Atypical harmonic gear and harmonic gear transmission mechanism

Abstract

The utility model discloses an atypical harmonic gear which comprises a wave generator serving as a driving input component; the wave generator is provided with an elliptical inner cavity; the flexible bearing is mounted in the elliptical inner cavity of the wave generator; the flexible gear is arranged in the inner ring of the flexible bearing, and an inner gear ring is arranged on the inner wall of the flexible gear; the rigid gear is arranged in the inner cavity of the flexible gear and made of rigid metal materials, and an outer gear ring is arranged on the outer wall of the rigid gear and meshed with the inner gear ring. The utility model further discloses a harmonic gear transmission mechanism which comprises the atypical harmonic gear, the rigid gear is connected with a motor output shaft, or the rigid gear and the motor output shaft are integrally formed. The inner gear ring is adopted in the flexible gear, the outer gear ring is arranged on the rigid gear, and different from the gear positions of the existing flexible gear and the rigid gear, the overall size can be greatly reduced, and the structure is more compact. And the miniaturization design of the harmonic gear can be conveniently realized.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transmission, in particular to a harmonic gear transmission mechanism and an electric actuator. Background Art

[0002] Harmonic gear transmissions, characterized by high precision and high transmission ratios, are widely used in robotics, aerospace, and automation equipment. However, existing harmonic gears typically utilize an external gear for the flexspline and an internal ring gear for the rigid wheel. This design results in a large overall size and complex installation, limiting their suitability for applications requiring high volume and weight. In particular, in electric actuators, existing structures struggle to meet the design requirements for miniaturization and high efficiency. Therefore, the development of a more compact harmonic gear structure is crucial. Utility Model Content

[0003] The purpose of this utility model is to provide an atypical harmonic gear and a harmonic gear transmission mechanism to solve the problems of existing harmonic gear structures being bulky, complex to install, and unsuitable for installation in small spaces. To achieve the above purpose, this utility model adopts the following technical solutions:

[0004] The utility model discloses an atypical harmonic gear, comprising: a wave generator serving as a drive input component; the wave generator is provided with an elliptical inner cavity; a flexible bearing is installed in the elliptical inner cavity of the wave generator; a flexspline is installed in the inner ring of the flexible bearing, and an inner gear ring is provided on the inner wall of the flexspline; a rigid wheel is installed in the inner cavity of the flexspline, and is made of a rigid metal material; an outer gear ring is provided on the outer wall of the rigid wheel, and the outer gear ring is meshed with the inner gear ring.

[0005] Preferably, the ratio of the major axis to the minor axis of the elliptical inner cavity of the wave generator is: 1.05~1.08:1; the difference in the number of teeth of the meshing inner gear ring and the outer gear ring is 2, and the structural speed ratio is 1:30.

[0006] Preferably, the flexible bearing includes a flexible retaining frame and a plurality of cylindrical bearing rollers. The flexible retaining frame is an annular thin-walled structure. A mounting groove along the axial direction is provided on the wall surface of the flexible retaining frame. The bearing roller is embedded in the mounting groove and can rotate axially in the mounting groove. The axial direction of the bearing roller is parallel to the axial direction of the flexible retaining frame.

[0007] Wherein, the flexible retaining frame is made of PEEK material or PA66 material; a plurality of bearing rollers are arranged in each of the mounting grooves, and the plurality of bearing rollers are stacked along the axial direction.

[0008] Preferably, the cross section of the mounting groove is two symmetrically arranged arcs, and the central angle corresponding to each arc is 90°≤a≤120°.

[0009] The flexible wheel is made of 40CrMoNiA high-toughness material; the rigid wheel is made of 40Cr rigid metal material.

[0010] The utility model also discloses a harmonic gear transmission mechanism, including the above-mentioned atypical harmonic gear, the rigid wheel is connected to the motor output shaft, or is formed integrally with the motor output shaft; it also includes: a motor fixing assembly, the inner ends of which are respectively equipped with a first bearing and a second bearing; a motor stator, which is installed on the motor fixing assembly; a motor rotor, which is arranged on the inner ring of the motor stator; the wave generator is installed on the inner ring of the motor rotor and is fixed to the motor rotor to form a whole, and the two ends are rotatably mounted on the motor output shaft through the first bearing and the second bearing respectively.

[0011] Preferably, a first shoulder is provided at the end of the motor output shaft, and a plane thrust needle roller bearing is installed on the inner end of the first shoulder; the motor fixing assembly includes a fixing seat, a first fixing plate, a second fixing plate, a first fastener and a second fastener; the fixing seat is installed on the inner side of the plane thrust needle roller bearing, and the first fixing plate is fixed to the fixing seat by a first fastener; the first fixing plate and the second fixing plate are connected and fixed by a second fastener.

[0012] Furthermore, it also includes a fixed sleeve, and a second shoulder is provided at the end of the flexible wheel. The fixed sleeve and the flexible bearing are coaxially installed in the wave generator, and the first axial end of the fixed sleeve abuts against the flexible bearing; the flexible wheel is installed in the inner ring of the flexible bearing and the inner ring of the fixed sleeve, and the second shoulder of the flexible wheel is tightly abutted against the second axial end of the fixed sleeve, and the end of the flexible wheel is positioned and installed on the output shaft of the motor through a third bearing.

[0013] Preferably, the wave generator is tightly fitted with the motor rotor by interference fit to form a whole; the two ends of the motor rotor are positioned and installed by a first bearing and a second bearing respectively, and a wave spring is used to axially position the motor rotor.

[0014] Due to the adoption of the above solution, the utility model has the following beneficial effects:

[0015] 1. The utility model adopts an inner gear ring on the flexible spline, and an outer gear ring is provided on the rigid spline, which is different from the gear positions of the existing flexible spline and rigid spline, and can greatly reduce the overall size and make the structure more compact.

[0016] 2. The flexible bearing of the utility model has a structure in which cylindrical bearing rollers are embedded in a flexible cage, thereby omitting the inner and outer ring structures of conventional bearings. The structure is more compact, which facilitates the miniaturization design of harmonic gears.

[0017] 3. A plurality of bearing rollers are arranged in each mounting groove of the flexible bearing of the present invention, and the plurality of bearing rollers are stacked axially. Through this structure, gaps are formed between the plurality of bearing rollers, which is more conducive to storing lubricating oil and effectively improves the lubrication conditions of the bearing.

[0018] 4. The rigid wheel and the motor are formed into one piece, so that the motor output shaft serves as the rigid wheel part and the terminal output shaft at the same time. It has a compact structure and small size, and has the advantages of high transmission efficiency and convenient installation. It can be used as an electric actuator to directly drive the valve to open or close.

[0019] 5. This utility model directly secures the wave generator to the motor rotor, eliminating any other connection methods. This simplifies the structure and makes the overall design more compact. The wave generator is integrated with the motor rotor and serves as the power input element. The wave generator's elliptical inner cavity forces the flexspline to undergo periodic elastic deformation, thereby meshing with the outer ring gear of the output shaft for power output. This meshing method not only maintains the high precision of harmonic gearing, but also improves transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the harmonic gear transmission mechanism of the present invention.

[0021] Figure 2 yes Figure 1 Schematic cross-section diagram.

[0022] Figure 3 yes Figure 1 Schematic diagram of the decomposition.

[0023] Figure 4 yes Figure 3 The intention from another angle.

[0024] Figure 5 It is a structural schematic diagram of the flexible bearing of the utility model.

[0025] Figure 6 yes Figure 5 Schematic diagram of the decomposition.

[0026] Figure 7 yes Figure 5 Partial cross-section of the E-direction schematic diagram.

[0027] Figure 8 It is a schematic diagram of the cross-sectional arc of the mounting groove.

[0028] Figure 9 It is a cross-sectional view of the wave generator of the present utility model.

[0029] Figure 10 Schematic diagram of the installation of the wave generator and the motor rotor.

[0030] Figure 11 Schematic diagram of the flexible bearing and fixed sleeve mounted to the wave generator.

[0031] Figure 12 This is a schematic diagram of the installation of the flexible wheel into the inner ring of the flexible bearing.

[0032] Figure 13 yes Figure 1 AA cross-sectional diagram of .

[0033] Figure 14 It is a schematic diagram of the meshing of the inner ring gear and the outer ring gear.

[0034] Figure 15 It is an exploded schematic diagram of the non-curved harmonic gear of the utility model.

[0035] Description of main component symbols:

[0036] 1: Motor output shaft, 11: Outer ring gear, 12: First shoulder, 2: Motor stator, 3: Motor rotor, 4: Wave generator, 5: Flexible bearing, 51: Flexible cage, 511: Mounting slot, 52: Bearing roller, 6: Flexible wheel, 61: Inner ring gear, 62: Second shoulder, 71: Plane thrust needle roller bearing; 72: First bearing, 73: Second bearing, 74: Third bearing, 81: Fixed seat, 82: First fixing plate, 83: Second fixing plate, 84: Hexagon socket countersunk screw, 851: Screw, 852: Nut, 9: Wave spring, 10: Fixed sleeve, 20: Rigid wheel DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

[0038] Example 1

[0039] like Figure 15 As shown, this embodiment discloses an atypical harmonic gear, including: a rigid wheel 20, a wave generator 4, a flexible bearing 5 and a flexible wheel 6.

[0040] like Figure 9 As shown, the wave generator 4 serves as a driving input component and is provided with an elliptical inner cavity. The ratio of the major axis e to the minor axis f of the elliptical inner cavity is set to be 1.05-1.08:1. The flexible bearing 5 is installed in the cavity.

[0041] like Figure 5-7As shown, the flexible bearing 5 comprises a flexible cage 51 and a plurality of cylindrical bearing rollers 52. The flexible cage 51 is a thin-walled, annular structure with an axially oriented mounting groove 511 defined on its wall. The bearing rollers 52 are embedded within the mounting groove 511 and are axially rotatable therein. The axial directions 52 of the bearing rollers are parallel to the axial direction of the flexible cage 51. The flexible cage 51 is made of PEEK or PA66. PEEK is a polymeric elastic material with physical and chemical properties such as high-temperature resistance and chemical corrosion resistance.

[0042] Combine Figure 7 、 8 As shown, the cross section of the mounting groove 511 is two symmetrically arranged arcs L, and the central angle of each arc L is 80°≤a≤120°. Figure 8 , two arc shapes of the mounting slot are illustrated, with L3 and L4 representing one embodiment. In this case, L3 and L4 are symmetrically arranged relative to the central axis C, and their respective central angles have an angle a1 of 80°. L1 and L2 represent another embodiment. In this case, L1 and L2 are symmetrically arranged relative to the central axis C, and their respective central angles have an angle a2 of 120°.

[0043] The mounting groove 511 is arranged in two arc shapes, such as Figure 7 As shown, the bearing roller 52 is embedded so that the outer cylindrical surface of the bearing roller 52 protrudes from the flexible retaining frame 51 at the inner circumference and the outer circumference, thereby realizing the requirement of double-layer rolling connection of the inner circumference and the outer circumference.

[0044] In particular, a plurality of bearing rollers 52 are embedded in the mounting groove 511 of the flexible bearing 5 of the present invention, and the plurality of bearing rollers 52 are stacked along the axial direction. Figure 5 、 Figure 6 Each mounting groove 511 in the figure houses two axially stacked bearing rollers 52, forming a two-layer structure. Each bearing roller 52 has a diameter of 5 mm and a height of 12 mm. The gap between the two layers of bearing rollers 52 facilitates lubrication and effectively improves bearing lubrication conditions. The flexible bearing 5 of this utility model omits the inner and outer ring structures of conventional bearings, resulting in a more refined bearing structure, resulting in a smaller size and facilitating the design of compact structures.

[0045] An inner ring gear 61 is provided on the inner wall of the flexspline 6. A rigid wheel is disposed within the inner cavity of the flexspline, and an outer ring gear 11 is provided on the outer wall of the rigid wheel. The inner ring gear 61 meshes with the outer ring gear 11. In this embodiment, the flexspline 6 is made of 40CrMoNiA high-toughness material. The rigid wheel 20 is made of 40Cr rigid metal material.

[0046] Combine Figure 13 , Figure 14 As shown, the difference in the number of teeth meshing between the inner ring gear 61 and the outer ring gear 11 is 2 (e.g., in this embodiment, the inner ring gear has 64 teeth and the outer ring gear has 62 teeth), resulting in a structural speed ratio of 1:30. When the wave generator 4 rotates, the inner ring gear 61 of the flexspline 6 in the corresponding major axis direction fully engages the outer ring gear 11; in the minor axis direction, the inner ring gear 61 completely disengages the outer ring gear 11. When the wave generator 4 rotates, the radial displacement of any point on the inner ring gear 61 of the flexspline 6 will exhibit a nearly sinusoidal waveform. Through this structure, the flexspline 6 and the rigid wheel 20 interact to achieve the purpose of motion transmission.

[0047] Example 2

[0048] The rigid wheel in the first embodiment is connected to the motor output shaft, or the rigid wheel and the motor output shaft are integrally formed to form a harmonic gear transmission mechanism. In this embodiment, the rigid wheel and the motor output shaft are directly integrally formed, that is, the motor output shaft 1 is made of a rigid metal material, such as 40Cr rigid metal material, which is equivalent to a steel wheel of a harmonic gear. Different from the harmonic gear structure on the market, the outer wall of the motor output shaft 1 of the utility model is provided with an outer gear ring 21, which is directly designed as a part of the motor output shaft as the power output element of the entire atypical harmonic gear structure, and can directly drive the valve to open and close.

[0049] like Figures 1 to 4 As shown, this embodiment discloses a harmonic gear transmission mechanism, including: a motor output shaft 1, a motor fixing assembly, a motor stator 2, a motor rotor 3, a wave generator 4, a flexible bearing 5 and a flexible spline 6.

[0050] A first shoulder 12 is provided at the end of the motor output shaft 1 , and a planar thrust needle roller bearing 71 is mounted on the inner end of the first shoulder to facilitate smoother rotation of the motor output shaft.

[0051] The motor fixing assembly includes a fixing base 81, a first fixing plate 82, a second fixing plate 83, a first fastener, and a second fastener. The fixing base 81 is mounted on the inner side of the planar thrust needle roller bearing 7. The first fixing plate 82 and the second fixing plate 83 are respectively located on either side of the motor output shaft 1. The first fixing plate 82 is fixed to the fixing base 81 by a first fastener. In this embodiment, the first fastener can be a plurality of hexagon socket countersunk screws 84. The first fixing plate 82 is provided with corresponding screw holes. The hexagon socket countersunk screws 84 are locked into the screw holes to lock the first fixing plate 82 to the fixing base 81. Of course, in other embodiments, other first fasteners can also be used for fixation. The first fixing plate 82 and the second fixing plate 83 are connected and fixed by a second fastener. The second fastener can be a plurality of screws 851 and nuts 852. The screws 851 pass through the second fixing plate 83 and are locked to the first fixing plate 82, and the nuts 852 are locked on the end side of the second fixing plate 83. Of course, in other embodiments, the first fixing plate 82 and the second fixing plate 83 may also be connected by other second fasteners.

[0052] A first bearing 72 and a second bearing 73 are mounted on the inner sides of the first fixing plate and the second fixing plate respectively.

[0053] The motor stator 2 is mounted between the first fixing plate 82 and the second fixing plate 83. The motor rotor 3 is disposed on the inner ring of the motor stator 2.

[0054] The wave generator 4 is mounted on the inner ring of the motor rotor 3 and is fixedly integrated with the motor rotor 3. Various methods exist for fixing the wave generator 4 to the motor rotor 3. For example, in this embodiment, the wave generator 4 is tightly integrated with the motor rotor 3 using an interference fit. In other embodiments, the wave generator 4 can also be fixedly integrated with the motor rotor 3 using keying or bonding. After the motor rotor 3 and wave generator 4 are integrated, they are positioned and installed using a first bearing 72 and a second bearing 73, respectively. A wave spring 9 is used to axially position the motor rotor.

[0055] like Figure 9 As shown, the wave generator 4 is provided with an elliptical inner cavity. The ratio of the major axis e to the minor axis f of the elliptical inner cavity is set to be 1.05-1.08:1. In this embodiment, the major axis e = 68 mm and the minor axis f = 64.4 mm. The cavity is used to mount a flexible bearing 5.

[0056] like Figure 5-7As shown, the flexible bearing 5 comprises a flexible cage 51 and a plurality of cylindrical bearing rollers 52. The flexible cage 51 is a thin-walled, annular structure with an axially oriented mounting groove 511 defined on its wall. The bearing rollers 52 are embedded within the mounting groove 511 and are axially rotatable therein. The axial directions 52 of the bearing rollers are parallel to the axial direction of the flexible cage 51. The flexible cage 51 is made of PEEK or PA66. PEEK is a polymeric elastic material with physical and chemical properties such as high-temperature resistance and chemical corrosion resistance.

[0057] Combine Figure 7 、 8 As shown, the cross section of the mounting groove 511 is two symmetrically arranged arcs L, and the central angle of each arc L is 80°≤a≤120°. Figure 8 , two arc shapes of the mounting slot are illustrated, with L3 and L4 representing one embodiment. In this case, L3 and L4 are symmetrically arranged relative to the central axis C, and their respective central angles have an angle a1 of 80°. L1 and L2 represent another embodiment. In this case, L1 and L2 are symmetrically arranged relative to the central axis C, and their respective central angles have an angle a2 of 120°.

[0058] The mounting groove 511 is arranged in two arc shapes, such as Figure 7 As shown, the bearing roller 52 is embedded so that the outer cylindrical surface of the bearing roller 52 protrudes from the flexible retaining frame 51 at the inner circumference and the outer circumference, thereby realizing the requirement of double-layer rolling connection of the inner circumference and the outer circumference.

[0059] In particular, a plurality of bearing rollers 52 are embedded in the mounting groove 511 of the flexible bearing 5 of the present invention, and the plurality of bearing rollers 52 are stacked along the axial direction. Figure 5 、 Figure 6 Each mounting groove 511 in the figure houses two axially stacked bearing rollers 52, forming a two-layer structure. Each bearing roller 52 has a diameter of 5 mm and a height of 12 mm. The gap between the two layers of bearing rollers 52 facilitates lubrication and effectively improves bearing lubrication conditions. The flexible bearing 5 of this utility model omits the inner and outer ring structures of conventional bearings, resulting in a more refined bearing structure, resulting in a smaller size and facilitating the design of compact structures.

[0060] An inner gear ring 61 is provided on the inner wall of the flexible wheel 6, and the inner gear ring 61 is meshed with the outer gear ring 11. Figure 2 、 3As shown, the outer gear ring 11 is only located at a position corresponding to the end of the motor output shaft 1, and the inner gear ring 61 is located at the position corresponding to the right end of the flexible wheel 6. The left end of the flexible wheel 6 is mounted on the motor output shaft 1 through the third bearing 74. Figure 12 As shown, the end of the flexible wheel 6 is provided with a second shoulder 62. Figure 11 As shown, in order to facilitate the installation of the flexible bearing, a fixed sleeve 10 is provided. The fixed sleeve 10 and the flexible bearing 5 are coaxially installed in the wave generator 4, and the first axial end (D1 end) of the fixed sleeve 10 abuts against the flexible bearing 5. Figure 12 In the process, the flexspline 6 is installed into the inner ring of the flexible bearing 5 and the inner ring of the fixed sleeve 10, with the second shoulder 62 of the flexspline 6 abutting against the second axial end (end D2) of the fixed sleeve 10. The end of the flexspline 6 is positioned and mounted on the motor output shaft 1 via the third bearing 74.

[0061] The flexspline 6 is made of elastic metal material, carbon fiber reinforced epoxy resin-based composite material or glass fiber reinforced epoxy resin-based composite material. In this embodiment, the flexspline 6 is made of 40CrMoNiA high-toughness material.

[0062] The installation process of this utility model is as follows:

[0063] (1) Install the plane thrust needle roller bearing 71 and the fixed seat 81.

[0064] (2) The first fixing plate 82 is fixed to the fixing seat 81 by six hexagon socket countersunk screws 84. The motor stator 2 is installed between the first fixing plate 82 and the second fixing plate 83 and fixed by six screws and six nuts.

[0065] (3) Combination Figure 10 The motor rotor 3 is tightly fitted with the wave generator 4 by interference fit to form a whole, and then positioned and installed by the first bearing 72 and the second bearing 73 respectively, and the wave spring 9 is used to axially position the motor rotor 3.

[0066] (4) Combination Figure 11 The flexible bearing 5 is directly installed in the elliptical inner cavity of the wave generator 4 and is axially fixed by a fixed sleeve 10.

[0067] (5) Combination Figure 12 The flexible wheel 6 is directly installed in the inner ring of the flexible bearing 5, and a third bearing 74 is provided between the flexible wheel 6 and the motor output shaft 1 to facilitate the circular motion of the flexible wheel 6.

[0068] Combine Figure 13 , Figure 14As shown, the difference in the number of teeth meshing between the inner ring gear 61 and the outer ring gear 11 is 2 (e.g., in this embodiment, the inner ring gear has 64 teeth and the outer ring gear has 62 teeth), resulting in a structural speed ratio of 1:30. When the wave generator 4 rotates, the inner ring gear 61 of the flexspline 6 in the corresponding major axis direction completely engages with the outer ring gear 11 of the motor output shaft 1; in the minor axis direction, the inner ring gear 61 completely disengages from the outer ring gear 11. When the wave generator 4 rotates, the radial displacement of any point on the inner ring gear 61 of the flexspline 6 will exhibit a nearly sinusoidal waveform. Through this structure, the flexspline 6 and the motor output shaft 1 interact to achieve the purpose of transmitting motion. After power is turned on, the motor starts working and the motor rotor 3 starts to make circular motion. Since the wave generator 4 and the motor rotor 3 form an integrated structure and follow the circular motion, the elliptical shape of the inner cavity of the wave generator 4 will regularly force the inner gear ring 61 on the flexible spline 6 and the outer gear ring 11 on the motor output shaft 1 to perform periodic meshing motion, achieving torque increase and speed reduction effects.

[0069] The motor output shaft 1 of the present invention serves as the power output element of the entire electric actuator and can be directly connected to the valve stem of the valve, ultimately driving the opening and closing of the valve to achieve the ultimate purpose of the actuator.

[0070] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in the present invention should be covered by the protection scope of the present invention.

Claims

1. An atypical harmonic gear, characterized in that: include: A wave generator, serving as a driving input component; the wave generator is provided with an elliptical inner cavity; A flexible bearing is installed in the elliptical inner cavity of the wave generator; the flexible bearing includes a flexible cage and a plurality of cylindrical bearing rollers. The flexible cage is an annular thin-walled structure, and a mounting groove along the axial direction is provided on the wall surface of the flexible cage. The bearing rollers are embedded in the mounting groove and can rotate axially in the mounting groove. The axial direction of the bearing rollers is parallel to the axial direction of the flexible cage. The flexible wheel is installed in the inner ring of the flexible bearing, and the inner wall of the flexible wheel is provided with an internal gear ring; The rigid wheel is installed in the inner cavity of the flexible wheel and is made of rigid metal material. The outer wall of the rigid wheel is provided with an outer gear ring, and the outer gear ring is meshed with the inner gear ring.

2. The atypical harmonic gear according to claim 1, wherein: The ratio of the major axis to the minor axis of the elliptical inner cavity of the wave generator is: 1.05~1.08:1; the difference in the number of teeth of the meshing inner gear ring and the outer gear ring is 2, and the structural speed ratio is 1:

30.

3. The atypical harmonic gear according to claim 1, wherein: The flexible retaining frame is made of PEEK material or PA66 material; a plurality of bearing rollers are arranged in each of the mounting grooves, and the plurality of bearing rollers are stacked along the axial direction.

4. The atypical harmonic gear according to claim 1, wherein: The cross section of the installation groove is two symmetrically arranged arcs, and the central angle corresponding to each arc is 90°≤a≤120°.

5. The atypical harmonic gear according to claim 1, wherein: The flexible wheel is made of 40CrMoNiA high-toughness material; the rigid wheel is made of 40Cr rigid metal material.

6. A harmonic gear transmission mechanism, characterized in that: The non-typical harmonic gear according to any one of claims 1 to 5, wherein the rigid wheel is connected to the motor output shaft, or the rigid wheel and the motor output shaft are integrally formed; and further comprising: The motor fixing assembly has a first bearing and a second bearing mounted on both inner ends thereof; The motor stator is mounted on the motor fixing assembly; The motor rotor is arranged on the inner ring of the motor stator; The wave generator is installed on the inner ring of the motor rotor and is fixed to the motor rotor to form an integral body, and both ends are rotatably installed on the motor output shaft through the first bearing and the second bearing respectively.

7. The harmonic gear transmission mechanism according to claim 6, wherein: The end of the motor output shaft is provided with a first shaft shoulder, and the inner end of the first shaft shoulder is installed with a plane thrust needle roller bearing; the motor fixing assembly includes a fixing seat, a first fixing plate, a second fixing plate, a first fastener and a second fastener; The fixing seat is installed on the inner side of the planar thrust needle roller bearing, and the first fixing plate is fixed on the fixing seat via a first fastener; the first fixing plate and the second fixing plate are connected and fixed via a second fastener.

8. The harmonic gear transmission mechanism according to claim 6, wherein: It also includes a fixed sleeve, and a second shoulder is provided at the end of the flexible wheel. The fixed sleeve and the flexible bearing are coaxially installed in the wave generator, and the first axial end of the fixed sleeve abuts against the flexible bearing; the flexible wheel is installed in the inner ring of the flexible bearing and the inner ring of the fixed sleeve, and the second shoulder of the flexible wheel is tightly abutted against the second axial end of the fixed sleeve, and the end of the flexible wheel is positioned and installed on the output shaft of the motor through a third bearing.

9. The harmonic gear transmission mechanism according to claim 6, wherein: The wave generator is tightly fitted with the motor rotor in an interference fit manner to form a whole; the two ends of the motor rotor are positioned and installed by a first bearing and a second bearing respectively, and a wave spring is used to axially position the motor rotor.

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