sealing ring groove are respectively filled with a first O-ring and a second O-ring, and the second O-ring is located between the flexible wheel connecting flange and the flange section.

[0018] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0019] In the technical scheme of the utility model, the cap-shaped harmonic reducer is composed of a flange, a cam input shaft and a flexible wheel transmission assembly. The flange serves as a bearing housing, and is connected by a flexible wheel connecting flange and a rigid wheel connecting flange to form an installation space, which is convenient for input shaft transmission; the cam input shaft is composed of a first shaft section, a second shaft section, a third shaft section and a fourth shaft section that are coaxially connected in sequence, and the first shaft section of the cam input shaft is connected to the flexible wheel connecting flange through a first deep groove ball bearing for rotation support; the flexible wheel transmission assembly serves as a transmission structure, and is composed of a flexible wheel, a cross roller bearing, a rigid wheel and a flexible bearing. A flexible wheel, a cross roller bearing and a rigid wheel are embedded between the flexible wheel connecting flange and the rigid wheel connecting flange, wherein the flexible wheel is embedded in the flexible wheel connecting flange, the cross roller bearing and the rigid wheel are sleeved on the outer ring of the flexible wheel, the flexible bearing is sleeved between the fourth shaft section and the flexible wheel, and the outer teeth of the flexible wheel are meshed with the inner teeth of the rigid wheel for transmission, and the cross roller bearing is located between the flexible wheel and the rigid wheel, so that the cross roller bearing is limited in the axial direction. During installation and use, the input motor shaft is installed into the keyway of the cam input shaft as the power input, and the motor shaft end is fixed with a hexagon socket screw. The meshing transmission between the rigid wheel and the flexible wheel has the characteristics of low friction coefficient, low noise, low vibration, and good stability, making the operation of the cap-type harmonic reducer smoother and more stable, further reducing noise, reducing speed, and increasing torque. It is simple to use and easy to operate, greatly saving installation costs, and has good sealing performance. No grease is required during use, and it is maintenance-free for life. Under the condition of the same speed ratio requirement, this structure has a smaller volume and lighter weight, but can obtain greater torque, which can save installation space, reduce costs, and completely solve the technical problems of the existing cap-type harmonic reducer, such as complex installation, easy damage, and large vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the internal cross-sectional structure of an embodiment of a hat-type harmonic reducer provided in an embodiment of the utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the flange provided in the embodiment of the utility model;

[0023] Figure 3 It is a schematic diagram of the assembly structure of the flexible gear connecting flange and the cam input shaft provided in the embodiment of the utility model;

[0024] Figure 4 It is a schematic diagram of the assembly structure of the flexible wheel transmission assembly provided in the embodiment of the utility model, the flexible wheel connecting flange, the rigid wheel connecting flange and the cam input shaft.

[0025] Description of reference numerals:

[0026] 1- Flange;

[0027] 11-flex wheel connecting flange; 111-first input shaft stepped hole; 1111-first bearing hole; 1112-first retaining ring groove; 112-first sealing ring groove; 113-second sealing ring groove; 114-first O-type sealing ring; 115-second O-type sealing ring; 116-first locking piece; 117-elastic retaining ring for the first hole; 118-second inner stop;

[0028] 12-gang wheel connecting flange; 121-second input shaft stepped hole; 122-first inner stop; 123-fourth locking member;

[0029] 2- Cam input shaft;

[0030] 21-first shaft section; 211-first shaft ring groove; 212-first shaft elastic ring; 22-second shaft section; 23-third shaft section; 231-second shaft ring groove; 232-second shaft elastic ring; 24-fourth shaft section; 25-first deep groove ball bearing;

[0031] 3-flex wheel transmission assembly;

[0032] 31-flexible wheel; 311-flange section; 312-cylinder section; 32-cross roller bearing; 33-rigid wheel; 331-first outer stop; 332-third sealing ring groove; 333-third O-type sealing ring; 34-flexible bearing; 35-bearing pressure plate;

[0033] 4-motor pressure plate; 41-second locking piece; 42-third locking piece. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0037] See also Figure 1-4 As shown, the embodiment of the utility model provides a cap-shaped harmonic reducer, which includes a flange 1, a cam input shaft 2 and a flexible wheel transmission assembly 3, wherein:

[0038] The flange 1 includes a flexible spline connection flange 11 and a rigid spline connection flange 12 respectively having a first input shaft stepped hole 111 and a second input shaft stepped hole 121 . The first input shaft stepped hole 111 and the second input shaft stepped hole 121 are concentrically arranged.

[0039] The cam input shaft 2 includes a first shaft section 21, a second shaft section 22, a third shaft section 23 and a fourth shaft section 24 which are coaxially connected in sequence, and the diameters of the first shaft section 21, the second shaft section 22, the third shaft section 23 and the fourth shaft section 24 increase successively. The first shaft section 21 is installed in the first input shaft stepped hole 111 through a first deep groove ball bearing 25.

[0040] The flexible wheel transmission assembly 3 includes a flexible wheel 31 embedded in the flexible wheel connecting flange 11, a cross roller bearing 32 and a rigid wheel 33 sleeved on the outer ring of the flexible wheel 31, and a flexible bearing 34 sleeved between the fourth shaft section 24 and the flexible wheel 31. One end of the rigid wheel 33 abuts against the end surface of the cross roller bearing 32 away from the flexible wheel connecting flange 11, and the other end is suitable for being embedded in the rigid wheel connecting flange 12.

[0041] See also Figure 1 As shown, in the specific scheme of the utility model, the cap-shaped harmonic reducer is composed of a flange 1, a cam input shaft 2 and a flexible wheel transmission assembly 3. The flange 1 is used as a bearing housing. In the embodiment of the utility model, the flange 1 is connected by a flexible wheel connecting flange 11 and a rigid wheel connecting flange 12 to form an installation space, which is convenient for input shaft transmission. The flexible wheel connecting flange 11 has a first input shaft stepped hole 111, and the rigid wheel connecting flange 12 has a second input shaft stepped hole 121, and the first input shaft stepped hole 111 and the second input shaft stepped hole 121 are arranged concentrically.

[0042] The cam input shaft 2 is composed of a first shaft section 21, a second shaft section 22, a third shaft section 23 and a fourth shaft section 24 which are coaxially connected in sequence, and the diameters of the first shaft section 21, the second shaft section 22, the third shaft section 23 and the fourth shaft section 24 increase sequentially, wherein the first shaft section 21 of the cam input shaft 2 is rotatably supported and connected to the flexible wheel connecting flange 11 via a first deep groove ball bearing 25.

[0043] The flexible wheel transmission assembly 3 serves as a transmission structure. In this embodiment, the flexible wheel transmission assembly 3 is composed of a flexible wheel 31, a cross roller bearing 32, a rigid wheel 33 and a flexible bearing 34. The flexible wheel 31, the cross roller bearing 32 and the rigid wheel 33 are embedded between the flexible wheel connecting flange 11 and the rigid wheel connecting flange 12, wherein the flexible wheel 31 is embedded in the flexible wheel connecting flange 11, the cross roller bearing 32 and the rigid wheel 33 are sleeved on the outer ring of the flexible wheel 31, and the flexible bearing 34 is sleeved between the fourth shaft segment 24 and the flexible wheel 31, and the outer teeth of the flexible wheel 31 are meshed with the inner teeth of the rigid wheel 33 for transmission, and the cross roller bearing 32 is located between the flexible wheel 31 and the rigid wheel 33, so that the cross roller bearing 32 is limited in the axial direction.

[0044] During installation and use, the input motor shaft is installed into the keyway of the cam input shaft 2 as the power input, and the motor shaft end is fixed with a hexagon socket screw. The meshing transmission between the rigid wheel 33 and the flexible wheel 31 has the characteristics of small friction coefficient, low noise, low vibration and good stability, so that the operation of the cap-type harmonic reducer can be smoother and more stable, further reducing noise, reducing speed, and increasing torque. It is simple to use and easy to operate, greatly saving installation costs, and has good sealing performance. No grease is required during use, and it is maintenance-free for life.

[0045] Under the condition of the same speed ratio requirement, this structure has a smaller volume and lighter weight, but can obtain a greater torque, thus saving installation space and reducing costs.

[0046] Furthermore, a first bearing hole 1111 is provided on one side of the first input shaft stepped hole 111 close to the rigid wheel connecting flange 12 , and the first deep groove ball bearing 25 is suitable for installing in the first bearing hole 1111 , and one end of the first deep groove ball bearing 25 close to the second shaft segment 22 is suitable for abutting against the left end face of the second shaft segment 22 .

[0047] Specifically, see Figure 2 , 3 As shown, in the specific scheme of the utility model, the first input shaft stepped hole 111 is used to support and install one end of the cam input shaft 2, and a first bearing hole 1111 suitable for installing the first deep groove ball bearing 25 is also opened on the side of the first input shaft stepped hole 111 close to the rigid wheel connecting flange 12, and the right end face of the first deep groove ball bearing 25 is axially limited by the left end face of the second shaft section 22, and the left top end face of the first deep groove ball bearing 25 is axially limited by the first input shaft stepped hole 111, so that the first deep groove ball bearing 25 can rotate smoothly, effectively ensuring input stability.

[0048] The cam input shaft 2 adopts deep groove ball bearings as the load-bearing device. Deep groove ball bearings have the advantages of small friction coefficient, low noise, low vibration, good stability, etc. This way, the input and output coaxiality is high, thereby reducing noise, so that its performance remains stable for a long time during operation, and the reducer has a higher load-bearing capacity and excellent stability.

[0049] Furthermore, both ends of the first deep groove ball bearing 25 are respectively provided with a first shaft elastic retaining ring 212 embedded in the first shaft ring groove 211 of the first shaft section 21 and a first hole elastic retaining ring 117 embedded in the first retaining ring groove 1112 of the first input shaft stepped hole 111, and the first shaft elastic retaining ring 212 is suitable for abutting against the left bottom end face of the first deep groove ball bearing 25, and the first hole elastic retaining ring 117 is suitable for abutting against the right top end face of the first deep groove ball bearing 25.

[0050] See also Figure 2 , 3As shown, a first retaining ring groove 1112 is provided on the first input shaft stepped hole 111, and the first retaining ring groove 1112 is filled with a first hole elastic retaining ring 117, and the first hole elastic retaining ring 117 abuts against the right top end surface of the first deep groove ball bearing 25; a first shaft ring groove 211 is provided on the first shaft section 21, and a first shaft elastic retaining ring 212 is clamped in the first shaft ring groove 211, and the first shaft elastic retaining ring 212 abuts against the left bottom end surface of the first deep groove ball bearing 25, thereby realizing axial limitation of the first deep groove ball bearing 25.

[0051] Furthermore, the flexible wheel 31 includes a flange section 311 and a cylinder section 312 that are coaxially connected and integrated. A second inner stop 118 is also provided on the side of the flexible wheel connecting flange 11 close to the flexible wheel 31. The flange section 311 is suitable for being inserted into the second inner stop 118, and the flexible wheel connecting flange 11, the flange section 311 and the rigid wheel 33 are fixedly connected by a plurality of evenly distributed and horizontally arranged first locking members 116.

[0052] Specifically, see Figure 3 , 4 As shown, in the specific scheme of the utility model, the flexible wheel 31 is formed by integrally connecting the flange section 311 and the cylinder section 312. Since the side of the flexible wheel connecting flange 11 close to the flexible wheel 31 is also provided with a second inner stop 118, the flange section 311 is inserted into the second inner stop 118 to achieve radial rough positioning of the flexible wheel 31, and the flexible wheel connecting flange 11, the flange section 311 and the rigid wheel 33 are fixedly connected by the horizontally arranged first locking member 116.

[0053] Furthermore, the flexible wheel transmission assembly 3 also includes a bearing pressure plate 35 sleeved on the third shaft segment 23, and the side of the bearing pressure plate 35 close to the fourth shaft segment 24 is suitable for abutting against the end face of the flexible bearing 34, and the other side of the bearing pressure plate 35 abuts against the second shaft elastic retaining ring 232, and the second shaft elastic retaining ring 232 is embedded in the second shaft ring groove 231 of the third shaft segment 23.

[0054] Specifically, see Figure 3 , 4 As shown, in the specific scheme of the utility model, the flexible wheel transmission assembly 3 also includes a bearing pressure plate 35. In this embodiment, the bearing pressure plate 35 is sleeved and connected to the third shaft section 23 and is located inside the flexible wheel 31. The side of the bearing pressure plate 35 close to the fourth shaft section 24 abuts against the end face of the flexible bearing 34 to achieve the limit of the flexible bearing 34 on the fourth shaft section 24. At the same time, the bearing pressure plate 35 is limited by the second shaft elastic retaining ring 232. Because the flexible bearing 34 is double-positioned and restricted on both the left and right sides, it is ensured that the bearing will not be displaced during operation, and the probability of problems with the reducer is greatly reduced.

[0055] Furthermore, a first inner stop 122 is provided on the side of the rigid wheel connecting flange 12 close to the flexible wheel connecting flange 11, and the rigid wheel 33 is suitable for being inserted into the first inner stop 122, and the rigid wheel connecting flange 12, the rigid wheel 33 and the cross roller bearing 32 are fixedly connected by a plurality of evenly distributed and horizontally arranged fourth locking members 123.

[0056] Specifically, see Figure 2 , 4 As shown, in the specific scheme of the utility model, the rigid wheel connecting flange 12 and the rigid wheel 33 are radially positioned by means of inner and outer stoppers. In order to realize the fixed connection between the rigid wheel connecting flange 12, the rigid wheel 33 and the cross roller bearing 32, a plurality of evenly distributed fourth locking members 123 are arranged on the rigid wheel connecting flange 12 parallel to the center axis direction for fixing.

[0057] Furthermore, a first outer stop 331 is provided on one side of the rigid wheel 33 close to the cross roller bearing 32, and the first outer stop 331 is suitable for being inserted into the inner hole of the cross roller bearing 32. Figure 4 As shown, in a specific solution of the present utility model, the rigid wheel 33 and the cross roller bearing 32 are also radially limited by inner and outer stoppers.

[0058] Furthermore, third sealing ring grooves 332 are respectively provided at both end surfaces of the rigid wheel 33 , and the third sealing ring grooves 332 are filled with third O-rings 333 .

[0059] Therefore, the connection parts between the rigid wheel 33 and the cross roller bearing 32 and the rigid wheel connecting flange 12 are sealed with O-rings, so that the reducer has good sealing performance and small movement friction resistance, and can adapt to occasions with alternating pressure.

[0060] Furthermore, a pressure plate mounting hole is provided at one end of the cam input shaft 2 facing the second input shaft stepped hole 121 , and the pressure plate mounting hole is suitable for fixing the motor pressure plate 4 via the second locking member 41 and the third locking member 42 .

[0061] See also Figure 1 As shown, when not in use, the user installs the motor pressure plate 4, locks the screws, and finally fixes the rigid wheel connecting flange 12 and the rigid wheel 33 with hexagon socket screws.

[0062] When installing and using, the user only needs to remove the motor connection flange, install the input motor shaft into the keyway of the cam input shaft 2, fix the motor shaft end with the hexagon socket screw, and then install the rigid wheel connection flange 12. It is simple to use and easy to operate, greatly saving installation costs.

[0063] Furthermore, a first sealing ring groove 112 and a second sealing ring groove 113 are respectively provided at both ends of the flexible wheel connecting flange 11 , and the first sealing ring groove 112 and the second sealing ring groove 113 are respectively filled with a first O-ring 114 and a second O-ring 115 , and the second O-ring 115 is located between the flexible wheel connecting flange 11 and the flange section 311 .

[0064] Since grease lubrication is used between the structures, an O-ring is set on the structural assembly surface to ensure the sealing effect, easy installation, maintenance-free, and simpler to use.

[0065] Although the utility model is disclosed as above, the protection scope of the utility model is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A hat-type harmonic reducer, characterized in that: include: The flange (1) comprises a flexible wheel connecting flange (11) and a rigid wheel connecting flange (12) respectively having a first input shaft stepped hole (111) and a second input shaft stepped hole (121), wherein the first input shaft stepped hole (111) and the second input shaft stepped hole (121) are arranged concentrically; A cam input shaft (2), comprising a first shaft section (21), a second shaft section (22), a third shaft section (23) and a fourth shaft section (24) which are coaxially connected in sequence, wherein the diameters of the first shaft section (21), the second shaft section (22), the third shaft section (23) and the fourth shaft section (24) increase in sequence, and the first shaft section (21) is installed in the first input shaft stepped hole (111) via a first deep groove ball bearing (25); The flexible wheel transmission assembly (3) comprises a flexible wheel (31) embedded in the flexible wheel connecting flange (11), a cross roller bearing (32) and a rigid wheel (33) sleeved on the outer ring of the flexible wheel (31), and a flexible bearing (34) sleeved between the fourth shaft section (24) and the flexible wheel (31), wherein one end of the rigid wheel (33) abuts against the end surface of the cross roller bearing (32) away from the flexible wheel connecting flange (11), and the other end is suitable for being embedded in the rigid wheel connecting flange (12).

2. The hat-type harmonic reducer according to claim 1, characterized in that: A first bearing hole (1111) is provided on a side of the first input shaft stepped hole (111) close to the rigid wheel connecting flange (12); the first bearing hole (1111) is suitable for mounting the first deep groove ball bearing (25); and one end of the first deep groove ball bearing (25) close to the second shaft section (22) is suitable for abutting against a left end surface of the second shaft section (22).

3. The hat-type harmonic reducer according to claim 2, characterized in that: A first shaft elastic retaining ring (212) embedded in a first shaft ring groove (211) of the first shaft section (21) and a first hole elastic retaining ring (117) embedded in a first retaining ring groove (1112) of the first input shaft stepped hole (111) are respectively provided at both ends of the first deep groove ball bearing (25), and the first shaft elastic retaining ring (212) is suitable for abutting against the left bottom end surface of the first deep groove ball bearing (25), and the first hole elastic retaining ring (117) is suitable for abutting against the right top end surface of the first deep groove ball bearing (25).

4. The hat-type harmonic reducer according to claim 1, characterized in that: The flexible wheel (31) comprises a flange section (311) and a cylinder section (312) which are coaxially connected and integrally connected. A second inner stop (118) is also provided on a side of the flexible wheel connecting flange (11) close to the flexible wheel (31). The flange section (311) is suitable for being inserted into the second inner stop (118). The flexible wheel connecting flange (11), the flange section (311) and the rigid wheel (33) are fixedly connected by a plurality of evenly distributed and horizontally arranged first locking members (116).

5. The hat-type harmonic reducer according to claim 1, characterized in that: The flexible wheel transmission assembly (3) also includes a bearing pressure plate (35) sleeved on the third shaft section (23), and the side of the bearing pressure plate (35) close to the fourth shaft section (24) is suitable for abutting against the end surface of the flexible bearing (34), and the other side of the bearing pressure plate (35) abuts against the second shaft elastic retaining ring (232), and the second shaft elastic retaining ring (232) is embedded in the second shaft ring groove (231) of the third shaft section (23).

6. The hat-type harmonic reducer according to claim 1, characterized in that: A first inner stop (122) is provided on a side of the rigid wheel connecting flange (12) close to the flexible wheel connecting flange (11), and the rigid wheel (33) is suitable for being inserted into the first inner stop (122), and the rigid wheel connecting flange (12), the rigid wheel (33) and the cross roller bearing (32) are fixedly connected by a plurality of evenly distributed and horizontally arranged fourth locking members (123).

7. The hat-type harmonic reducer according to claim 1, characterized in that: A first outer stop (331) is provided on a side of the rigid wheel (33) close to the cross roller bearing (32), and the first outer stop (331) is suitable for being inserted into the inner hole of the cross roller bearing (32).

8. The hat-type harmonic reducer according to claim 1, characterized in that: The two end surfaces of the rigid wheel (33) are respectively provided with third sealing ring grooves (332), and the third sealing ring grooves (332) are filled with third O-type sealing rings (333).

9. The hat-type harmonic reducer according to claim 1, characterized in that: A pressure plate mounting hole is provided at one end of the cam input shaft (2) facing the second input shaft stepped hole (121), and the pressure plate mounting hole is suitable for fixedly connecting the motor pressure plate (4) via a second locking member (41) and a third locking member (42).

10. The hat-type harmonic reducer according to claim 4, characterized in that: A first sealing ring groove (112) and a second sealing ring groove (113) are respectively provided at both ends of the flexible wheel connecting flange (11), and a first O-type sealing ring (114) and a second O-type sealing ring (115) are respectively filled in the first sealing ring groove (112) and the second sealing ring groove (113), and the second O-type sealing ring (115) is located between the flexible wheel connecting flange (11) and the flange section (311).

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