Harmonic reducer and robot

Abstract

The utility model provides a harmonic reducer and a robot, and relates to the technical field of robots, in particular to the technical field of reducers. The harmonic reducer comprises a rigid gear, a flexible gear and a wave generator, the flexible gear comprises a main body, a first supporting part and a second supporting part, the wave generator is sleeved with the main body, one end of the first supporting part is connected with one end of the main body, the other end of the first supporting part is connected with one end of the second supporting part, and a concave area is formed in the upper surface of the first supporting part; the rigid wheel is matched with the concave area. According to the harmonic reducer disclosed by the invention, by optimizing the matching design of the flexible gear and the rigid gear, the ineffective space in the harmonic reducer is reduced, and the space utilization is optimized, so that the axial length of the harmonic reducer is effectively shortened, and the compactness and the mounting flexibility of the harmonic reducer are further improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, specifically to the field of speed reducers, and particularly to harmonic speed reducers and robots. Background Technology

[0002] Harmonic reducers are meticulously composed of three key components: a steel wheel (also known as a "rigid wheel"), a flexible wheel, and a wave generator. The steel wheel is characterized by its precisely fixed internal teeth, while the flexible wheel, with its elastic thin-walled cup structure, is cleverly positioned between the steel wheel and the wave generator. The wave generator, with its elliptical structure, endows the flexible wheel with the ability to deform radially. The transmission mechanism of this reducer relies on the elastic deformation of the flexible wheel, which induces relative tooth misalignment with the steel wheel teeth, thereby efficiently transmitting power and motion. It differs fundamentally from traditional gear transmissions, especially in its meshing theory, set calculations, and structural design, demonstrating its uniqueness. Harmonic reducers are renowned for their high precision and high load-bearing capacity. Compared to ordinary reducers, they reduce material usage by approximately 50%, and their size and weight are reduced by at least one-third. These advantages make them an ideal choice for applications with stringent precision and weight requirements, such as robot joint actuators.

[0003] The excessive axial length of traditional harmonic reducers stems from the complex layout and connection methods of their internal components. On one hand, the existing steel wheel and flexure design increases the reducer's axial dimension. Furthermore, to secure the reducer to the motor housing, multiple screws are required to pass through the through holes in the housing and flexure, further increasing the axial length. This increased axial length not only limits the reducer's application in space-constrained environments but may also affect its performance in applications requiring rapid dynamic response. Therefore, this design limitation of traditional harmonic reducers has spurred the demand for more compact and efficient transmission solutions to adapt to the development trends of modern industrial automation and precision machinery. Utility Model Content

[0004] This disclosure provides a harmonic reducer and a robot.

[0005] According to one aspect of this disclosure, a harmonic reducer is provided, including a wave generator, a flexible wheel, and a rigid wheel. The flexible wheel includes a main body, a first support portion, and a second support portion. The main body is sleeved on the outside of the wave generator. One end of the first support portion is connected to one end of the main body, and the other end of the first support portion is connected to one end of the second support portion. A recessed area is formed on the upper surface of the first support portion, and the rigid wheel is configured to cooperate with the recessed area.

[0006] Optionally, the rigid wheel is a one-piece structure.

[0007] Optionally, the harmonic reducer further includes a first housing and a second housing, which are configured to cooperate with each other. The first housing covers the outer side of the meshing end of the rigid wheel and the flexible wheel, and the second housing covers the outer side of the other end of the rigid wheel.

[0008] Optionally, the first housing includes a first body and a first extension, the first body and the first extension being arranged vertically, the first body covering the meshing end of the main body of the rigid wheel and the flexible wheel engaging, and the first extension extending in a direction away from the first body.

[0009] The second housing includes a second body and a second extension. The second body and the second extension are disposed perpendicularly to each other. The second body is disposed in conjunction with the first extension. The second extension extends in a direction away from the second body and is in conjunction with the first body.

[0010] Optionally, there may be multiple first extensions and multiple second extensions, and the number of first extensions and the number of second extensions may be the same.

[0011] Optionally, a plurality of first extensions are arranged at equal intervals, and a plurality of second extensions are arranged at equal intervals.

[0012] Optionally, the first housing and the second housing are made of different materials.

[0013] Optionally, the first outer shell is made of polyetheretherketone (PEEK) material, and the second outer shell is made of metal material.

[0014] Optionally, the second extension is provided with a first threaded hole, and the second support is provided with a first through hole, wherein the first threaded hole and the first through hole are coaxially arranged.

[0015] Optionally, the first body is provided with a second through hole, the second extension is provided with a third through hole, and the second support is provided with a fourth through hole, wherein the second through hole, the third through hole, and the fourth through hole are on the same axis.

[0016] Optionally, the harmonic reducer further includes a first bearing disposed between the rigid wheel and the second extension.

[0017] Optionally, the first bearing includes a base and a protrusion, the protrusion protruding from the outer surface of the base, and the top end of the protrusion being an arc surface.

[0018] Optionally, the first bearing includes a first sub-bearing and a second sub-bearing, which are coaxially arranged.

[0019] Optionally, the harmonic reducer further includes an annular component disposed between the rigid wheel and the second extension.

[0020] Optionally, the harmonic reducer further includes a pin, which is embedded in a first threaded hole provided in the second extension, and the pin is movable in cooperation with a spring in the annular component.

[0021] Optionally, a first recessed area is provided between two adjacent first threaded holes, and there is a first height difference between the upper surface of the first threaded hole and the upper surface of the first housing, and the area formed by the first height difference is the second recessed area.

[0022] Optionally, the wave generator is provided with a second threaded hole in the circumference, and a third recessed area is provided between two adjacent second threaded holes. There is a second height difference between the upper surface of the second threaded hole and the upper surface of the wave generator, and the area formed by the second height difference is a fourth recessed area.

[0023] Optionally, the rigid wheel is provided with a third threaded hole in its circumference, and a fifth recessed area is provided between two adjacent third threaded holes, with the outer surface of the third threaded hole protruding from the outer surface of the fifth recessed area.

[0024] According to another aspect of this disclosure, a robot is provided, including the harmonic reducer as described above.

[0025] This disclosure provides a harmonic reducer and a robot. By incorporating a combination of a main body, a first support, and a second support in the flex wheel design of the harmonic reducer, and by carefully creating a recessed area on the upper surface of the first support, which mates with the bottom of the rigid wheel, the overall structural height of the rigid wheel and flex wheel can be reduced while maintaining the original height of the rigid wheel. This design cleverly reduces ineffective space inside the harmonic reducer, optimizes space utilization, and effectively shortens the axial length of the harmonic reducer, thereby improving its compactness and installation flexibility.

[0026] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0027] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0028] Figure 1 This is a schematic diagram of the structure of an exemplary harmonic reducer in the prior art;

[0029] Figure 2 yes Figure 1 The corresponding first cross-sectional schematic diagram;

[0030] Figure 3 yes Figure 1 The corresponding second cross-sectional view;

[0031] Figure 4 This is a schematic diagram of the structure of the harmonic reducer in the embodiments of this disclosure;

[0032] Figure 5 This is an embodiment of the present disclosure. Figure 4 The corresponding first cross-sectional schematic diagram;

[0033] Figure 6 This is an embodiment of the present disclosure. Figure 4 The corresponding second cross-sectional view;

[0034] Figure 7 This is a schematic diagram of the added oil seal structure in an embodiment of this disclosure;

[0035] Figure 8 This is a cross-sectional view of the joint actuator structure used in the harmonic reducer in this embodiment of the present disclosure;

[0036] Figure 9 This is a schematic diagram of the structure of the first bearing in an embodiment of this disclosure;

[0037] Figure 10 This is a schematic diagram of the structure of the ring component in an embodiment of this disclosure;

[0038] Figure 11 This is a three-dimensional structural diagram of the pin installation in an embodiment of this disclosure;

[0039] Figure 12 This is an embodiment of the present disclosure. Figure 11 Corresponding cross-sectional view;

[0040] Figure 13 This is a schematic diagram of the structure of a harmonic reducer according to another embodiment of the present disclosure.

[0041] Wherein, 1-rigid wheel; 11-first rigid wheel; 111-rigid wheel through hole; 12-second rigid wheel; 121-threaded hole; 2-flexible wheel; 21-flexible wheel through hole; 3-wave generator; 4-outer shell; 41-outer shell through hole; 5-screw; 6-bearing; 22-main body; 23-first support part; 24-second support part; 241-first through hole; 242-fourth through hole; 42-first outer shell; 421-first body; 422-first extension part; 423-second through hole; 43-second outer shell; 431 - Second body; 432 - Second extension; 433 - First threaded hole; 434 - Third through hole; 61 - First bearing; 611 - First sub-bearing; 612 - Second sub-bearing; 613 - Base; 614 - Protrusion; 7 - Annular component; 8 - Pin; 91 - First recessed area; 92 - Second recessed area; 93 - Third recessed area; 94 - Fourth recessed area; 95 - Fifth recessed area; 96 - Second threaded hole; 97 - Third threaded hole; 98 - Oil seal structure; 99 - Engaging end. Detailed Implementation

[0042] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0043] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] It should be noted that the block diagrams shown in the attached figures are merely functional entities and do not necessarily correspond to physically independent entities.

[0045] In the existing technical solutions, see Figures 1 to 3 , Figure 1 This is a schematic diagram of an exemplary harmonic reducer; Figure 2 yes Figure 1 The corresponding first cross-sectional schematic diagram; Figure 3 yes Figure 1 The corresponding second cross-sectional view is shown. In the design of a traditional harmonic reducer, the reducer includes a rigid wheel 1, a flexible wheel 2, and a wave generator 3. The rigid wheel 1 consists of two independent components: a first rigid wheel 11 and a second rigid wheel 12. The first rigid wheel 11 has several through holes 111 arranged circumferentially, while the second rigid wheel 12 has corresponding threaded holes 121. A screw is passed through the through holes 111 and screwed into the threaded holes 121 to securely mount the reducer output end. To ensure effective fixing of the reducer output end, the assembly precision of the first rigid wheel 11 and the second rigid wheel 12 must be very high. Furthermore, by passing screws through several through holes 41 on the housing 4 and several through holes 21 on the flexible wheel 2, the reducer can be fixedly mounted onto the motor housing. The fixed connection between the flexible wheel 2 and the housing 4 is achieved through several screws 5. The function of the oil seal is to ensure effective sealing of the grease inside the cavity where the bearing 6 is located, while preventing external dust from entering. However, this traditional design has led to some drawbacks in harmonic reducers, such as excessive axial length, heavy weight, and complex structure, which limit their performance and applicability in certain applications.

[0046] To address the aforementioned technical problems, this disclosure provides a novel harmonic reducer, see [link to relevant documentation]. Figures 4 to 6 As shown, Figure 4 This is a schematic diagram of the structure of the harmonic reducer in an embodiment of this disclosure. Figure 5 This is an embodiment of the present disclosure. Figure 4 The corresponding first cross-sectional schematic diagram, Figure 6 This is an embodiment of the present disclosure. Figure 4 The corresponding second cross-sectional schematic diagram. The harmonic reducer includes: a wave generator 3, a flexible wheel 2, and a rigid wheel 1. The flexible wheel 2 includes a main body 22, a first support part 23, and a second support part 24. The main body 22 is sleeved on the outside of the wave generator 3. One end of the first support part 23 is connected to one end of the main body 22, and the other end of the first support part 23 is connected to one end of the second support part 24. A recessed area is formed on the upper surface of the first support part 23, and the rigid wheel 1 is configured to cooperate with the recessed area.

[0047] Specifically, the harmonic reducer disclosed herein is a precision transmission device comprising three main components: a wave generator 3, a flexible wheel 2, and a rigid wheel 1. The wave generator 3 is the power source of the reducer, generating driving force through connection to an external drive source to induce elastic deformation of the flexible wheel 2. The flexible wheel 2 is the elastic component of the reducer, consisting of a main body 22, a first support 23, and a second support 24. The main body 22 surrounds the outside of the wave generator 3, and one end of the first support 23 is connected to the main body 22, while the other end is connected to the second support 24. This design facilitates the necessary radial deformation of the flexible wheel 2 under the action of the wave generator 3. The rigid wheel 1, also known as a steel wheel, is a rigid component whose internal teeth mesh with the external teeth of the main body 22 of the flexible wheel 2 to achieve power transmission. The recessed area of ​​the first support of the rigid wheel 1 and the flexible wheel 2 ensures proper positioning and close contact between them. This design allows the harmonic reducer to maintain high transmission efficiency while achieving a compact axial dimension, making it suitable for space-constrained applications.

[0048] In this way, by introducing a combination of a main body, a first support, and a second support in the flexspline design of the harmonic reducer, and carefully creating a recessed area on the upper surface of the first support, which mates with the bottom of the rigid wheel, the overall structural height of the rigid wheel and flexspline can be reduced while maintaining the original height of the rigid wheel. This design cleverly reduces the ineffective space inside the harmonic reducer, optimizes space utilization, and effectively shortens the axial length of the harmonic reducer, thereby improving its compactness and installation flexibility.

[0049] In some alternative embodiments, the rigid wheel 1 is a one-piece structure.

[0050] Specifically, traditional harmonic reducers consist of two rigid wheels 1. These two wheels 1 need to be fitted together during installation, typically requiring high assembly precision to ensure effective fixation at the reducer's output end, resulting in high assembly complexity. This embodiment of the present disclosure combines the two rigid wheels 1 into a single integrated structure, simplifying the mechanical structure, reducing the number of parts, and helping to lower manufacturing costs and assembly complexity. The integrated design of the rigid wheel 1 reduces the relative position adjustments between multiple components, making the meshing between the rigid wheel 1 and the flexible wheel 2 more accurate, improving installation precision, and thus enhancing transmission efficiency and reliability. Furthermore, the integrated rigid wheel 1, through optimized design and material selection, improves its overall load-bearing capacity, enabling it to withstand greater loads and extending the reducer's service life. In addition, combining the rigid wheels 1 into a single component helps shorten the axial length of the harmonic reducer, making it more compact, a design suitable for space-constrained applications. Moreover, the integrated rigid wheel 1 facilitates maintenance and repair, as the reduced number of parts means fewer connection points and potential failure points, facilitating inspection and replacement.

[0051] Thus, the integrated design of the rigid wheel reduces the number of parts, lowers manufacturing and assembly complexity, and helps to achieve miniaturization and weight reduction of the reducer, while improving transmission efficiency and reliability. Secondly, the integrated rigid wheel structure allows for a more compact axial length, making it more suitable for space-constrained applications. Furthermore, this design may also improve the overall strength and durability of the reducer, reduce potential failure points, facilitate maintenance and repair, and thus extend the reducer's service life.

[0052] In some alternative embodiments, the harmonic reducer further includes a first housing 42 and a second housing 43, which are configured to cooperate. The first housing 42 covers the outer side of the meshing end of the rigid wheel 1 and the flexible wheel 2, and the second housing 43 covers the outer side of the other end of the rigid wheel 1.

[0053] Specifically, the internal components are protected and supported through the cooperative arrangement of the first housing 42 and the second housing 43. The first housing 42 covers the outer side of the meshing end of the rigid wheel 1 and the flexible wheel 2, meaning it is located in the area where the rigid wheel 1 and the flexible wheel 2 mesh, i.e., the critical part of power transmission, to protect these components from the influence of the external environment. Furthermore, regarding the meshing end, it should be noted that the rigid wheel has a toothed structure inside for meshing with the teeth of the flexible wheel. The flexible wheel also has a toothed structure on its outer surface, enabling it to mesh with the teeth of the rigid wheel. During the operation of the harmonic reducer, see... Figure 5The meshing end refers to the area where the teeth of the rigid wheel and the flex wheel contact each other and engage in transmission. When the wave generator generates rotational motion, it forces the flex wheel to undergo radial deformation, causing the teeth of the flex wheel and the rigid wheel to be relatively misaligned at the meshing end, thereby transmitting power and torque. This meshing mechanism is the foundation for the high reduction ratio and high torque output of harmonic reducers. Therefore, the meshing end of the rigid wheel and the flex wheel is the core part of the harmonic reducer that realizes power transmission, and its design and manufacturing precision directly affect the transmission efficiency, accuracy, and reliability of the reducer. During the design phase, it is necessary to ensure precise tooth profile matching at the meshing end, as well as good lubrication and sealing, to guarantee the long-term stable operation of the reducer.

[0054] The second housing 43 covers the outer side of the other end of the rigid wheel 1, the part where the rigid wheel 1 connects to the input shaft. The function of the second housing 43 is to fix and protect the wave generator 3 and its connection to the input shaft. This design ensures both transmission efficiency and the stability and durability of the internal components, while also facilitating sealing and lubrication of the reducer. In short, this housing configuration helps improve the overall performance of the reducer, enabling stable operation in various application environments.

[0055] Thus, with the first housing covering the outer side of the meshing end of the rigid wheel and the flex wheel, and the second housing covering the outer side of the other end of the rigid wheel, this design not only enhances the structural integrity of the reducer and provides comprehensive protection for internal precision components, but also helps achieve better sealing performance, preventing lubricant leakage and the intrusion of external contaminants. Furthermore, the arrangement of the first and second housings helps to secure internal components, ensuring precise alignment between the rigid wheel, flex wheel, and wave generator, thereby improving transmission efficiency and stability. Simultaneously, this structural design facilitates modular production and maintenance of the reducer, making component replacement or repair easier when needed, thus improving the reducer's reliability and service life.

[0056] In some optional embodiments, the first housing 42 includes a first body 421 and a first extension 422, which are arranged vertically. The first body 421 covers the meshing end where the main body 22 of the rigid wheel 1 and the flexible wheel 2 meshes. The first extension 422 extends in a direction away from the first body 421. The second housing 43 includes a second body 431 and a second extension 432, which are arranged vertically. The second body 431 is configured to cooperate with the first extension 422. The second extension 432 extends in a direction away from the second body 431 and cooperates with the first body 421.

[0057] Specifically, the first housing 42 is composed of a first body 421 and a first extension 422, which are vertically arranged. The first body 421 directly covers the meshing end where the main body 22 of the rigid wheel 1 and the flexible wheel 2 meshes, providing protection and support for the meshing end. The first extension 422 extends in a direction away from the first body 421, possibly for connecting or fixing other components. The second housing 43 is also composed of a second body 431 and a second extension 432, which are also vertically arranged. The second body 431 cooperates with the first extension 422 to ensure that the other end of the reducer is properly covered and protected. The second extension 432 extends in a direction away from the second body 431 and cooperates with the first body 421 to form a complete housing structure for the reducer. This design, through the vertical and cooperative arrangement of the bodies and extensions of the two housings, achieves comprehensive protection for the internal components of the harmonic reducer while maintaining the compactness and functionality of the structure, which helps to improve the overall performance and durability of the reducer.

[0058] Thus, the combination of the first and second housings provides enhanced structural integrity and protection for the harmonic reducer. The first body of the first housing directly covers the meshing end of the rigid and flexible gear bodies, ensuring the stability of the transmission components and preventing external interference, while the extension of the first extension can be used for fixing or connecting with other components. The second body of the second housing cooperates with the first extension to ensure protection and support at the other end of the reducer, and the extension of the second extension further enhances the overall structural stability. This design not only improves the durability and reliability of the reducer but also helps to achieve a more compact layout, while facilitating component installation and maintenance. Overall, this housing design, through the strategic layout of the vertical and extended sections, brings higher performance and adaptability to the harmonic reducer.

[0059] In some alternative embodiments, there are multiple first extensions 422 and multiple second extensions 432, and the number of first extensions 422 and the number of second extensions 432 are the same.

[0060] Specifically, both the first extension 422 and the second extension 432 are part of the housing design, used to enhance structural stability and provide additional assembly or connection points. There are multiple first extensions 422, meaning that multiple extensions are designed on the first housing 42, extending away from the first body 421, possibly for fixing or connection to other mechanical components. Similarly, there are multiple second extensions 432 on the second housing 43, their number matching that of the first extensions 422, ensuring a precise structural fit between the two housings for balanced support and fixation of the reducer. This design allows the reducer to connect to external structures or components at multiple points, improving the flexibility and stability of reducer installation, while also facilitating modular design, enabling the harmonic reducer to adapt to different application requirements. In this way, the design of the harmonic reducer ensures both protection of internal components and convenience of external connections, enhancing overall mechanical performance and adaptability.

[0061] In this design, the harmonic reducer features an equal number of first and second extensions, each with multiple extensions. These multiple extensions provide more mounting points and connection options, allowing for more stable installation in various applications and facilitating precise docking with other mechanical components. This design also helps distribute the load, reducing stress concentration at individual connection points, thereby improving the reducer's durability and reliability. Furthermore, the consistent number of extensions ensures symmetry and coordination between the first and second housings during assembly, contributing to a more compact design and simplifying manufacturing and maintenance. Overall, this design optimizes the installation and operational performance of the harmonic reducer by providing a uniformly distributed number of connection points.

[0062] In some alternative embodiments, a plurality of first extensions 422 are equally spaced, and a plurality of second extensions 432 are equally spaced.

[0063] Specifically, "multiple first extensions 422 equally spaced" means that the extensions on the first housing 42 are evenly distributed around it, forming an equally spaced layout. These extensions may be used for fixing or connecting with other components, ensuring the stability of the reducer and facilitating assembly. Similarly, "multiple second extensions 432 equally spaced" means that the extensions of the second housing 43 are also evenly distributed in the same way, matching the number and spacing of the first extensions 422. This equally spaced arrangement helps to achieve the balance and symmetry of the reducer, ensuring that the housing is evenly stressed during installation and reducing deformation or damage caused by improper installation. In addition, the equally spaced extensions facilitate modular design, allowing the harmonic reducer to quickly adapt to different installation requirements, improving design flexibility and production efficiency. In this way, the design of the harmonic reducer not only improves the structural stability but also enhances its applicability in various application scenarios.

[0064] By equally spaced first and second extensions on the first and second housings of the harmonic reducer, the evenly distributed extensions can more effectively distribute and bear external loads, reducing local stress concentration. Therefore, this equally spaced layout ensures the balance and stability of the reducer during installation and operation. Furthermore, the equally spaced arrangement facilitates standardized and modular production, simplifies the assembly process, and improves production efficiency. Additionally, this design enhances the reducer's adaptability, making it easier to integrate with different mechanical systems or frames to meet diverse application requirements. In summary, this equally spaced extension design improves the overall performance and application flexibility of the harmonic reducer.

[0065] In some alternative embodiments, the first housing 42 and the second housing 43 are made of different materials.

[0066] Specifically, the phrase "the first housing 42 and the second housing 43 are made of different materials" refers to the use of different materials for the two main components constituting the external structure of the harmonic reducer. Optionally, the first housing 42 may be made of a lightweight material with good chemical resistance, such as PEEK (polyetheretherketone). This material helps reduce the overall weight of the reducer, provides a certain degree of flexibility and shock absorption on the mounting surface, distributes stress more evenly, and maintains sufficient strength and wear resistance. Furthermore, PEEK itself possesses excellent chemical resistance, wear resistance, and self-lubricating properties. These properties mean that friction and wear can be reduced at the contact surface between the first housing and the steel wheel, thereby reducing the reliance on external oil seals. Therefore, by using PEEK for the first housing 42, the "oil seal" structure in traditional harmonic reducers can be eliminated. As for the second housing 43, it may be made of a metallic material, such as steel or aluminum alloy, to provide higher structural strength and rigidity, ensuring the stability of the reducer under high load conditions. This difference in materials allows the first housing 42 to achieve lightweighting, while the second housing 43 focuses on providing necessary mechanical support and durability. By differentiating materials, harmonic reducers can achieve structural optimization while ensuring performance, meeting the different weight and strength requirements of specific application scenarios.

[0067] This design, employing different materials for the first and second housings, utilizes a material differentiation strategy that allows the harmonic reducer to maintain a compact and lightweight profile while ensuring sufficient load-bearing capacity and durability, thereby improving the reducer's performance and adaptability. Furthermore, this design may contribute to better thermal management, as different materials may have different coefficients of thermal expansion, helping to control temperature changes during operation. Overall, this diversity in material selection provides the harmonic reducer with design flexibility, enabling it to better meet the needs of specific applications.

[0068] In some alternative embodiments, the first outer shell 42 is made of polyetheretherketone (PEEK) material, and the second outer shell 43 is made of metal material.

[0069] Specifically, the first housing is made of polyetheretherketone (PEEK), a high-performance engineering plastic. Its chemical resistance, heat resistance, wear resistance, and self-lubricating properties enable it to withstand harsh working environments within the harmonic reducer, while simultaneously reducing overall weight and improving energy efficiency. The second housing uses a metallic material, such as steel or aluminum alloy. This material provides higher mechanical strength and rigidity, ensuring the housing can withstand high loads and maintain structural stability and durability. This differentiated material selection allows the harmonic reducer to maintain high performance while achieving lightweight design and improved corrosion resistance, thereby broadening its applicability in various industrial applications.

[0070] Thus, the polyetheretherketone (PEEK) material of the first housing, due to its lightweight, high strength, and excellent chemical resistance, helps reduce the overall weight of the reducer, improves corrosion and wear resistance, and thus extends the service life of the equipment. Simultaneously, the self-lubricating properties of this material help reduce internal friction and improve transmission efficiency. The metallic material of the second housing provides the necessary structural strength and rigidity, ensuring the stability and reliability of the reducer under high load conditions. This material combination not only optimizes the mechanical performance of the reducer but may also reduce maintenance costs by decreasing the frequency of repairs due to wear or corrosion.

[0071] In some alternative embodiments, see Figure 7 , Figure 7 This is a schematic diagram of an embodiment of the present disclosure with an added oil seal structure. In this embodiment, the structure of the harmonic reducer can be modified by removing the first housing and adding an oil seal structure 98 to achieve lubrication and sealing functions. That is, the original first housing is removed from the reducer's construction, and a reinforced oil seal structure 98 is used instead to achieve lubrication and sealing functions. The first housing provides external protection and support, but in this improved design, it is removed to achieve a more compact design or reduce weight. The oil seal structure 98 is specially reinforced or redesigned to ensure that the bearings and gears inside the reducer are properly lubricated even without the first housing, while preventing the intrusion of external contaminants. Achieving this solution requires precise calculation of the oil seal's size and shape to ensure effective sealing during high-speed rotation, and the selection of suitable materials to resist chemical corrosion and physical wear in the working environment. Furthermore, after removing the first housing, it may be necessary to structurally reinforce or redesign other components of the reducer to ensure overall mechanical stability and durability. Those skilled in the art can make these adjustments according to actual needs. This design strategy aims to improve the reducer's performance while reducing its size and weight, making it more suitable for applications with specific space and weight requirements.

[0072] Removing the first housing reduces the weight and size of the reducer, making it more compact and suitable for space-constrained applications. Simultaneously, the added oil seal structure 98 not only improves grease retention, ensuring efficient lubrication of bearings and gears, but also enhances sealing performance, effectively preventing the intrusion of dust and impurities, thereby reducing maintenance requirements and extending the reducer's service life.

[0073] In some optional embodiments, the second extension 432 is provided with a first threaded hole 433, and the second support 24 is provided with a first through hole 241, with the first threaded hole 433 and the first through hole 241 being coaxially arranged.

[0074] Specifically, the feature that "the second extension 432 is provided with a first threaded hole 433, the second support 24 is provided with a first through hole 241, and the first threaded hole 433 and the first through hole 241 are coaxially arranged" refers to the fact that the extension of the second housing 43 is designed with threaded holes for receiving bolts or other fasteners to secure the components of the reducer together or to other structures. The second support 24, as part of the flexure 2, is provided with through holes that are coaxially arranged with the threaded holes on the second extension 432, meaning they share the same axis. This design allows bolts to pass through the through holes and then be screwed into the threaded holes, achieving a fixed connection between the flexure 2 and the housing. This coaxial arrangement ensures precise alignment during assembly, contributing to improved structural stability and transmission accuracy of the reducer.

[0075] This coaxial arrangement ensures that bolts or screws can precisely pass through the through holes and screw into the threaded holes, thus achieving a secure fixation between the flexspline and the housing. This precise alignment reduces errors during assembly, improves assembly efficiency, and helps maintain the accurate positioning of the internal components of the reducer, thereby ensuring smooth and accurate transmission. Furthermore, the coaxial threaded hole and through hole design helps distribute the load, reduces stress concentration at a single connection point, and enhances the structural stability and durability of the reducer. Overall, this design optimizes the assembly process of the harmonic reducer, improving its performance and reliability.

[0076] In some optional embodiments, the first body 421 is provided with a second through hole 423, the second extension 432 is provided with a third through hole 434, and the second support 24 is provided with a fourth through hole 242. The second through hole 423, the third through hole 434 and the fourth through hole 242 are on the same axis.

[0077] Specifically, the description of "the first body 421 having a second through hole 423, the second extension 432 having a third through hole 434, and the second support 24 having a fourth through hole 242, with the second through hole 423, the third through hole 434, and the fourth through hole 242 all on the same axis" indicates that these through holes are designed with precise alignment to ensure the assembly accuracy and structural stability of the reducer. The first body 421 is the main part of the first housing 42, covering the outer side of the meshing end of the rigid wheel 1 and the flexible wheel 2. The second through hole 423 is used to pass through bolts or other fasteners to fix or connect components. The second extension 432 is an extension of the second housing 43, and the third through hole 434 is also used for fixing or connecting during assembly. The third support, as part of the flexible wheel 2, has a fourth through hole 242 for engagement with bolts to achieve a fixed connection between the flexible wheel 2 and the housing. The coaxial arrangement of these through holes ensures precise alignment of the components during assembly, thereby improving the overall stability and transmission efficiency of the reducer. This design also facilitates modular production, simplifies assembly and maintenance processes, and ensures the reliability and durability of the reducer during operation.

[0078] By designing the second through-hole of the first body, the third through-hole of the second extension, and the fourth through-hole of the third support to be on the same axis, this precise coaxial arrangement ensures the alignment accuracy of the reducer during assembly, thereby improving the overall structural stability and transmission efficiency. The coaxial through-hole design also facilitates a simpler assembly process, as bolts or other fasteners can pass through these through-holes in a straight line, ensuring a tight fit between components. Furthermore, this design helps to distribute the load, reduce stress concentration at single connection points, and enhance the durability and reliability of the reducer. In summary, this coaxial through-hole design optimizes the assembly and performance of the harmonic reducer, improving its adaptability and efficiency in various applications.

[0079] In some alternative embodiments, the harmonic reducer further includes a first bearing 61 disposed between the rigid wheel 1 and the second extension 432. See also Figure 8 , Figure 8 This is a cross-sectional view of the joint actuator structure used in the harmonic reducer in this embodiment of the present disclosure, showing the structure of the first bearing.

[0080] Specifically, in the design of the harmonic reducer, the feature that "the first bearing 61 is positioned between the rigid wheel 1 and the second extension 432" refers to the fact that inside the reducer, the first bearing 61 is located between the rigid wheel 1 and the extension of the second housing 43. The main function of the first bearing 61 is to support the rigid wheel 1, ensuring its stability and accuracy during rotation. The second extension 432, as part of the second housing 43, provides a structural platform, allowing the first bearing 61 to be securely mounted in the appropriate position. This layout allows the rigid wheel 1 to rotate smoothly under the support of the first bearing 61, while the second extension 432 provides the necessary fixation and protection for the first bearing 61. Through this design, the harmonic reducer can achieve efficient power transmission and deceleration while maintaining structural compactness and reliability.

[0081] In this way, the first bearing is positioned between the rigid wheel and the second extension. This arrangement ensures stable support and precise positioning of the rigid wheel within the reducer. The presence of the first bearing significantly reduces friction and wear during the rotation of the rigid wheel, thereby improving transmission efficiency and overall performance. Simultaneously, this design helps to evenly distribute the load, reducing stress on individual components and extending the reducer's service life. Furthermore, the first bearing helps reduce vibration and noise, making the reducer operate more smoothly and quietly. Through this carefully designed bearing layout, the harmonic reducer achieves high reliability and durability while ensuring transmission accuracy, meeting the requirements of precision mechanical transmission systems.

[0082] In some alternative embodiments, the first bearing 61 includes a base 613 and a protrusion 614, the protrusion 614 protruding from the outer surface of the base 613, and the top end of the protrusion 614 being an arc surface.

[0083] Specifically, the first bearing 61 consists of two parts: a base 613 and a protrusion 614. The base 613 is the main support structure of the first bearing, providing a stable base for mounting in a specific location within the harmonic reducer, ensuring the fixation and support functions of the first bearing. The protrusion 614 is a portion extending from the outer surface of the base 613. This design is used to provide additional support points or connection points, enhancing the structural stability of the first bearing. By designing the tip of the protrusion 614 to be arc-shaped, this helps reduce stress concentration, improves the durability of the first bearing, and may create a smooth transition with other components in the reducer (such as the housing or wave generator) for ease of assembly and maintenance.

[0084] Optionally, the protrusion can be configured as an arc. When connecting the protrusion to the base, the arc-shaped protrusion can be directly positioned on the top surface of the base and extend away from the base. Alternatively, the bottom end of the protrusion can be connected to a portion of the side of the base. Alternatively, the protrusion can be set at the same height as the base and connected by an arc surface. Those skilled in the art can configure it according to actual needs, and no limitations are imposed here.

[0085] In this way, the protrusion extending from the outer surface of the base enhances the structural stability and load-bearing capacity of the bearing. Simultaneously, the arcuate tip of the protrusion helps reduce stress concentration when in contact with adjacent components, reducing wear and improving bearing durability. Furthermore, this design may also help optimize the bearing's lubrication and sealing performance, as the protrusion facilitates grease retention and the installation of sealing components, thereby improving the reducer's operating efficiency and reliability. Overall, this bearing design positively impacts the overall performance and lifespan of the harmonic reducer by improving structural strength, durability, and ease of maintenance.

[0086] In some alternative embodiments, see Figure 9 , Figure 9 This is a schematic diagram of the structure of the first bearing in an embodiment of this disclosure. Specifically, the first bearing 61 includes a first sub-bearing 611 and a second sub-bearing 612, which are arranged coaxially.

[0087] Specifically, in the design of the harmonic reducer, the feature that "the first bearing 61 includes a first sub-bearing 611 and a second sub-bearing 612, and the first sub-bearing 611 and the second sub-bearing 612 are arranged coaxially" means that the first bearing 61 consists of two sub-bearings arranged along the same axis. This design allows the first bearing 61 to provide a more uniform load distribution and more stable performance when supporting rotating components. The coaxial arrangement of the first sub-bearing 611 and the second sub-bearing 612 means that they share a common rotation centerline, which helps to ensure the alignment and balance of the internal components of the reducer. Through this design, the harmonic reducer can achieve more efficient power transmission, reduce additional friction and heat generation caused by uneven bearing wear or misalignment, thereby improving the reliability and lifespan of the reducer. In addition, by setting the first and second sub-bearings, that is, replacing the single large bearing in the traditional solution with two small bearings, the diameter and volume of the reducer can be further reduced while ensuring the output torque.

[0088] By placing two sub-bearings on the same axis, the load-bearing capacity and stability of the bearing system are improved. The two sub-bearings share the load, reducing stress concentration on a single bearing, thereby reducing wear and extending bearing life. Furthermore, the coaxial arrangement ensures precise alignment of the bearing system, contributing to smoother transmission and overall reducer efficiency. This design may also help better dissipate heat, improving reducer performance under high load or high-speed operating conditions. In summary, this strategy of using two bearings instead of one significantly enhances the reliability and durability of the harmonic reducer by strengthening the support structure and improving operational accuracy.

[0089] In some alternative embodiments, the harmonic reducer further includes an annular component 7 disposed between the rigid wheel 1 and the second extension 432. See also Figure 10 , Figure 10 This is a schematic diagram of the structure of the ring component in an embodiment of this disclosure.

[0090] Specifically, the "ring-shaped component" refers to a circular assembly disposed between the rigid wheel 1 and the second extension 432. This ring-shaped component 7 may have multiple functions, such as serving as an additional support structure to help fix the position of the rigid wheel 1, or as a grease retainer to ensure effective distribution of lubricant within the reducer; its material may be PEK. The second extension 432 is part of the second housing 43, extending out to provide additional connection points or support. Placing the ring-shaped component 7 between the rigid wheel 1 and the second extension 432 allows for a more stable assembly, ensuring precise positioning of the rigid wheel 1 during transmission, and may also contribute to improving the reducer's load-bearing capacity and durability.

[0091] In this way, the annular component, acting as an additional support structure, enhances the stability of the rigid wheel and ensures precise positioning during transmission. Secondly, it may help distribute and reduce the load transmitted by the rigid wheel, thereby reducing stress concentration on individual components and extending service life. Furthermore, the design of the annular component may also involve optimization of lubrication and sealing; by forming a sealed space between the rigid wheel and the second extension, it helps maintain a uniform distribution of internal grease, reducing friction and wear. This design may also improve the assembly efficiency of the reducer because it provides a clear assembly interface, simplifying the manufacturing and maintenance process. Overall, the introduction of the annular component significantly improves the performance and reliability of harmonic reducers by enhancing structural stability, increasing load-bearing capacity, and optimizing lubrication and sealing.

[0092] In some alternative embodiments, the harmonic reducer further includes a pin 8, which is inserted into a first threaded hole in the second extension 432, and the pin 8 engages with a spring in the annular component 7. See also Figure 11 and Figure 12 , Figure 11 This is a three-dimensional structural diagram of the pin installation in an embodiment of this disclosure; Figure 12 This is an embodiment of the present disclosure. Figure 11 The corresponding cross-sectional view.

[0093] Specifically, in the design of the harmonic reducer, the feature that "the pin 8 is embedded in the threaded hole provided in the second extension 432, and the pin 8 cooperates with the spring in the annular component 7" refers to a specific assembly and adjustment mechanism. The pin 8 is a cylindrical metal part designed to be embedded in the threaded hole on the second extension 432, which allows the pin 8 to be fixed or adjusted within the hole. The annular component 7 replaces the bearing, while the spring provides the necessary elastic force, enabling the pin 8 to move or be fine-tuned within the annular component 7.

[0094] The implementation of this structure involves the following process: A threaded hole is machined in the second extension to facilitate the insertion and fixation of the pin. A suitable spring is selected to ensure its elastic force meets the pin's movement requirements. The pin is inserted into the threaded hole, ensuring proper engagement between the pin and spring to allow for necessary adjustments or compensation within the annular component. The advantage of this design is that it provides a flexible adjustment mechanism, allowing for fine-tuning of clearances or pressures between components during assembly to optimize transmission performance and reduce wear. The engaging movement of the pin and spring helps absorb minor variations caused by manufacturing tolerances or operation, thereby improving the reducer's stability and durability. Furthermore, this design may facilitate easier maintenance and repair, as the combination of pin and spring allows for quick adjustment or replacement.

[0095] Thus, in the design of the harmonic reducer, a pin-spring cooperation mechanism is introduced, in which the pin is embedded in the threaded hole of the second extension and moves in conjunction with the spring in the annular component. This design allows the pin to be finely adjusted under the action of the spring to adapt to different assembly requirements and operating conditions, thereby improving the assembly flexibility and operating accuracy of the reducer. The presence of the spring allows the pin to maintain appropriate pressure within the annular component, helping to reduce the clearance between components, improve transmission efficiency, and absorb vibration and shock, extending the service life of the reducer. Furthermore, this adjustable design also helps simplify the maintenance and repair process, as the combination of pin and spring allows for quick adjustment or replacement to cope with wear or performance changes. Overall, this pin-spring cooperation mechanism significantly improves the overall performance and reliability of the harmonic reducer by enhancing its adaptability and stability.

[0096] In some alternative embodiments, see Figure 13 , Figure 13This is a schematic diagram of the structure of a harmonic reducer according to another embodiment of the present disclosure. A first recessed region 91 is provided between two adjacent first threaded holes 433, and there is a first height difference between the upper surface of the first threaded hole 433 and the upper surface of the first housing. The area formed by the first height difference is a second recessed region 92.

[0097] Specifically, the first threaded holes 433 are used to receive bolts or other fasteners to secure the reducer components together or to other structures; these holes are evenly distributed on the first housing. The first recessed area 91 is designed within the space between these first threaded holes 433 to reduce the weight of the housing and also serves as a grease reservoir, helping to improve lubrication efficiency and reduce friction between components. The first height difference refers to the vertical distance between the upper surface of the first threaded holes 433 and the upper surface of the first housing; this height difference is utilized in the housing design to form the second recessed area 92. This design increases the rigidity of the housing while reducing material usage and overall weight. The formation of the second recessed area 92 can provide additional support points or connection points, or to improve the thermal expansion characteristics of the housing, allowing sufficient space for expansion and contraction during temperature changes, thus reducing thermal stress.

[0098] In this way, by creating a first recessed area between adjacent first threaded holes and a second recessed area formed by creating a first height difference between the upper surface of the first threaded hole and the upper surface of the first housing, the material used is effectively reduced, thereby reducing the weight of the reducer. This weight-reduction design directly improves energy efficiency; the lighter components reduce energy consumption, making the reducer operate more energy-efficiently. Simultaneously, the recessed area increases the surface area of ​​the housing, helping to improve heat dissipation performance, especially under high load or high-speed operating conditions, thus helping to maintain performance. Furthermore, this design can reduce costs by reducing material usage while maintaining or even enhancing the strength and durability of the structure. The recessed area design can also be used as a reference point for assembly and alignment, improving assembly accuracy and ensuring precise fit between components. In summary, this design brings a comprehensive performance improvement to the harmonic reducer by reducing weight, improving heat dissipation efficiency, reducing costs, and improving assembly accuracy, making it particularly suitable for applications with strict requirements on weight and energy efficiency.

[0099] In some optional embodiments, the wave generator is provided with a second threaded hole 96 in the circumferential direction, and a third recessed region 93 is provided between two adjacent second threaded holes 96. There is a second height difference between the upper surface of the second threaded hole 96 and the upper surface of the wave generator, and the area formed by the second height difference is a fourth recessed region 94.

[0100] Specifically, in the design of the harmonic reducer, the wave generator is provided with second threaded holes 96 circumferentially. These second threaded holes 96 are used to fix the wave generator or connect it with other components. A third recessed area 93 is provided between two adjacent second threaded holes 96. These recessed areas are designed to reduce the weight of the wave generator and to accommodate grease or reduce friction between components. A second height difference exists between the upper surface of the second threaded holes 96 and the upper surface of the wave generator. This height difference forms a fourth recessed area 94, which helps optimize the thermal expansion characteristics of the wave generator, allowing for appropriate expansion and contraction space during temperature changes and reducing thermal stress.

[0101] Thus, the inclusion of the second threaded hole enhances the wave generator's fixation capability, ensuring its stability during power transmission. Secondly, the introduction of the third recessed area reduces material usage, directly lightening the wave generator's weight and contributing to improved energy efficiency and dynamic response speed of the reducer. Furthermore, the design of the fourth recessed area helps improve the wave generator's thermal management, allowing for appropriate expansion and contraction during temperature changes, reducing thermal stress, and thereby extending component lifespan. These design features, through precise control of material distribution and structural optimization, achieve a comprehensive improvement in the harmonic reducer's weight reduction, performance enhancement, and durability.

[0102] In some alternative embodiments, the rigid wheel is provided with a third threaded hole 97 in the circumferential direction, and a fifth recessed region 95 is provided between two adjacent third threaded holes 97, with the outer surface of the third threaded hole 97 protruding from the outer surface of the fifth recessed region 95.

[0103] Specifically, the third threaded hole 97 is used to fix the rigid wheel in the corresponding position of the reducer, ensuring its stability and accuracy in transmitting torque. The fifth recessed area 95 is provided between adjacent third threaded holes 97 to reduce the weight of the rigid wheel and at the same time help to form a grease storage space, thereby improving lubrication efficiency and reducing friction. The outer surface of the third threaded hole 97 protrudes from the outer surface of the fifth recessed area 95. This design helps to enhance the structural strength of the rigid wheel and at the same time provides a reference point or auxiliary positioning feature during assembly.

[0104] Thus, the inclusion of the third threaded hole enhances the fixing ability of the rigid wheel, ensuring its stability and accuracy in torque transmission. Secondly, the design of the fifth recessed area reduces the weight of the rigid wheel, contributing to improved energy efficiency and dynamic response speed of the reducer. It also serves as a grease reservoir, improving lubrication efficiency and reducing friction. This design, through precise control of material distribution and structural optimization, achieves a comprehensive improvement in the harmonic reducer in terms of weight reduction, performance enhancement, and durability.

[0105] In some optional embodiments, a weight-reduction design strategy is employed in the design of the harmonic reducer, resulting in an irregular circumferential shape for the housing, steel wheel, and wave generator. This irregular shape increases the contact area and friction between the housing, steel wheel, wave generator, and mating structural components, thereby increasing the force on the harmonic reducer in the rotational direction. This improves the stability of the mating components and reduces the possibility of relative slippage. This design is particularly suitable for applications requiring high stability and low slippage risk.

[0106] Secondly, the irregularly shaped housing, steel wheels, and wave generator allow for a more complex stress distribution, which helps to disperse and resist deformation under high load conditions, enhancing the structural strength and durability of the reducer. Furthermore, the irregular shape design provides greater design flexibility for the harmonic reducer, enabling it to better adapt to different installation environments and fitting requirements. For example, the shape of structural components can be customized to meet specific application needs, ensuring optimal fit and functionality.

[0107] In summary, the irregular shape achieved through weight reduction design has resulted in significant performance improvements in stability and structural strength for the harmonic reducer. These improvements are based on a thorough understanding and precise analysis of the functions of each component of the reducer and its operating environment.

[0108] According to embodiments of this disclosure, this disclosure also provides a robot comprising: a harmonic reducer as described above.

[0109] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0110] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0111] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A harmonic reducer, comprising a rigid wheel (1), a flexible wheel (2), and a wave generator (3), characterized in that, The flexible wheel (2) includes a main body (22), a first support part (23) and a second support part (24). The main body (22) is sleeved on the outside of the wave generator (3). One end of the first support part (23) is connected to one end of the main body (22), and the other end of the first support part (23) is connected to one end of the second support part (24). A recessed area is formed on the upper surface of the first support part (23), and the rigid wheel (1) is configured to cooperate with the recessed area.

2. The harmonic reducer according to claim 1, characterized in that, The rigid wheel (1) is an integral structure.

3. The harmonic reducer according to claim 1, characterized in that, The harmonic reducer also includes a first housing (42) and a second housing (43), which are configured to cooperate. The first housing (42) covers the outer side of the meshing end of the rigid wheel (1) and the flexible wheel (2), and the second housing (43) covers the outer side of the other end of the rigid wheel (1).

4. The harmonic reducer according to claim 3, characterized in that, The first housing (42) includes a first body (421) and a first extension (422). The first body (421) and the first extension (422) are arranged vertically. The first body (421) covers the meshing end where the rigid wheel (1) meshes with the body (22) of the flexible wheel (2). The first extension (422) extends in a direction away from the first body (421). The second housing (43) includes a second body (431) and a second extension (432). The second body (431) and the second extension (432) are arranged perpendicularly. The second body (431) is configured to cooperate with the first extension (422). The second extension (432) extends in a direction away from the second body (431) and cooperates with the first body (421).

5. The harmonic reducer according to claim 4, characterized in that, There are multiple first extensions (422) and multiple second extensions (432), and the number of first extensions (422) and the number of second extensions (432) are the same.

6. The harmonic reducer according to claim 5, characterized in that, Multiple first extensions (422) are arranged at equal intervals, and multiple second extensions (432) are arranged at equal intervals.

7. The harmonic reducer according to claim 3, characterized in that, The first outer shell (42) and the second outer shell (43) are made of different materials.

8. The harmonic reducer according to claim 7, characterized in that, The first outer shell (42) is made of polyetheretherketone material, and the second outer shell (43) is made of metal material.

9. The harmonic reducer according to claim 4, characterized in that, The second extension (432) is provided with a first threaded hole (433), and the second support (24) is provided with a first through hole (241). The first threaded hole (433) and the first through hole (241) are coaxially arranged.

10. The harmonic reducer according to claim 4, characterized in that, The first body (421) is provided with a second through hole (423), the second extension (432) is provided with a third through hole (434), and the second support (24) is provided with a fourth through hole (242). The second through hole (423), the third through hole (434), and the fourth through hole (242) are on the same axis.

11. The harmonic reducer according to claim 4, characterized in that, The harmonic reducer also includes a first bearing (61), which is disposed between the rigid wheel (1) and the second extension (432).

12. The harmonic reducer according to claim 11, characterized in that, The first bearing (61) includes a base (613) and a protrusion (614), the protrusion (614) protruding from the outer surface of the base (613), and the top end of the protrusion (614) is an arc surface.

13. The harmonic reducer according to claim 11, characterized in that, The first bearing (61) includes a first sub-bearing (611) and a second sub-bearing (612), which are arranged coaxially.

14. The harmonic reducer according to claim 4, characterized in that, The harmonic reducer also includes an annular component (7), which is disposed between the rigid wheel (1) and the second extension (432).

15. The harmonic reducer according to claim 14, characterized in that, The harmonic reducer also includes a pin (8), which is embedded in the first threaded hole (433) provided in the second extension (432), and the pin (8) is movable in cooperation with the spring in the annular component (7).

16. The harmonic reducer according to claim 9, characterized in that, A first recessed area (91) is provided between two adjacent first threaded holes (433), and there is a first height difference between the upper surface of the first threaded hole (433) and the upper surface of the first housing (42). The area formed by the first height difference is the second recessed area (92).

17. The harmonic reducer according to claim 1, characterized in that, The wave generator (3) is provided with a second threaded hole (96) in the circumferential direction. A third recessed area (93) is provided between two adjacent second threaded holes (96). There is a second height difference between the upper surface of the second threaded hole (96) and the upper surface of the wave generator (3). The area formed by the second height difference is a fourth recessed area (94).

18. The harmonic reducer according to claim 1, characterized in that, The rigid wheel (1) is provided with a third threaded hole (97) in the circumferential direction, and a fifth recessed area (95) is provided between two adjacent third threaded holes (97). The outer surface of the third threaded hole (97) protrudes from the outer surface of the fifth recessed area (95).

19. A robot, characterized in that, include: The harmonic reducer as described in any one of claims 1 to 18.

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