Harmonic speed reducer with double flexible gears

Abstract

The utility model discloses a harmonic speed reducer with double flexible gears, which relates to the technical field of harmonic speed reducer design and comprises a harmonic speed reducer main body, a harmonic speed reduction unit and a speed reduction adjusting unit, the surface of the inner bottom end of the harmonic speed reducer main body is fixedly connected with a supporting vertical plate, and the speed reduction adjusting unit is arranged on the surface of the front side of the supporting vertical plate. The harmonic speed reduction unit comprises a first cylindrical speed reduction cover, a hollow oval flexible gear shell, a first speed reduction flexible gear, a first rotating disc, a first connecting cylinder and an external power connecting column, a first round hole is formed in the left side surface of the harmonic speed reducer body, and the first round hole extends into the harmonic speed reducer body; the interior of the first round hole is rotationally connected with an external power connecting column through a bearing, the speed reduction rate can be adjusted, the speed reduction efficiency is more stable, use is not affected, and the harmonic speed reducer is convenient to decelerate and use.

Description

Technical Field

[0001] The utility model relates to the technical field of harmonic reducer design, in particular to a double flexible gear harmonic reducer. Background Technique

[0002] A harmonic gear reducer is composed of a fixed internal gear ring, a flexible gear, and a wave generator that causes radial deformation of the flexible gear. The harmonic gear reducer is a new type of transmission structure in gear reducers. It uses a flexible gear to generate a controllable elastic deformation wave, causing relative tooth misalignment between the internal gear ring and the flexible gear to transmit power and motion. This transmission is essentially different from general gear transmissions and has particularity in meshing theory, set calculation, and structural design. In order to facilitate use, a double flexible gear harmonic reducer is thus required.

[0003] In the existing double flexible gear harmonic reducer, the deceleration rate cannot be adjusted, the deceleration efficiency is unstable, affecting use, and it is inconvenient to use the harmonic reducer for deceleration. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the existing defects and provide a double flexible gear harmonic reducer, in which the deceleration rate can be adjusted, the deceleration efficiency is more stable, without affecting use, and it is more convenient to use the harmonic reducer for deceleration, and the problems in the background technique can be effectively solved.

[0005] To achieve the above object, the utility model provides the following technical solution: A double flexible gear harmonic reducer, comprising a harmonic reducer main body, a harmonic deceleration unit, and a deceleration adjustment unit;

[0006] Harmonic reducer main body: A support vertical plate is fixedly connected to the inner bottom surface, and a deceleration adjustment unit is arranged on the front surface of the support vertical plate;

[0007] Harmonic reduction unit: It includes a cylindrical reduction cover one, a hollow elliptical flexible gear housing, a reduction flexible gear one, a rotating disc one, a connecting cylinder one, and an external power connecting column. A circular hole one is opened on the left side surface of the harmonic reducer main body, and the circular hole one extends into the harmonic reducer main body. The external power connecting column is rotatably connected to the circular hole one through a bearing. The left end of the external power connecting column extends outside the harmonic reducer main body and is connected to an external power mechanism. The right end of the external power connecting column extends into the harmonic reducer main body and is fixedly connected to the rotating disc one. A connecting cylinder one is fixedly connected to a position deviating from the center of the right side surface of the rotating disc one. The right end of the connecting cylinder one is eccentrically connected to the reduction flexible gear one. The external power connecting column is rotatably connected to the hollow elliptical flexible gear housing through a bearing at a position inside the harmonic reducer main body. The rotating disc one is arranged inside the hollow elliptical flexible gear housing. A circular hole two is opened on the right side surface of the hollow elliptical flexible gear housing, and the circular hole two extends into the hollow elliptical flexible gear housing. The reduction flexible gear one is arranged inside the circular hole two. An internal gear ring one is arranged at a position inside the circular hole two on the hollow elliptical flexible gear housing. The internal gear ring one is meshed and connected with the corresponding reduction flexible gear one. An external gear ring one is arranged on the outer side surface of the hollow elliptical flexible gear housing. A cylindrical reduction cover one is arranged outside the hollow elliptical flexible gear housing. An internal gear ring two is arranged on the inner side surface of the cylindrical reduction cover one. The internal gear ring two is meshed and connected with the corresponding external gear ring one.

[0008] The harmonic reducer main body is used for fixedly installing the device. The support vertical plate is used for fixedly installing the reduction adjustment unit. The reduction adjustment unit is used for adjusting the reduction rate to facilitate use. The external power connecting column is used for connecting external power. The external power connecting column is used for rotating the rotating disc one. The rotating disc one is used for fixedly connecting the connecting cylinder one. The connecting cylinder one is used for fixedly connecting the reduction flexible gear one, so as to make the reduction flexible gear one perform an eccentric motion, make the reduction flexible gear one mesh with the internal gear ring one on the hollow elliptical flexible gear housing, and perform speed reduction. The external gear ring one on the hollow elliptical flexible gear housing meshes with the internal gear ring one on the cylindrical reduction cover one, so as to perform speed reduction and use.

[0009] Furthermore, the harmonic reduction unit further includes a rotating disc two, a connecting cylinder two, a fixing cylinder one, and a reduction flexible gear two. A fixing cylinder one is fixedly connected to the right side surface of the cylindrical reduction cover one. A rotating disc two is fixedly connected to the right side surface of the fixing cylinder one. A connecting cylinder two is fixedly connected to the right side surface of the rotating disc two. The right side surface of the connecting cylinder two is eccentrically connected to the reduction flexible gear two.

[0010] The fixing cylinder one is used for rotating the rotating disc two. The rotating disc two is used for fixedly connecting the connecting cylinder two. The connecting cylinder two is used for connecting the reduction flexible gear two, so as to make the reduction flexible gear two perform an eccentric motion. The reduction flexible gear two is used for cooperating with the cylindrical reduction cover two, so as to facilitate speed reduction and use.

[0011] Further, the harmonic deceleration unit further includes a cylindrical deceleration cover II and a fixed cylinder II. The left surface inside the harmonic reducer main body at the position corresponding to the deceleration flexible gear II is rotationally connected to the fixed cylinder II through a bearing. A cylindrical deceleration cover II is fixedly connected to the left surface of the fixed cylinder II. The cylindrical deceleration cover II is sleeved on the deceleration flexible gear II. An internal gear ring III is arranged on the inner surface of the cylindrical deceleration cover II, and the gear ring III is meshed and connected with the corresponding deceleration flexible gear II.

[0012] The fixed cylinder II is used to fix the cylindrical deceleration cover II. The internal gear ring III on the cylindrical deceleration cover II is meshed with the deceleration flexible gear II to facilitate deceleration. The fixed cylinder II is also used to fix the rotating gear II for use.

[0013] Further, the deceleration adjustment unit includes an external output connection column, an auxiliary sliding column, a moving slider, an I-shaped connecting cylinder, an adjustment gear, a rotating gear I, and a rotating gear II. The right surface of the support vertical plate is rotationally connected to the external output connection column through a bearing. The right end of the external output connection column extends to the right side of the harmonic reducer main body and is connected to an external device. Two equally spaced sliding grooves are provided at the position of the external output connection column inside the harmonic reducer main body. An auxiliary sliding column is fixedly connected to each of the two sliding grooves. A moving slider is slidably connected to each of the two sliding grooves. The sliding holes on the two moving sliders are slidably connected to the corresponding auxiliary sliding columns. An I-shaped connecting cylinder is sleeved on the external output connection column. The inner surface of the I-shaped connecting cylinder is fixedly connected to the corresponding moving slider. An adjustment gear is fixedly connected to the I-shaped connecting cylinder. A rotating gear II is fixedly sleeved on the fixed cylinder II at the position on the right side of the cylindrical deceleration cover II. A rotating gear I is fixedly sleeved on the fixed cylinder I at the position on the right side of the cylindrical deceleration cover I. The rotating gear I and the rotating gear II are meshed and connected with an adjustment gear.

[0014] The external output connection column is used for connecting to the outside and for deceleration. The auxiliary sliding column is used to make the movement of the moving slider more stable. The moving slider moves to drive the I-shaped connecting cylinder to move. The I-shaped connecting cylinder is used to fix the adjustment gear. The adjustment gear moves to be meshed with the corresponding rotating gear I and rotating gear II, so as to facilitate the adjustment of the speed and facilitate deceleration use.

[0015] Further, the deceleration adjustment unit further includes a clamping block and a clamping buckle. A clamping buckle is fixedly connected to each of the left and right sides of the sliding groove on the external output connection column. A clamping block is fixedly connected to each of the left and right side surfaces of the I-shaped connecting cylinder at the position corresponding to the clamping buckle. The two clamping blocks are fixedly connected to the corresponding clamping buckles respectively.

[0016] The clamping block and the clamping buckle are clamped to facilitate fixing the adjusting gear on both sides of the sliding groove, facilitating the meshing of the adjusting gear with the corresponding rotating gear one and rotating gear two, so as to adjust the speed.

[0017] Furthermore, the speed reduction and adjustment unit further includes an adjusting hydraulic cylinder and a C-shaped dial. The front surface inside the harmonic reducer body is fixedly connected to the adjusting hydraulic cylinder through a hydraulic cylinder fixing seat. A C-shaped dial is fixedly connected to the right surface of the adjusting hydraulic cylinder. The dial end of the C-shaped dial is arranged at the position between the I-shaped connecting cylinder and the adjusting gear. The input end of the adjusting hydraulic cylinder is electrically connected to the output end of an external power supply through an external control switch group.

[0018] The adjusting hydraulic cylinder is used to adjust the position of the C-shaped dial, and the C-shaped dial is used to drive the I-shaped connecting cylinder to move, so as to adjust the speed of the reducer.

[0019] Compared with the prior art, the beneficial effects of the present utility model are:

[0020] 1. This double-soft-wheel harmonic reducer has the following advantages: There is a harmonic reduction unit. The external power connection column is used to connect external power. The external power connection column is used to make the rotating disk one rotate. The rotating disk one is used to fixedly connect the connecting column one. The connecting column one is used to fix the reduction soft wheel one. In this way, the reduction soft wheel one makes an eccentric motion, so that the reduction soft wheel one meshes with the internal tooth ring one on the hollow elliptical soft wheel housing to perform speed reduction. The external tooth ring one on the hollow elliptical soft wheel housing meshes with the internal tooth ring one on the cylindrical reduction cover one. The fixing column one is used to make the rotating disk two rotate. The rotating disk two is used to fixedly connect the connecting column two. The connecting column two is used to connect the reduction soft wheel two. In this way, the reduction soft wheel two makes an eccentric motion. The reduction soft wheel two is used to cooperate with the cylindrical reduction cover two. The fixing column two is used to fix the cylindrical reduction cover two. The internal tooth ring three on the cylindrical reduction cover two meshes with the reduction soft wheel two to facilitate speed reduction;

[0021] 2. This double-soft-wheel harmonic reducer has the following advantages: There is a speed reduction and adjustment unit. The external output connection column is used to connect to the outside for speed reduction use. The auxiliary sliding column is used to make the moving slider move more stably. When the moving slider moves, it drives the I-shaped connecting cylinder to move. The I-shaped connecting cylinder is used to fix the adjusting gear. The adjusting gear moves its position to mesh with the corresponding rotating gear one and rotating gear two. The clamping block and the clamping buckle are clamped to facilitate fixing the adjusting gear on both sides of the sliding groove, facilitating the meshing of the adjusting gear with the corresponding rotating gear one and rotating gear two. The adjusting hydraulic cylinder is used to adjust the position of the C-shaped dial, and the C-shaped dial is used to drive the I-shaped connecting cylinder to move for adjustment;

[0022] 3. This double flexible gear harmonic reducer has the following advantages: the deceleration rate can be adjusted, the deceleration efficiency is more stable and does not affect the use, and it is more convenient to use the harmonic reducer for deceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front structural schematic diagram of the present utility model;

[0024] Figure 2 It is a side sectional structural schematic diagram of the present utility model;

[0025] Figure 3 It is a partial structural schematic diagram of the harmonic deceleration unit of the present utility model;

[0026] Figure 4 It is a partial sectional structural schematic diagram inside a first cylindrical deceleration cover of the present utility model;

[0027] Figure 5 It is a partial sectional structural schematic diagram inside a second cylindrical deceleration cover of the present utility model;

[0028] Figure 6 It is a partial structural schematic diagram of the deceleration adjustment unit of the present utility model.

[0029] In the figure: 1 harmonic reducer main body, 2 support vertical plate, 3 harmonic deceleration unit, 31 first cylindrical deceleration cover, 32 hollow elliptical flexible gear housing, 33 first deceleration flexible gear, 34 first rotating disc, 35 first connecting cylinder, 36 external power connection column, 37 second cylindrical deceleration cover, 38 second deceleration flexible gear, 39 second rotating disc, 310 second connecting cylinder, 311 first fixed cylinder, 312 second fixed cylinder, 4 deceleration adjustment unit, 41 external output connection column, 42 auxiliary sliding column, 43 moving slider, 44 I-shaped connecting cylinder, 45 adjusting gear, 46 clamping block, 47 clamping buckle, 48 adjusting hydraulic cylinder, 49 C-shaped dial, 410 first rotating gear, 411 second rotating gear. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0031] Please refer to Figure 1-6 , this embodiment provides a technical solution: a double flexible gear harmonic reducer, including a harmonic reducer main body 1, a harmonic deceleration unit 3, and a deceleration adjustment unit 4;

[0032] Harmonic reducer main body 1: A support vertical plate 2 is fixedly connected to the inner bottom end surface, and a deceleration adjustment unit 4 is arranged on the front side surface of the support vertical plate 2;

[0033] Harmonic deceleration unit 3: It includes a cylindrical deceleration cover 31, a hollow elliptical flexible gear housing 32, a deceleration flexible gear 33, a rotating disc 34, a connecting cylinder 35 and an external power connecting column 36. A circular hole 1 is opened on the left side surface of the harmonic reducer main body 1, and the circular hole 1 extends into the harmonic reducer main body 1. The external power connecting column 36 is rotatably connected to the circular hole 1 through a bearing. The left end of the external power connecting column 36 extends to the outside of the harmonic reducer main body 1 and is connected to an external power mechanism. The right end of the external power connecting column 36 extends into the harmonic reducer main body 1 and is fixedly connected to the rotating disc 34. A connecting cylinder 35 is fixedly connected to a position deviating from the center of the right side surface of the rotating disc 34. The right end of the connecting cylinder 35 is eccentrically connected to the deceleration flexible gear 33. The external power connecting column 36 is rotatably connected to the hollow elliptical flexible gear housing 32 through a bearing at a position inside the harmonic reducer main body 1. The rotating disc 34 is arranged inside the hollow elliptical flexible gear housing 32. A circular hole 2 is opened on the right side surface of the hollow elliptical flexible gear housing 32, and the circular hole 2 extends into the hollow elliptical flexible gear housing 32. The deceleration flexible gear 33 is arranged inside the circular hole 2. An internal gear ring 1 is arranged at a position inside the circular hole 2 on the hollow elliptical flexible gear housing 32, and the internal gear ring 1 is meshed and connected with the corresponding deceleration flexible gear 33. An external gear ring 1 is arranged on the outer side surface of the hollow elliptical flexible gear housing 32. A cylindrical deceleration cover 31 is arranged outside the hollow elliptical flexible gear housing 32. An internal gear ring 2 is arranged on the inner side surface of the cylindrical deceleration cover 31, and the internal gear ring 2 is meshed and connected with the corresponding external gear ring 1.

[0034] The harmonic reducer main body 1 is used to fixedly install the device. The support vertical plate 2 is used to fix the deceleration adjustment unit 4. The deceleration adjustment unit 4 is used to adjust the deceleration rate for convenient use. The external power connecting column 36 is used to connect the external power. The external power connecting column 36 is used to rotate the rotating disc 34. The rotating disc 34 is used to fix the connecting cylinder 35. The connecting cylinder 35 is used to fix the deceleration flexible gear 33. In this way, the deceleration flexible gear 33 makes an eccentric movement, so that the deceleration flexible gear 33 meshes with the internal gear ring 1 on the hollow elliptical flexible gear housing 32 to perform deceleration. The external gear ring 1 on the hollow elliptical flexible gear housing 32 meshes with the internal gear ring 1 on the cylindrical deceleration cover 31 to perform deceleration use.

[0035] The harmonic deceleration unit 3 further includes a second rotating disc 39, a second connecting cylinder 310, a first fixed cylinder 311, and a second decelerating flexible gear 38. A first fixed cylinder 311 is fixedly connected to the right side surface of the first cylindrical deceleration cover 31. A second rotating disc 39 is fixedly connected to the right side surface of the first fixed cylinder 311. A second connecting cylinder 310 is fixedly connected to the right side surface of the second rotating disc 39. The right side surface of the second connecting cylinder 310 is eccentrically connected to the second decelerating flexible gear 38.

[0036] The first fixed cylinder 311 is used to enable the second rotating disc 39 to rotate. The second rotating disc 39 is used to fixedly connect the second connecting cylinder 310. The second connecting cylinder 310 is used to connect the second decelerating flexible gear 38 to make the second decelerating flexible gear 38 perform eccentric motion. The second decelerating flexible gear 38 is used to cooperate with the second cylindrical deceleration cover 37 for convenient deceleration.

[0037] The harmonic deceleration unit 3 further includes a second cylindrical deceleration cover 37 and a second fixed cylinder 312. The left side surface inside the harmonic reducer main body 1 at the position corresponding to the second decelerating flexible gear 38 is rotatably connected to the second fixed cylinder 312 through a bearing. A second cylindrical deceleration cover 37 is fixedly connected to the left side surface of the second fixed cylinder 312. The second cylindrical deceleration cover 37 is sleeved on the second decelerating flexible gear 38. An internal gear ring three is provided on the inner side surface of the second cylindrical deceleration cover 37. The gear ring three is meshed and connected to the corresponding second decelerating flexible gear 38.

[0038] The second fixed cylinder 312 is used to fix the second cylindrical deceleration cover 37. The internal gear ring three on the second cylindrical deceleration cover 37 is meshed with the second decelerating flexible gear 38 for convenient deceleration. The second fixed cylinder 312 is also used to fix the second rotating gear 411 for use.

[0039] The deceleration adjustment unit 4 includes an external output connection post 41, an auxiliary sliding post 42, a moving slider 43, an I-shaped connection cylinder 44, an adjustment gear 45, a first rotating gear 410, and a second rotating gear 411. The right side surface of the supporting vertical plate 2 is rotatably connected to the external output connection post 41 through a bearing. The right end of the external output connection post 41 extends to the right side of the harmonic reducer main body 1 and is connected to an external device. Two equally spaced sliding grooves are provided at the position of the external output connection post 41 inside the harmonic reducer main body 1. An auxiliary sliding post 42 is fixedly connected to each of the two sliding grooves. A moving slider 43 is slidably connected to each of the two sliding grooves. The sliding holes on the two moving sliders 43 are slidably connected to the corresponding auxiliary sliding posts 42. An I-shaped connection cylinder 44 is sleeved on the external output connection post 41. The inner side surface of the I-shaped connection cylinder 44 is fixedly connected to the corresponding moving slider 43. An adjustment gear 45 is fixedly connected to the I-shaped connection cylinder 44. A second rotating gear 411 is fixedly sleeved on the fixed cylinder two 312 at the position on the right side of the cylindrical deceleration cover two 37. A first rotating gear 410 is fixedly sleeved on the fixed cylinder one 311 at the position on the right side of the cylindrical deceleration cover one 31. The first rotating gear 410 and the second rotating gear 411 are meshed with an adjustment gear 45.

[0040] The external output connection post 41 is used for connecting to the outside and for deceleration. The auxiliary sliding post 42 is used to make the movement of the moving slider 43 more stable. The moving slider 43 moves to drive the I-shaped connection cylinder 44 to move. The I-shaped connection cylinder 44 is used to fix the adjustment gear 45. The adjustment gear 45 moves its position to mesh with the corresponding first rotating gear 410 and second rotating gear 411, so as to facilitate the adjustment of the speed and facilitate deceleration.

[0041] The deceleration adjustment unit 4 further includes a clamping block 46 and a clamping buckle 47. A clamping buckle 47 is fixedly connected to each of the left and right sides of the sliding groove on the external output connection post 41. A clamping block 46 is fixedly connected to each of the left and right side surfaces of the I-shaped connection cylinder 44 at the positions corresponding to the clamping buckles 47. The two clamping blocks 46 are fixedly connected to the corresponding clamping buckles 47 respectively.

[0042] The clamping block 46 and the clamping buckle 47 are clamped to conveniently fix the adjustment gear 45 on both sides of the sliding groove, and to facilitate the meshing of the adjustment gear 45 with the corresponding first rotating gear 410 and second rotating gear 411, so as to adjust the speed.

[0043] The deceleration adjustment unit 4 further includes an adjustment hydraulic cylinder 48 and a C-shaped dial 49. The front surface inside the harmonic reducer main body 1 is fixedly connected to the adjustment hydraulic cylinder 48 through a hydraulic cylinder fixing seat. A C-shaped dial 49 is fixedly connected to the right surface of the adjustment hydraulic cylinder 48. The dial end of the C-shaped dial 49 is arranged at the position between the I-shaped connecting cylinder 44 and the adjustment gear 45. The input end of the adjustment hydraulic cylinder 48 is electrically connected to the output end of an external power supply through an external control switch group.

[0044] The adjustment hydraulic cylinder 48 is used to adjust the position of the C-shaped dial 49, and the C-shaped dial 49 is used to drive the I-shaped connecting cylinder 44 to move, so as to adjust the reduction rate of the reducer.

[0045] The working principle of a double flexible gear harmonic reducer provided by the present utility model is as follows: First, an external power connection column 36 is used to connect external power. The external power connection column 36 is used to make the first rotating disc 34 rotate. The first rotating disc 34 is used to fixedly connect a first cylinder 35. The first connecting cylinder 35 is used to fixedly connect a first reduction flexible gear 33, so as to make the first reduction flexible gear 33 perform an eccentric motion, so that the first reduction flexible gear 33 meshes with the first internal gear ring on the hollow elliptical flexible gear housing 32 to perform deceleration. The first external gear ring on the hollow elliptical flexible gear housing 32 meshes with the first internal gear ring on the first cylindrical reduction cover 31. The first fixing cylinder 311 is used to make the second rotating disc 39 rotate. The second rotating disc 39 is used to fixedly connect a second cylinder 310. The second connecting cylinder 310 is used to connect a second reduction flexible gear 38, so as to make the second reduction flexible gear 38 perform an eccentric motion. The second reduction flexible gear 38 is used to cooperate with the second cylindrical reduction cover 37. The second fixing cylinder 312 is used to fix the second cylindrical reduction cover 37. The third internal gear ring on the second cylindrical reduction cover 37 meshes with the second reduction flexible gear 38 to facilitate deceleration. At the same time, an external output connection column 41 is used to connect to the outside for deceleration use. The auxiliary sliding column 42 is used to make the moving slider 43 move more stably. The moving slider 43 moves to drive the I-shaped connecting cylinder 44 to move. The I-shaped connecting cylinder 44 is used to fixedly connect the adjustment gear 45. The adjustment gear 45 moves its position to mesh with the corresponding first rotating gear 410 and second rotating gear 411. The clamping block 46 and the clamping buckle 47 are clamped to facilitate fixing the adjustment gear 45 on both sides of the sliding groove, so as to facilitate the adjustment gear 45 to mesh with the corresponding first rotating gear 410 and second rotating gear 411. The adjustment hydraulic cylinder 48 is used to adjust the position of the C-shaped dial 49, and the C-shaped dial 49 is used to drive the I-shaped connecting cylinder 44 to move for adjustment.

[0046] It should be noted that in the above embodiments, the core chip of the external control switch group is selected as a PLC single-chip microcomputer, the adjustment hydraulic cylinder 48 is an industrial hydraulic cylinder, and the method commonly used in the prior art is used for the external control switch group to control the operation of the adjustment hydraulic cylinder 48.

[0047] The above are only embodiments of the present utility model, and do not thus limit the patent scope of the present utility model. Any equivalent structural or equivalent process transformations made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall similarly be included within the patent protection scope of the present utility model.

Claims

1. A double flexible gear harmonic reducer, characterized in that: It comprises a harmonic reducer main body (1), a harmonic reduction unit (3), and a reduction adjustment unit (4); A harmonic reducer body (1): a supporting vertical plate (2) is fixedly connected to the inner bottom end surface, and a speed reduction adjustment unit (4) is arranged on the front side surface of the supporting vertical plate (2); The harmonic reduction unit (3) comprises a cylindrical reduction cover (31), a hollow elliptical flexible wheel shell (32), a reduction flexible wheel (33), a rotating disk (34), a connecting cylinder (35) and an external power connecting column (36). A circular hole is provided on the left side surface of the harmonic reducer body (1). The circular hole extends into the harmonic reducer body (1). The circular hole is rotatably connected to the external power connecting column (36) through a bearing. The left end of the external power connecting column (36) extends to the outside of the harmonic reducer body (1) and is connected to an external power mechanism. The right end of the external power connecting column (36) extends into the harmonic reducer body (1) and is fixedly connected to the rotating disk (34). A connecting cylinder (35) is fixedly connected to the right side surface of the rotating disk (34) at a position deviating from the center of the circle. The right end of the connecting cylinder (35) is eccentrically connected to the reduction flexible wheel (33). The position of the external power connection column (36) located in the harmonic reducer body (1) is rotatably connected to the hollow elliptical flexible wheel housing (32) through a bearing, the rotating disc (34) is arranged in the hollow elliptical flexible wheel housing (32), the right side surface of the hollow elliptical flexible wheel housing (32) is provided with a circular hole (2), the circular hole (2) extends into the hollow elliptical flexible wheel housing (32), the reduction flexible wheel (33) is arranged in the circular hole (2), the position of the hollow elliptical flexible wheel housing (32) located in the circular hole (2) is provided with an inner gear ring (1), the inner gear ring (1) is meshedly connected with the corresponding reduction flexible wheel (33), the outer side surface of the hollow elliptical flexible wheel housing (32) is provided with an outer gear ring (1), the outer side of the hollow elliptical flexible wheel housing (32) is provided with a cylindrical reduction cover (31), the inner side surface of the cylindrical reduction cover (31) is provided with an inner gear ring (2), the inner gear ring (2) is meshedly connected with the corresponding outer gear ring (1).

2. A double flexible gear harmonic reducer according to claim 1, characterized in that: The harmonic reduction unit (3) further comprises a rotating disc 2 (39), a connecting cylinder 2 (310), a fixed cylinder 1 (311) and a reduction flexible wheel 2 (38); the right side surface of the cylindrical reduction cover 1 (31) is fixedly connected to a fixed cylinder 1 (311); the right side surface of the fixed cylinder 1 (311) is fixedly connected to a rotating disc 2 (39); the right side surface of the rotating disc 2 (39) is fixedly connected to a connecting cylinder 2 (310); the right side surface of the connecting cylinder 2 (310) is eccentrically connected to the reduction flexible wheel 2 (38).

3. A double flexible gear harmonic reducer according to claim 2, characterized in that: The harmonic reduction unit (3) further comprises a cylindrical reduction cover (37) and a fixed cylinder (312). The left side surface of the harmonic reducer body (1) is located at a position corresponding to the reduction flexible wheel (38) and is rotatably connected to the fixed cylinder (312) via a bearing. The left side surface of the fixed cylinder (312) is fixedly connected to a cylindrical reduction cover (37). The cylindrical reduction cover (37) is sleeved on the reduction flexible wheel (38). The inner side surface of the cylindrical reduction cover (37) is provided with an inner gear ring (3). The gear ring (3) is meshedly connected to the corresponding reduction flexible wheel (38).

4. A double flexible gear harmonic reducer according to claim 3, characterized in that: The speed reduction adjustment unit (4) comprises an external output connection column (41), an auxiliary slide column (42), a movable slider (43), an I-shaped connection cylinder (44), an adjustment gear (45), a rotating gear 1 (410) and a rotating gear 2 (411); the right side surface of the supporting vertical plate (2) is rotatably connected to the external output connection column (41) through a bearing; the right end of the external output connection column (41) extends to the right side of the harmonic reducer body (1) to be connected to an external device; two equally spaced sliding grooves are provided at a position on the external output connection column (41) located inside the harmonic reducer body (1); an auxiliary slide column (42) is fixedly connected to each of the two sliding grooves; a movable slider (43) is slidably connected to each of the two sliding grooves; and the two movable sliders (43) are slidably connected to each of the two sliding grooves. The sliding hole on the block (43) is slidably connected to the corresponding auxiliary sliding column (42); an I-shaped connecting cylinder (44) is sleeved on the external output connecting column (41); the inner surface of the I-shaped connecting cylinder (44) is fixedly connected to the corresponding movable sliding block (43); an adjusting gear (45) is fixedly connected to the I-shaped connecting cylinder (44); a rotating gear (411) is fixedly sleeved on the position of the fixed cylinder 2 (312) located on the right side of the cylindrical reduction cover 2 (37); a rotating gear (410) is fixedly sleeved on the position of the fixed cylinder 1 (311) located on the right side of the cylindrical reduction cover 1 (31); the rotating gear (410) and the rotating gear (411) are meshedly connected with an adjusting gear (45).

5. A double flexible gear harmonic reducer according to claim 4, characterized in that: The deceleration adjustment unit (4) further comprises a snap-fit ​​block (46) and a snap-fit ​​buckle (47); positions on the left and right sides of the slide groove on the external output connection column (41) are respectively fixedly connected to a snap-fit ​​buckle (47); left and right side surfaces of the I-shaped connection cylinder (44) are respectively fixedly connected to a snap-fit ​​block (46) at positions corresponding to the snap-fit ​​buckle (47); and the two snap-fit ​​blocks (46) are respectively fixedly connected to the corresponding snap-fit ​​buckles (47).

6. A double flexible gear harmonic reducer according to claim 4, characterized in that: The speed reduction adjustment unit (4) further comprises an adjustment hydraulic cylinder (48) and a C-shaped paddle (49); the front side surface inside the harmonic reducer body (1) is fixedly connected to the adjustment hydraulic cylinder (48) via a hydraulic cylinder fixing seat; a C-shaped paddle (49) is fixedly connected to the right side surface of the adjustment hydraulic cylinder (48); the paddle end of the C-shaped paddle (49) is arranged at a position between the I-shaped connecting cylinder (44) and the adjustment gear (45); the input end of the adjustment hydraulic cylinder (48) is electrically connected to the output end of an external power supply via an external control switch group.

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