Harmonic reducer

Abstract

The utility model discloses a harmonic reducer, and relates to the technical field of harmonic reducers, the harmonic reducer comprises a shell, an output shaft, a bevel gear transmission assembly and a flexible gear transmission assembly, the shell comprises a front shell and a rear shell, and the front shell and the rear shell are connected to form the shell; the output 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, the third shaft section is installed in a first output shaft stepped hole through a first bearing, and the first shaft section is installed in a second output shaft stepped hole through a second bearing; the bevel gear transmission assembly comprises a large bevel gear, a small bevel gear, a third bearing and a large bevel gear baffle, the large bevel gear baffle is connected to one side of the large bevel gear, and the large bevel gear and the small bevel gear are in meshing transmission; the flexible gear transmission assembly comprises a rigid gear, a flexible gear and a flexible bearing, and the rigid gear and the flexible gear are in meshing transmission. According to the utility model, the structure is optimized through harmonic transmission, the integration level is high, the occupied space is small, and the output torque is large.

Description

Technical Field

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

[0002] Mechanical equipment is generally equipped with power devices, and the power units of these power devices are mostly motors. The output speed of the motor is relatively high, but the output torque is relatively small. Therefore, when these mechanical equipment use motors as power devices, they need to be equipped with independent reducers to form a power unit. Since the motor and reducer are independent components, and the motor and reducer require additional connections such as couplings during installation, these components will further increase the structural redundancy of the power unit and reduce its mechanical efficiency. In addition, traditional power units mostly use ordinary gear reducers, which have the problems of small output torque and poor braking performance. Utility Model Content

[0003] The main purpose of the utility model is to provide a harmonic reducer, aiming to solve the technical problems of low integration, large occupied space, heavy weight and small output torque of existing power transmission devices.

[0004] In order to achieve the above object, the utility model proposes a harmonic reducer, comprising:

[0005] A housing, comprising a front housing and a rear housing respectively having a first output shaft stepped hole and a second output shaft stepped hole, wherein the first output shaft stepped hole and the second output shaft stepped hole are concentrically arranged, and the front housing and the rear housing are connected to form the housing;

[0006] The output 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 and the third shaft section increase in sequence, and the diameter of the fourth shaft section is larger than the diameter of the third shaft section and smaller than the diameter of the fourth shaft section; the third shaft section is installed in the stepped hole of the first output shaft through a first bearing, and the first shaft section is installed in the stepped hole of the second output shaft through a second bearing;

[0007] A bevel gear transmission assembly, comprising a large bevel gear sleeved on the second shaft section of the output shaft, a small bevel gear mounted on the side wall of the rear housing, a third bearing located between the second shaft section and the first inner stop of the large bevel gear, and a large bevel gear baffle sleeved on the second shaft section, wherein the large bevel gear baffle is connected to a side of the large bevel gear away from the stepped hole of the second output shaft, the large bevel gear is perpendicular to the central axis of the small bevel gear, and the large bevel gear and the small bevel gear are meshed with each other for transmission;

[0008] The flexible wheel transmission assembly comprises a rigid wheel embedded between the front housing and the rear housing, a flexible wheel sleeved on the second shaft segment and a flexible bearing sleeved between the outer ring of the large bevel gear and the inner ring of the flexible wheel. The rigid wheel and the flexible wheel are meshed for transmission.

[0009] Optionally, a first bearing hole is provided on the side of the first output shaft stepped hole close to the rear housing, and the first bearing is suitable for being installed in the first bearing hole, and the first shoulder of the third shaft segment abuts against the left end face of the first bearing, and the side wall of the first bearing hole abuts against the right end face of the first bearing.

[0010] Optionally, a second bearing hole is provided on the side of the second output shaft stepped hole close to the front housing, the second bearing is suitable for being installed in the second bearing hole, and a first sleeve is also provided on the first shaft section so that the two ends of the first sleeve respectively abut against the end faces of the second bearing and the third bearing.

[0011] Optionally, a second shaft shoulder is provided on a side of the second shaft segment close to the third shaft segment, a second inner stop is provided at the bottom of the flexible wheel, and the second shaft shoulder is suitable for being inserted into the second inner stop.

[0012] Optionally, the flexible wheel transmission assembly further comprises a flexible wheel pressure plate sleeved on the second shaft segment and located inside the flexible wheel, and the flexible wheel pressure plate, the flexible wheel and the third shaft segment are connected via a plurality of evenly distributed second locking members and cylindrical pins.

[0013] Optionally, a second shaft sleeve is further sleeved on the second shaft segment, and two ends of the second shaft sleeve are respectively abutted against end surfaces of the third bearing and the flexible wheel pressure plate.

[0014] Optionally, a first outer stop is further provided at one end of the large bevel gear baffle close to the large bevel gear, and the first outer stop is suitable for being inserted into the first inner stop of the large bevel gear so that the first outer stop abuts against the right end surface of the third bearing.

[0015] Optionally, the large bevel gear baffle and the large bevel gear are fixedly connected via a plurality of evenly distributed first locking members.

[0016] Optionally, one side of the rigid wheel is closely aligned with the outer end surfaces of the front shell and the rear shell, and the other side is supported on the inner wall of the rear shell.

[0017] Optionally, a potentiometer mounting hole is provided at the center of the first shaft segment, horizontally penetrating through the first shaft segment and extending to the second shaft segment, and a potentiometer bushing is suitable for being inserted into the potentiometer mounting hole.

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

[0019] In the technical solution of the utility model, the harmonic reducer is composed of a housing, an output shaft, a bevel gear transmission assembly and a flexible wheel transmission assembly. The reducer structure is a two-stage transmission, the first stage is a bevel gear transmission, and the second stage is a flexible wheel transmission, which improves the speed ratio and the maximum output torque. The housing serves as a load-bearing housing, and the housing is connected by a front housing and a rear housing to form an installation space, which is convenient for shaft transmission; the output 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, wherein the third shaft section of the output shaft is connected to the front housing through a first bearing rotation support, and the first shaft section of the output shaft is connected to the rear housing through a second bearing rotation support, so that the output shaft can rotate freely on the housing; the bevel gear transmission assembly serves as a primary transmission structure, and is composed of a large bevel gear, a small bevel gear, a third bearing and a large bevel gear baffle, wherein the large bevel gear is connected through The third bearing sleeve is rotatably connected to the second shaft section of the output shaft, and the small bevel gear is vertically installed on the side wall of the rear housing close to the front housing, so that the large bevel gear and the small bevel gear are meshed and connected; the flexible wheel transmission assembly serves as another transmission structure, consisting of a rigid wheel, a flexible wheel and a flexible bearing. A rigid wheel is embedded between the front housing and the rear housing, and a flexible wheel is sleeved on the output shaft. The flexible wheel is connected to the output shaft and rotates with the output shaft, and the outer teeth of the flexible wheel are meshed and transmitted with the inner teeth of the rigid wheel, and the flexible bearing is installed between the inner wall of the flexible wheel and the outer ring of the large bevel gear. The power input is achieved by connecting the small bevel gear to the external motor, and the large bevel gear and the small bevel gear are meshed for transmission. The manufacturing is simple, the torque transmission is stable, the normal force capacity is large, and the transmission ratio is constant, so that the output shaft can transmit a larger torque, thereby improving the practicality of the harmonic reducer. At the same time, the flexible wheel transmission assembly has the characteristics of small friction coefficient, low noise, low vibration, and good stability, which makes the operation of the harmonic reducer smoother and more stable, further reduces noise, reduces speed, and increases torque. The angle measuring device is connected to the end face of the output shaft to intuitively display the rotation angle. 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 harmonic reducer provided in an embodiment of the utility model;

[0022] Figure 2It is a schematic diagram of the internal cross-sectional structure of the housing provided in an embodiment of the utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the output shaft provided in an embodiment of the utility model;

[0024] Figure 4 It is a schematic diagram of the assembly structure of the bevel gear transmission assembly and the flexible gear transmission assembly provided in the embodiment of the utility model;

[0025] Figure 5 It is a schematic diagram of the assembly structure of the flexible gear transmission assembly and the output shaft provided in the embodiment of the utility model;

[0026] Figure 6 The figure is a schematic diagram of the assembly structure of the flexible wheel transmission assembly and the output shaft provided in the embodiment of the utility model.

[0027] Description of reference numerals:

[0028] 1- housing;

[0029] 11-front housing; 111-first output shaft stepped hole; 1111-first bearing hole;

[0030] 12-rear housing; 121-second output shaft stepped hole; 1211-second bearing hole; 122-small bevel gear mounting hole;

[0031] 2- output shaft;

[0032] 21-first shaft section; 211-potentiometer mounting hole; 22-second shaft section; 221-second shaft shoulder; 23-third shaft section; 231-first shaft shoulder; 232-first screw hole; 24-fourth shaft section; 25-first bearing; 26-second bearing; 27-potentiometer bushing;

[0033] 3-bevel gear transmission assembly;

[0034] 31-large bevel gear; 311-first inner stop; 32-small bevel gear; 33-third bearing; 34-large bevel gear baffle; 341-first locking piece; 342-first outer stop; 35-first shaft sleeve; 36-second shaft sleeve;

[0035] 4-flexwheel transmission assembly;

[0036] 41-rigid wheel; 42-flexible wheel; 421-second inner stop; 43-flexible bearing; 44-flexible wheel pressure plate; 441-second locking member; 442-cylindrical pin. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] See also Figure 1-6 As shown, the embodiment of the utility model provides a harmonic reducer, which includes a housing 1, an output shaft 2, a bevel gear transmission assembly 3 and a flexible wheel transmission assembly 4, wherein:

[0041] The housing 1 includes a front housing 11 and a rear housing 12 respectively having a first output shaft stepped hole 111 and a second output shaft stepped hole 121 . The first output shaft stepped hole 111 and the second output shaft stepped hole 121 are concentrically arranged and connected to form the housing 1 .

[0042] The output 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 and the third shaft section 23 increase successively, and the diameter of the fourth shaft section 24 is larger than the diameter of the third shaft section 23 and smaller than the diameter of the fourth shaft section 24; the third shaft section 23 is installed in the first output shaft stepped hole 111 through the first bearing 25, and the first shaft section 21 is installed in the second output shaft stepped hole 121 through the second bearing 26.

[0043] The bevel gear transmission assembly 3 includes a large bevel gear 31 sleeved on the second shaft section 22 of the output shaft 2, a small bevel gear 32 installed on the side wall of the rear housing 12, a third bearing 33 located between the second shaft section 22 and the first inner stop 311 of the large bevel gear 31, and a large bevel gear baffle 34 sleeved on the second shaft section 22. The large bevel gear baffle 34 is connected to the side of the large bevel gear 31 away from the second output shaft stepped hole 121. The central axes of the large bevel gear 31 and the small bevel gear 32 are perpendicular, and the large bevel gear 31 and the small bevel gear 32 are meshed with each other for transmission.

[0044] The flexible wheel transmission assembly 4 includes a rigid wheel 41 embedded between the front housing 11 and the rear housing 12, a flexible wheel 42 sleeved on the second shaft section 22, and a flexible bearing 43 sleeved between the outer ring of the large bevel gear 31 and the inner ring of the flexible wheel 42. The rigid wheel 41 and the flexible wheel 42 are meshed for transmission.

[0045] See also Figure 1 As shown, in the specific scheme of the utility model, the harmonic reducer is composed of a housing 1, an output shaft 2, a bevel gear transmission assembly 3 and a flexible wheel transmission assembly 4. The reducer structure is a two-stage transmission, the first stage is a bevel gear transmission, and the first stage is a flexible wheel transmission, which improves the speed ratio and the maximum output torque.

[0046] The housing 1 is used as a bearing housing. In the embodiment of the utility model, the housing 1 is formed by connecting the front housing 11 and the rear housing 12 to form an installation space, which is convenient for shaft transmission. The front housing 11 has a first output shaft stepped hole 111, and the rear housing 12 has a second output shaft stepped hole 121, and the first output shaft stepped hole 111 and the second output shaft stepped hole 121 are arranged concentrically.

[0047] The output 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, wherein the third shaft section 23 of the output shaft 2 is rotatably supported and connected to the front housing 11 via a first bearing 25, and the first shaft section 21 of the output shaft 2 is rotatably supported and connected to the rear housing 11 via a second bearing 26, so that the output shaft 2 can rotate freely on the housing 1.

[0048] The bevel gear transmission assembly 3 serves as a primary transmission structure. In the present embodiment, the bevel gear transmission assembly 3 is composed of a large bevel gear 31, a small bevel gear 32, a third bearing 33 and a large bevel gear baffle 34, wherein the large bevel gear 31 is rotatably connected to the second shaft section 22 of the output shaft 2 through the third bearing 33, and the small bevel gear 32 is vertically installed on the side wall of the rear housing 12 close to the front housing 11, so that the large bevel gear 31 and the small bevel gear 32 are meshed and transmitted.

[0049] The flexible wheel transmission assembly 4 serves as another transmission structure. In this embodiment, the flexible wheel transmission assembly 4 is composed of a rigid wheel 41, a flexible wheel 42 and a flexible bearing 43. The rigid wheel 41 is embedded between the front housing 11 and the rear housing 12, and a flexible wheel 42 is sleeved on the output shaft 2. The flexible wheel 42 is connected to the output shaft 2 and rotates with the output shaft 2. The outer teeth of the flexible wheel 42 are meshed with the inner teeth of the rigid wheel 41 for transmission, and the flexible bearing 43 is installed between the inner wall of the flexible wheel 42 and the outer ring of the large bevel gear 31.

[0050] In this embodiment, the small bevel gear 32 is connected to the external motor for power input, and the meshing transmission is performed between the large bevel gear 31 and the small bevel gear 32. The manufacturing is simple, the torque transmission is stable, the normal force capacity is large, and the transmission ratio is constant, so that the output shaft 2 can transmit a larger torque, thereby improving the practicality of the harmonic reducer; at the same time, the flexible wheel transmission assembly 4 has the characteristics of small friction coefficient, low noise, low vibration, and good stability, so that the operation of the harmonic reducer can be smoother and more stable, further reducing noise, reducing speed, and increasing torque, and the angle measuring device is connected to the end face of the output shaft 2 to intuitively display the rotation angle.

[0051] Furthermore, a first bearing hole 1111 is provided on the side of the first output shaft stepped hole 111 close to the rear housing 12, and the first bearing 25 is suitable for being installed in the first bearing hole 1111, and the first shoulder 231 of the third shaft section 23 abuts against the left end face of the first bearing 25, and the side wall of the first bearing hole 1111 abuts against the right end face of the first bearing 25.

[0052] Specifically, see Figure 2 As shown, in the specific scheme of the utility model, the first output shaft stepped hole 111 is used to support and install one end of the output shaft 2, and a first bearing hole 1111 suitable for installing the first bearing 25 is also opened on the side of the first output shaft stepped hole 111 close to the rear housing 12, and the left end face of the first bearing 25 is axially limited by the first shaft shoulder 231 of the third shaft segment 23, and the right end face of the first bearing 25 is axially limited by the first output shaft stepped hole 111, so that the first bearing 25 can rotate smoothly, effectively ensuring output stability.

[0053] Furthermore, a second bearing hole 1211 is provided on the side of the second output shaft stepped hole 121 close to the front housing 11, and the second bearing 26 is suitable for being installed in the second bearing hole 1211, and a first sleeve 35 is also sleeved on the first shaft section 21, so that the two ends of the first sleeve 35 respectively abut against the end faces of the second bearing 26 and the third bearing 33.

[0054] Likewise, see Figure 1 , 2As shown in Figures 4 and 5, a second output shaft stepped hole 121 coaxial with the first output shaft stepped hole 111 is provided on the rear housing 12, and a second bearing hole 1211 coaxial with the first bearing hole 1111 is also provided on the side of the second output shaft stepped hole 121 close to the front housing 11, so as to support the other end of the installed output shaft 2. The second bearing 26 is suitable for being installed in the second bearing hole 1211, and one side of the second bearing hole 1211 abuts against the inner side wall of the second output shaft stepped hole 121, and the bottom end surface on the other side of the second bearing 26 is axially limited by the first sleeve 35 installed on the output shaft 2.

[0055] Furthermore, a second shaft shoulder 221 is provided on one side of the second shaft segment 22 close to the third shaft segment 23 , a second inner stop 421 is provided at the bottom of the flexible wheel 42 , and the second shaft shoulder 221 is suitable for being inserted into the second inner stop 421 .

[0056] Specifically, see Figure 6 As shown, in the specific scheme of the utility model, the flexible wheel 42 is sleeved on the side of the second shaft segment 22 close to the third shaft segment 23. Since the bottom of the flexible wheel 42 is provided with a second inner stop 421, the side of the second shaft segment 22 close to the third shaft segment 23 is provided with a second shaft shoulder 221. The second shaft shoulder 221 is inserted into the second inner stop 421, so that the flexible wheel 42 can be radially positioned.

[0057] Furthermore, the flexwheel transmission assembly 4 also includes a flexwheel pressure plate 44 sleeved on the second shaft section 22 and located inside the flexwheel 42 , and the flexwheel pressure plate 44 , the flexwheel 42 and the third shaft section 23 are connected by a plurality of evenly distributed second locking members 441 and cylindrical pins 442 .

[0058] Specifically, see Figure 6 As shown, in a specific solution of the present utility model, the flexible wheel transmission assembly 4 also includes a flexible wheel pressure plate 44. In this embodiment, the flexible wheel pressure plate 44 is sleeved and connected to the second shaft segment 22 and is located inside the flexible wheel 42. By sleeved the flexible wheel pressure plate 44 on the second shaft segment 22, and providing inner and outer stoppers at the bottom of the flexible wheel 42, the radial limitation of the flexible wheel 42 can be achieved by cooperating the inner and outer stoppers of the flexible wheel 42 with the second shaft shoulder 221 on the second shaft segment 22.

[0059] In order to achieve a fixed connection between the flexible wheel pressure plate 44 and the flexible wheel 42, a plurality of evenly distributed second locking members 441 and cylindrical pins 442 are provided on the flexible wheel pressure plate 44 parallel to the central axis of the second shaft segment 22, and the flexible wheel pressure plate 44 is completely locked on the flexible wheel 42 and the third shaft segment 23 through the second locking members 441.

[0060] Furthermore, a second sleeve 36 is sleeved on the second shaft section 22 , and two ends of the second sleeve 36 are respectively in contact with end surfaces of the third bearing 33 and the flex spline pressure plate 44 .

[0061] Specifically, see Figure 4 As shown, in a specific solution of the present invention, a second sleeve 36 is further sleeved on the second shaft section 22 between the third bearing 33 and the flexible wheel pressure plate 44. By setting the second sleeve 36, the end faces of the third bearing 33 and the flexible wheel pressure plate 44 can be axially limited.

[0062] Furthermore, a first outer stop 342 is provided at one end of the large bevel gear baffle 34 close to the large bevel gear 31 , and the first outer stop 342 is suitable for being inserted into the first inner stop 311 of the large bevel gear 31 so that the first outer stop 342 abuts against the right end face of the third bearing 33 .

[0063] Specifically, see Figure 5 As shown, in the specific scheme of the utility model, the large bevel gear baffle 34 is used to realize the axial positioning of the large bevel gear 31. At the same time, a first outer stop 342 can be set on one side of the inner hole of the large bevel gear baffle 34. The first outer stop 342 is inserted into the first inner stop 311 of the large bevel gear 31, so that the right end face of the third bearing 33 can be axially limited.

[0064] Furthermore, the large bevel gear baffle 34 and the large bevel gear 31 are fixedly connected via a plurality of evenly distributed first locking members 341 .

[0065] Specifically, see Figure 5 As shown, in the specific scheme of the utility model, in order to achieve the fixation between the large bevel gear baffle 34 and the large bevel gear 31, a uniformly distributed first locking piece 341 is set on the right end face of the large bevel gear 31, and the large bevel gear baffle 34 and the large bevel gear 31 are fixed by the first locking piece 341.

[0066] Furthermore, one side of the rigid wheel 41 is closely attached to and flush with the outer end surfaces of the front housing 11 and the rear housing 12 , and the other side is supported on the inner wall of the rear housing 12 .

[0067] In this embodiment, the front housing 11 and the rear housing 12 are arranged to ensure that the rigid wheel 41 is reliably installed while also achieving an aesthetically pleasing overall structure.

[0068] Furthermore, a potentiometer mounting hole 211 is provided at the center of the first shaft section 21 and horizontally penetrates through the first shaft section 21 and extends to the second shaft section 22 . A potentiometer bushing 27 is adapted to be inserted into the potentiometer mounting hole 211 .

[0069] The potentiometer shaft sleeve 27 is one of the accessories on the potentiometer, and plays the role of fixing and limiting the carbon sheet. The potentiometer shaft sleeve 27 in this embodiment is similar to a cylindrical structure, and can be just inserted into the potentiometer mounting hole 211 on the first shaft section 21.

[0070] In addition, it should be noted that the first bearing 25 in this embodiment is preferably a deep groove ball bearing, and the second bearing 26 is preferably a deep groove ball bearing. Deep groove ball bearings have the characteristics of low friction coefficient, low noise, low vibration, and good stability. Therefore, by setting the first bearing 25 and the second bearing 26 to be deep groove ball bearings and being located at both ends of the output shaft 2, the operation of the harmonic reducer can be smoother and more stable, and the noise can be further reduced.

[0071] Finally, the shaft diameter of the output shaft 2 and the matching deep groove ball bearing are maximized within the limited installation space. This approach not only has a compact structure and high precision, but also greatly increases the ability to withstand bending moments.

[0072] 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 harmonic reducer, characterized in that: include: A housing (1) comprising a front housing (11) and a rear housing (12) each having a first output shaft stepped hole (111) and a second output shaft stepped hole (121), wherein the first output shaft stepped hole (111) and the second output shaft stepped hole (121) are arranged concentrically, and the front housing (11) and the rear housing (12) are connected to form the housing (1); An output 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) and the third shaft section (23) increase in sequence, and the diameter of the fourth shaft section (24) is larger than the diameter of the third shaft section (23) and smaller than the diameter of the fourth shaft section (24); the third shaft section (23) is mounted in the first output shaft stepped hole (111) via a first bearing (25), and the first shaft section (21) is mounted in the second output shaft stepped hole (121) via a second bearing (26); A bevel gear transmission assembly (3), comprising a large bevel gear (31) sleeved on the second shaft section (22) of the output shaft (2), a small bevel gear (32) mounted on the side wall of the rear housing (12), a third bearing (33) located between the second shaft section (22) and a first inner stop (311) of the large bevel gear (31), and a large bevel gear baffle (34) sleeved on the second shaft section (22), wherein the large bevel gear baffle (34) is connected to a side of the large bevel gear (31) away from the second output shaft stepped hole (121), the large bevel gear (31) is perpendicular to the central axis of the small bevel gear (32), and the large bevel gear (31) and the small bevel gear (32) are meshed with each other for transmission; The flexible wheel transmission assembly (4) comprises a rigid wheel (41) embedded between the front housing (11) and the rear housing (12), a flexible wheel (42) sleeved on the second shaft section (22), and a flexible bearing (43) sleeved between the outer ring of the large bevel gear (31) and the inner ring of the flexible wheel (42), wherein the rigid wheel (41) and the flexible wheel (42) are meshed for transmission.

2. The harmonic reducer according to claim 1, characterized in that: A first bearing hole (1111) is provided on a side of the first output shaft stepped hole (111) close to the rear housing (12); the first bearing (25) is suitable for being installed in the first bearing hole (1111), and the first shaft shoulder (231) of the third shaft section (23) abuts against the left end face of the first bearing (25), and the side wall of the first bearing hole (1111) abuts against the right end face of the first bearing (25).

3. The harmonic reducer according to claim 1, characterized in that: A second bearing hole (1211) is provided on a side of the second output shaft stepped hole (121) close to the front housing (11); the second bearing (26) is suitable for being installed in the second bearing hole (1211); and a first shaft sleeve (35) is also sleeved on the first shaft section (21) so that two ends of the first shaft sleeve (35) respectively abut against end surfaces of the second bearing (26) and the third bearing (33).

4. The harmonic reducer according to claim 1, characterized in that: A second shaft shoulder (221) is provided on one side of the second shaft section (22) close to the third shaft section (23), a second inner stop (421) is provided at the bottom of the flexible wheel (42), and the second shaft shoulder (221) is suitable for being inserted into the second inner stop (421).

5. The harmonic reducer according to claim 1, characterized in that: The flexible wheel transmission assembly (4) further comprises a flexible wheel pressure plate (44) sleeved on the second shaft section (22) and located inside the flexible wheel (42), and the flexible wheel pressure plate (44), the flexible wheel (42) and the third shaft section (23) are connected via a plurality of evenly distributed second locking members (441) and cylindrical pins (442).

6. The harmonic reducer according to claim 5, characterized in that: A second shaft sleeve (36) is also sleeved on the second shaft section (22), and two ends of the second shaft sleeve (36) respectively abut against the end surfaces of the third bearing (33) and the flexible wheel pressure plate (44).

7. The harmonic reducer according to claim 1, characterized in that: A first outer stop (342) is also provided at one end of the large bevel gear baffle (34) close to the large bevel gear (31), and the first outer stop (342) is suitable for being inserted into the first inner stop (311) of the large bevel gear (31) so that the first outer stop (342) abuts against the right end surface of the third bearing (33).

8. The harmonic reducer according to claim 1, characterized in that: The large bevel gear baffle (34) is fixedly connected to the large bevel gear (31) via a plurality of evenly distributed first locking members (341).

9. The harmonic reducer according to claim 8, characterized in that: One side of the rigid wheel (41) is closely attached to and flush with the outer end surfaces of the front housing (11) and the rear housing (12), and the other side is supported on the inner wall of the rear housing (12).

10. The harmonic reducer according to any one of claims 1 to 9, characterized in that: A potentiometer mounting hole (211) is provided at the center of the first shaft section (21) and runs horizontally through the first shaft section (22), and extends to the second shaft section (22). A potentiometer shaft sleeve (27) is adapted to be inserted into the potentiometer mounting hole (211).

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