Harmonic speed reducer of assembly type flexible gear

Abstract

The utility model relates to the technical field of speed reducers, aims to solve the problems that in the prior art, the whole structure is high in machining difficulty, materials are consumed, machining cost is high, standardized production cannot be formed, and a flexible gear cannot be protected from being damaged by overload torque, and provides a harmonic speed reducer of a component type flexible gear. The exterior of the wave generator is rotationally connected with a flexible gear toothed end; the outer wall of one end, far away from the wave generator, of the toothed end of the flexible gear is circumferentially connected with a flexible gear output end in a same-tooth-number meshing manner; the outer wall of one end, close to the wave generator, of the toothed end of the flexible gear is connected with a rigid gear in a mutual differential tooth meshing manner; a crossed roller bearing is arranged between the rigid gear and the output end of the flexible gear in a sleeved mode, the crossed roller bearing is provided with a bearing outer ring and a bearing inner ring, the rigid gear is fixedly connected to the bearing inner ring, and the output end of the flexible gear is fixedly connected to the bearing outer ring. The flexible gear has the advantages of being low in overall structure machining difficulty, material-saving, low in machining cost, and capable of being produced in a standardized mode and protecting the flexible gear from being damaged by overload torque.

Description

Technical Field

[0001] This utility model relates to the field of speed reduction device technology, and more specifically, to a harmonic speed reducer with a component-type flexible wheel. Background Technology

[0002] Harmonic reducers are gear transmission devices that reduce speed and increase torque to meet the needs of various working machines. They are widely used in aerospace, marine, machinery manufacturing, transportation and many other industries due to their advantages such as large transmission ratio, high load capacity, small size, light weight, low noise and high transmission accuracy.

[0003] A typical harmonic reducer mainly consists of four basic components: a wave generator, a flexible gear, a rigid gear, and a flexible bearing. The wave generator, mounted on the flexible bearing, causes the flexible gear to undergo controllable elastic deformation and mesh with the rigid gear, thereby transmitting motion and power. The toothed end of the flexible gear in a typical harmonic reducer is a thin-walled circular ring structure to achieve elastic deformation, while the end away from the teeth is a disc-shaped structure to be axially fixed with a crossed roller bearing as the output end. This results in the flexible gear typically having a cup-shaped or cap-shaped structure, which is difficult to manufacture and consumes a lot of materials, leading to high processing costs. At the same time, the toothed end of the flexible gear has a standard size, while the output end of the flexible gear has various interface sizes due to different usage requirements. This makes it impossible to standardize the production of the flexible gear as a whole. When the flexible gear is subjected to an overload torque, it cannot be protected from damage by the overload torque. Utility Model Content

[0004] The present invention aims to provide a harmonic reducer with a component-type flexible wheel to solve the problems of high overall structural processing difficulty, material consumption, high processing cost, inability to form standardized production, and inability to protect the flexible wheel from damage by overload torque in the prior art.

[0005] The embodiments of this utility model are implemented as follows:

[0006] This utility model embodiment provides a component-type flexible wheel harmonic reducer, which includes a wave generator composed of a cam rotor and a flexible bearing;

[0007] The wave generator is fitted with a toothed flexible wheel, and the inner wall of one end of the toothed flexible wheel is rotatably connected to the outer wall of the wave generator.

[0008] A flexible wheel output end is sleeved on the outer wall of the toothed end of the flexible wheel away from the wave generator. The inner ring wall of the flexible wheel output end and the outer wall of the toothed end of the flexible wheel away from the wave generator are connected circumferentially with the same number of teeth.

[0009] A rigid wheel is fitted on the outer wall of the toothed end of the flexible wheel near the wave generator, and the inner ring wall of the rigid wheel is engaged with the outer wall of the toothed end of the flexible wheel near the wave generator.

[0010] A cross roller bearing is fitted between the rigid wheel and the output end of the flexible wheel. The cross roller bearing has an outer ring and an inner ring. The rigid wheel is detachably fixedly connected to the inner ring of the cross roller bearing, and the output end of the flexible wheel is detachably fixedly connected to the outer ring of the cross roller bearing.

[0011] The toothed end of the flexible wheel is provided with a small end cap and a large end cap at both ends. The small end cap is fixed to the inner ring of the bearing by screws, and the large end cap is fixed to the outer ring of the bearing by screws.

[0012] In use, the prime mover drives the wave generator to rotate. The rotation of the wave generator causes the toothed end of the flexible wheel to rotate and undergo radial deformation. This causes the outer teeth of the toothed end of the flexible wheel, away from the output end of the flexible wheel, to sequentially engage and disengage from the inner teeth of the rigid wheel, forming a speed reduction transmission. The output end of the flexible wheel and the toothed end of the flexible wheel are fixed together by tooth meshing to form the rotational motion of the component flexible wheel. The output end of the flexible wheel is fixed to the outer ring of the crossed roller bearing by screws as the output end, while the rigid wheel is fixed to the inner ring of the crossed roller bearing by screws as the fixed end. The inner ring of the crossed roller bearing and the outer ring of the crossed roller bearing are connected by several balls to achieve relative rotation. Therefore, the component flexible wheel and the rigid wheel can rotate relative to each other to transmit power and motion.

[0013] The component-type flexure harmonic reducer disclosed in this embodiment splits the flexure module into two parts: the toothed end of the flexure and the output end of the flexure. The two parts are circumferentially fixed by tooth meshing. This allows the output end of the flexure to be easily customized in size to adapt to different installation application scenarios. At the same time, the tooth meshing also has a torque limiting function. When the flexure is subjected to an overload torque, the deformation of the flexure increases, which can cause the teeth connecting the toothed end of the flexure and the output end of the flexure to disengage, thereby protecting the flexure from damage by the overload torque. It has a torque limiting function, thus giving the component-type flexure harmonic reducer the advantages of low overall structural processing difficulty, material saving, low processing cost, standardized production, and protection of the flexure from damage by overload torque.

[0014] Optionally: the output end of the flex wheel is a flange, and a plurality of through holes are evenly distributed in the circumferential direction of the output end of the flex wheel.

[0015] This configuration, which sets the output end of the flex wheel as a flange, facilitates disassembly, allowing the output end of the flex wheel to be separated from the toothed end of the flex wheel. This enables the replacement of the output end of the flex wheel, facilitating easy customization of the size to suit different installation applications. At the same time, the arrangement of several through holes allows the output end of the flex wheel to be fixed to the outer ring of the crossed roller bearing by screws.

[0016] Optionally: the outer wall of the toothed end of the flexure away from the wave generator has annular outer teeth, and the inner wall of the output end of the flexure has annular inner teeth. The annular outer teeth and the annular inner teeth mesh with each other in a circumferential connection with the same number of teeth.

[0017] This configuration allows the toothed end of the flex wheel to synchronously drive the output end of the flex wheel to rotate. At the same time, when the flex wheel is subjected to an overload torque, the excessive deformation of the flex wheel can cause the inner and outer circular teeth of the annular rings that connect the toothed end of the flex wheel to the output end of the flex wheel to radially disengage and engage in misaligned meshing. This can protect the flex wheel from being damaged by the overload torque.

[0018] Optionally: the cross roller bearing has a plurality of first holes evenly distributed along the circumference of the outer ring of the bearing, the plurality of first holes being evenly distributed along the circumference of the outer ring of the bearing, the plurality of first holes being adapted to a plurality of through holes, and the first holes and the through holes being threadedly connected in the axial direction by a screw.

[0019] This configuration allows the aforementioned first holes to facilitate the installation or removal of the flex wheel output end on the outer ring of the crossed roller bearing, improving the flexibility of the flex wheel output end and making it easier to adapt to different installation and usage conditions as needed. This avoids product design being limited by the flex wheel and the increased cost due to frequent changes in the flex wheel processing technology.

[0020] Optionally: The wave generator is elliptical, and a flexible bearing is sleeved on the outside of the wave generator. The inner ring of the flexible bearing is fixedly connected to the outer wall of the wave generator, and the outer ring of the flexible bearing is rotatably connected to the inner wall of the toothed end of the flexible wheel. Several steel balls are clamped between the inner ring and the outer ring of the flexible bearing.

[0021] With this configuration, the wave generator and the toothed end of the flexure are connected as one unit through the flexible bearing, which facilitates the synchronous rotation of the toothed end of the flexure when the wave generator rotates.

[0022] Optionally, the number of teeth on the inner ring wall of the rigid wheel is greater than the number of teeth on the outer ring wall of the toothed end of the flexible wheel.

[0023] With this configuration, the outer wall of the toothed end of the flexible wheel, which is far from the output end of the flexible wheel, can mesh with the differential teeth of the rigid wheel. Since the wave generator is elliptical, the teeth near the two ends of the long axis of the toothed end of the flexible wheel driven by the wave generator are fully engaged with the teeth of the rigid wheel, while the teeth near the two ends of the short axis are completely disengaged from the rigid wheel. The teeth in other sections of the circumference are in a transitional state of engagement and disengagement. When the wave generator rotates continuously clockwise, the deformation of the toothed end of the flexible wheel changes continuously, causing the engagement state between the toothed end of the flexible wheel and the rigid wheel to change continuously, from engagement, engagement, disengagement, and re-engagement, repeating cyclically. This allows the toothed end of the flexible wheel to rotate slowly within the rigid wheel, at which time the toothed end of the flexible wheel decelerates relative to the rigid wheel.

[0024] Optionally, the toothed end of the aforementioned flexible gear has a circular structure.

[0025] This configuration makes the overall machining of the toothed end structure of the flexible wheel relatively easy. Depending on the different usage requirements, only the output end of the flexible wheel needs to be replaced, without replacing the toothed end. This allows the flexible wheel to be produced in a standardized manner, which saves materials and reduces processing costs.

[0026] Optionally, a plurality of balls are held between the outer ring and the inner ring of the bearing.

[0027] With this configuration, the arrangement of the aforementioned balls enables the outer ring of the bearing and the inner ring of the bearing to rotate relative to each other, thereby allowing the component-type flexible wheel and the aforementioned rigid wheel to rotate relative to each other to transmit power and motion.

[0028] Optionally: the aforementioned rigid wheel is provided with a plurality of second holes evenly distributed in the circumferential direction, the plurality of second holes being evenly distributed along the circumferential direction of the aforementioned rigid wheel; the aforementioned bearing inner ring is provided with a plurality of third holes evenly distributed in the circumferential direction, the plurality of third holes being evenly distributed along the circumferential direction of the aforementioned bearing inner ring; the plurality of second holes are adapted to the plurality of third holes; and a screw is provided in the axial direction of the aforementioned second holes and the aforementioned third holes.

[0029] With this configuration, by inserting the screw into the second and third holes, the rigid wheel can be detachably connected to the inner ring of the bearing, thereby allowing the rigid wheel and the output end of the flexible wheel to rotate relative to each other to transmit power and motion.

[0030] Optionally, a sealing groove is provided between the inner ring of the crossed roller bearing and the outer ring of the crossed roller bearing, and an oil seal is adapted to fit into the sealing groove, and the oil seal seals the sealing groove.

[0031] With this configuration, the oil seal can seal the sealing groove between the inner ring and the outer ring of the bearing, preventing the leakage of internal lubricating oil when the outer ring and the inner ring of the crossed roller bearing rotate relative to each other.

[0032] In summary, the component-type flexure harmonic reducer disclosed in this utility model has the advantages of low overall structural processing difficulty, material saving, low processing cost, standardized production capability, and protection of the flexure from damage by overload torque. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a cross-sectional view of a component-type flexible wheel harmonic reducer according to an embodiment of the present utility model;

[0035] Figure 2 This is a front view of a harmonic reducer with a component-type flexible wheel according to an embodiment of the present utility model;

[0036] Figure 3 This is an embodiment of the present utility model. Figure 2 Enlarged diagram of point A in the middle.

[0037] Icons: 1-Wave generator, 2-Geared end of flexible wheel, 3-Output end of flexible wheel, 4-Rigid wheel, 5-Crossed roller bearing, 6-Outer ring of bearing, 7-Inner ring of bearing, 8-Through hole, 9-Annular outer tooth, 10-Annular inner tooth, 11-First hole, 12-Flexible bearing, 13-Cam rotor, 14-Ball, 15-Second hole, 16-Third hole, 17-Sealing groove, 18-Oil seal, 19-Large end cover, 20-Small end cover. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0040] Example

[0041] See Figure 1 , Figure 2 and Figure 3 This embodiment proposes a component-type flexible wheel harmonic reducer, including a wave generator 1, which is composed of a cam rotor 13 and a flexible bearing 12;

[0042] The outer side of the wave generator 1 is fitted with a toothed flexible wheel end 2, and the inner wall of one end of the toothed flexible wheel end 2 is rotatably connected to the outer wall of the wave generator 1.

[0043] A flexible wheel output end 3 is fitted on the outer wall of the toothed end 2 of the flexible wheel away from the wave generator 1. The inner ring wall of the flexible wheel output end 3 and the outer wall of the toothed end 2 of the flexible wheel away from the wave generator 1 are connected circumferentially with the same number of teeth.

[0044] A rigid wheel 4 is fitted on the outer wall of the toothed end 2 of the flexible wheel near the wave generator 1. The inner ring wall of the rigid wheel 4 is meshed with the outer wall of the toothed end 2 of the flexible wheel near the wave generator 1.

[0045] A cross roller bearing 5 is fitted between the rigid wheel 4 and the output end 3 of the flexible wheel. The cross roller bearing 5 has an outer ring 6 and an inner ring 7. The rigid wheel 4 is detachably fixedly connected to the inner ring 7 of the cross roller bearing 5, and the output end 3 of the flexible wheel is detachably fixedly connected to the outer ring 6 of the cross roller bearing 5.

[0046] The toothed end 2 of the flexible wheel is provided with a small end cap 20 and a large end cap 19 at its two ends. The small end cap 20 is fixed to the inner ring 7 of the bearing by screws, and the large end cap 19 is fixed to the outer ring 6 of the bearing by screws, which are used to limit the axial position of the toothed end 2 of the flexible wheel.

[0047] In use, the prime mover drives the wave generator 1 to rotate. The rotation of the wave generator 1 drives the toothed end 2 of the flexible wheel to rotate and cause it to deform radially. This causes the outer teeth of the toothed end 2 of the flexible wheel to engage and disengage from the inner teeth of the rigid wheel 4 in sequence, forming a speed reduction transmission. The output end 3 of the flexible wheel and the toothed end 2 of the flexible wheel are fixed together by tooth meshing to form the rotational motion of the component flexible wheel. The output end 3 of the flexible wheel is fixed to the outer ring 6 of the crossed roller bearing 5 by screws as the output end, while the rigid wheel 4 is fixed to the inner ring 7 of the crossed roller bearing 5 by screws as the fixed end. The inner ring 7 of the crossed roller bearing 5 and the outer ring 6 of the crossed roller bearing 5 are connected by several balls 14 to achieve relative rotation. Therefore, the component flexible wheel and the rigid wheel 4 can rotate relative to each other to transmit power and motion.

[0048] The component-type flexure harmonic reducer disclosed in this embodiment splits the flexure module into two parts: the toothed end 2 and the output end 3. The two parts are circumferentially fixed by toothed connection. This allows the output end 3 to be easily customized in size to adapt to different installation application scenarios. At the same time, the toothed connection also has a torque limiting function. When the flexure is subjected to an overload torque, the deformation of the flexure increases, which can cause the teeth connecting the toothed end 2 and the output end 3 to disengage, thereby protecting the flexure from damage by the overload torque. This torque limiting function makes the component-type flexure harmonic reducer have the advantages of low overall structural processing difficulty, material saving, low processing cost, standardized production, and protection of the flexure from damage by overload torque.

[0049] See Figure 1 , Figure 2 and Figure 3 The flexible wheel output end 3 is a flange, and several through holes 8 are evenly distributed around the circumference of the flexible wheel output end 3. The flexible wheel output end 3 is set as a flange to facilitate disassembly, so that the flexible wheel output end 3 can be separated from the flexible wheel toothed end 2, thereby realizing the replacement of the flexible wheel output end 3 to easily customize the size to adapt to different installation application scenarios. At the same time, the setting of several through holes 8 allows the flexible wheel output end 3 to be fixed on the outer ring 6 of the crossed roller bearing 5 by screws.

[0050] The toothed end 2 of the flex wheel has annular outer teeth 9 on its outer wall away from the wave generator 1, and annular inner teeth 10 on the inner wall of the output end 3 of the flex wheel. The annular outer teeth 9 and annular inner teeth 10 are circumferentially connected and mesh with each other with the same number of teeth. This enables the toothed end 2 of the flex wheel to synchronously drive the output end 3 of the flex wheel to rotate. At the same time, when the flex wheel is subjected to an overload torque, the excessive deformation of the flex wheel can cause the annular inner teeth 10 and annular outer teeth 9 that connect the toothed end 2 of the flex wheel and the output end 3 of the flex wheel to radially disengage and mesh with each other. This can protect the flex wheel from being damaged by the overload torque.

[0051] See Figure 1 , Figure 2 and Figure 3 The outer ring 6 of the crossed roller bearing 5 is provided with a number of first holes 11 evenly distributed in the circumferential direction. The number of first holes 11 are evenly distributed along the circumferential direction of the outer ring 6 of the bearing. The number of first holes 11 are adapted to a number of through holes 8. The first holes 11 and the through holes 8 are connected by a screw (not shown in the figure) in the axial direction. The arrangement of the number of first holes 11 is conducive to the installation or removal of the flexible wheel output end 3 on the outer ring 6 of the crossed roller bearing 5, which improves the flexibility of the flexible wheel output end 3 and makes it easy to adapt to different installation and use conditions as needed. It avoids the product design being limited by the flexible wheel and the cost increase due to frequent changes in the processing technology of the flexible wheel.

[0052] The wave generator 1 is elliptical in shape, and a flexible bearing 12 is sleeved on the outside of the wave generator 1. The inner ring of the flexible bearing 12 is fixedly connected to the outer wall of the wave generator 1, and the outer ring of the flexible bearing 12 is rotatably connected to the inner wall of the toothed end 2 of the flexible wheel. The wave generator 1 and the toothed end 2 of the flexible wheel are connected as one unit through the flexible bearing 12, which makes it easy to synchronously drive the toothed end 2 of the flexible wheel to rotate when the wave generator 1 rotates.

[0053] See Figure 1 , Figure 2 and Figure 3 The inner ring wall of the rigid wheel 4 has more teeth than the outer ring wall of the flexible wheel toothed end 2. The outer wall of the flexible wheel toothed end 2, which is far from the output end 3 of the flexible wheel, can mesh with the rigid wheel 4. Since the wave generator 1 is elliptical, the teeth near the two ends of the long axis of the flexible wheel toothed end 2 driven by the wave generator 1 are fully meshed with the teeth of the rigid wheel 4, while the teeth near the two ends of the short axis are completely disengaged from the rigid wheel 4. The teeth in other sections of the circumference are in a transitional state of meshing and disengagement. When the wave generator 1 rotates clockwise continuously, the deformation of the flexible wheel toothed end 2 changes continuously, so that the meshing state between the flexible wheel toothed end 2 and the rigid wheel 4 also changes continuously, from meshing, meshing, disengaging, disengaging, and meshing again, repeating cyclically, thereby realizing that the flexible wheel toothed end 2 rotates slowly inside the rigid wheel 4. At this time, the flexible wheel toothed end 2 decelerates relative to the rigid wheel 4.

[0054] The toothed end 2 of the flexible wheel has a circular structure, which makes the overall processing of the toothed end 2 of the flexible wheel easier. Depending on the different usage requirements, only the output end 3 of the flexible wheel needs to be replaced, without replacing the toothed end 2 of the flexible wheel. This allows the flexible wheel to be produced in a standardized manner, which saves materials and reduces processing costs.

[0055] A number of balls 14 are held between the outer ring 6 and the inner ring 7 of the bearing. The arrangement of the balls 14 enables the outer ring 6 and the inner ring 7 of the bearing to rotate relative to each other, thereby enabling the component-type flexible wheel and rigid wheel 4 to rotate relative to each other to transmit power and motion.

[0056] The rigid wheel 4 has several second holes 15 evenly distributed along its circumference. The bearing inner ring 7 has several third holes 16 evenly distributed along its circumference. The second holes 15 are adapted to the third holes 16. The second holes 15 and the third holes 16 are provided with screws (not shown in the figure) in the axial direction. By inserting the screws into the second holes 15 and the third holes 16, the rigid wheel 4 can be detachably connected to the bearing inner ring 7, thereby allowing the rigid wheel 4 and the flexible wheel output end 3 to rotate relative to each other to transmit power and motion.

[0057] A sealing groove 17 is provided between the inner ring 7 and the outer ring 6 of the crossed roller bearing 5. An oil seal 18 is adapted to fit in the sealing groove 17. The oil seal 18 can seal the aforementioned sealing groove 17 and the sealing groove 17 between the inner ring 7 and the outer ring 6 of the bearing, thereby preventing the leakage of lubricating oil inside the crossed roller bearing 5 when the outer ring 6 and the inner ring 7 rotate relative to each other.

[0058] See Figure 1 , Figure 2 and Figure 3 In this embodiment, the circumferential fixing method of the toothed end 2 and the output end 3 of the flexible wheel can be one of the following two forms: first, the toothed end 2 of the flexible wheel has external circular teeth and the output end 3 of the flexible wheel has internal circular teeth; second, the toothed end 2 of the flexible wheel has internal circular teeth and the output end 3 of the flexible wheel has external circular teeth.

[0059] See Figure 1 , Figure 2 and Figure 3 In this embodiment, the flexible wheel module is divided into two parts: the toothed end 2 and the output end 3. The two parts are connected and circumferentially fixed by tooth meshing. The toothed end 2 is a thin-walled ring that can be machined from tubing, requiring less material and being easy to process, thus forming a standardized part. The output end 3 is a disc-shaped structure with a simple structure, and its size can be easily customized to suit different installation application scenarios. In addition, this structure also has a torque limiting function. When the flexible wheel is subjected to an overload torque, the deformation of the flexible wheel increases, which can cause the toothed end 2 to disengage from the connecting teeth of the output end 3, thereby protecting the flexible wheel from damage by the overload torque, thus providing a torque limiting function.

[0060] See Figure 1 , Figure 2 and Figure 3In this embodiment, compared with the original flexible wheel, the component-type flexible wheel divided into two modules can keep the meshing part between the flexible wheel and the rigid wheel 4 unchanged, and flexibly design the output end 3 of the flexible wheel to adapt to different installation and usage conditions. This avoids the product design being limited by the flexible wheel and the cost increase due to frequent changes in the processing technology of the flexible wheel. At the same time, after the flexible wheel is divided into two parts, the toothed end 2 of the flexible wheel can be directly processed from thin-walled tube material, which greatly reduces material costs and processing difficulty, and simplifies the processing technology.

[0061] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A harmonic reducer with a component-type flexure, characterized in that: It includes a wave generator (1), which consists of a cam rotor (13) and a flexible bearing (12); The wave generator (1) is fitted with a toothed flexible wheel end (2), and the inner wall of one end of the toothed flexible wheel end (2) is rotatably connected to the outer wall of the wave generator (1). The toothed end (2) of the flexible wheel is provided with a flexible wheel output end (3) on the outer wall of the end away from the wave generator (1). The inner ring wall of the flexible wheel output end (3) and the outer wall of the toothed end (2) of the flexible wheel away from the wave generator (1) are connected circumferentially with the same number of teeth. A rigid wheel (4) is fitted on the outer wall of the toothed end (2) of the flexible wheel near the wave generator (1). The inner ring wall of the rigid wheel (4) and the outer wall of the toothed end (2) of the flexible wheel near the wave generator (1) are connected by interlocking teeth. A cross roller bearing (5) is sleeved between the rigid wheel (4) and the output end (3) of the flexible wheel. The cross roller bearing (5) has an outer ring (6) and an inner ring (7). The rigid wheel (4) is detachably fixedly connected to the inner ring (7) of the cross roller bearing (5), and the output end (3) of the flexible wheel is detachably fixedly connected to the outer ring (6) of the cross roller bearing (5). The toothed end (2) of the flexible wheel is provided with a small end cap (20) and a large end cap (19) at both ends. The small end cap (20) is fixed to the inner ring (7) of the bearing by screws, and the large end cap (19) is fixed to the outer ring (6) of the bearing by screws.

2. The harmonic reducer with a component-type flexible gear according to claim 1, characterized in that: The output end (3) of the flexible wheel is a flange, and a plurality of through holes (8) are evenly distributed in the circumferential direction of the output end (3). The plurality of through holes (8) are evenly distributed in the circumferential direction of the output end (3).

3. The harmonic reducer with a component-type flexural gear according to claim 1, characterized in that: The toothed end (2) of the flexible wheel has an annular outer circular tooth (9) on the outer wall of the end away from the wave generator (1), and the inner ring wall of the output end (3) of the flexible wheel has an annular inner circular tooth (10). The annular outer circular tooth (9) and the annular inner circular tooth (10) mesh with each other in a circumferential connection with the same number of teeth.

4. A harmonic reducer with a component-type flexural gear according to claim 2, characterized in that: The cross roller bearing (5) has a plurality of first holes (11) evenly distributed in the circumferential direction of the outer ring (6) of the bearing. The plurality of first holes (11) are evenly distributed in the circumferential direction of the outer ring (6) of the bearing. The plurality of first holes (11) are adapted to the plurality of through holes (8). The first holes (11) and the through holes (8) are threadedly connected in the axial direction to a screw.

5. A harmonic reducer with a component-type flexible gear according to claim 1, characterized in that: The wave generator (1) is elliptical, and a flexible bearing (12) is sleeved on the outside of the wave generator (1). The inner ring of the flexible bearing (12) is fixedly connected to the outer wall of the wave generator (1), and the outer ring of the flexible bearing (12) is rotatably connected to the inner wall of the toothed end (2) of the flexible wheel.

6. A harmonic reducer with a component-type flexural gear according to claim 1, characterized in that: The inner ring wall of the rigid wheel (4) has more teeth than the outer ring wall of the flexible wheel with teeth (2).

7. A harmonic reducer with a component-type flexural gear according to claim 1, characterized in that: The toothed end (2) of the flexible wheel has a circular structure.

8. A harmonic reducer with a component-type flexural gear according to claim 1, characterized in that: A plurality of balls (14) are held between the outer ring (6) and the inner ring (7) of the bearing.

9. A harmonic reducer with a component-type flexural gear according to claim 1, characterized in that: The rigid wheel (4) is provided with a plurality of second holes (15) evenly distributed in the circumferential direction. The plurality of second holes (15) are evenly distributed along the circumferential direction of the rigid wheel (4). The bearing inner ring (7) is provided with a plurality of third holes (16) evenly distributed in the circumferential direction. The plurality of third holes (16) are evenly distributed along the circumferential direction of the bearing inner ring (7). The plurality of second holes (15) are adapted to the plurality of third holes (16). The second holes (15) and the third holes (16) are provided with screws in the axial direction.

10. A harmonic reducer with a component-type flexural gear according to claim 1, characterized in that: A sealing groove (17) is provided between the inner ring (7) and the outer ring (6) of the crossed roller bearing (5). An oil seal (18) is adapted to fit inside the sealing groove (17), and the oil seal seals the sealing groove (17).

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