High-speed-ratio speed reducer with planet-to-harmonic structure

Abstract

The utility model discloses a high-speed-ratio speed reducer with a planet-to-harmonic structure, and relates to the technical field of speed reducers. Comprising a mounting plate, a rear shell, a planetary gear transmission assembly mounted on the mounting plate, a bearing seat mounted on the side, close to the mounting plate, of the rear shell, an output shaft rotationally mounted on the inner sides of the rear shell and the bearing seat, and a harmonic gear transmission assembly mounted between the mounting plate and the bearing seat. According to the large-speed-ratio speed reducer of the planet-to-harmonic structure, two-stage transmission can be achieved in the mode that the planet gear and the harmonic gear are coaxially connected in series, and the overall reduction ratio of the whole speed reducer is effectively increased; besides, the overall structure of the speed reducer is modularized, it can be guaranteed that the overall speed reducer is convenient to disassemble and assemble, overhaul and maintenance operation is easy and convenient, the total speed ratio of the speed reducer can be adjusted by replacing and adjusting the structure, and therefore the use requirements of different working conditions are met, and the practicability and applicability of the speed reducer structure are effectively improved; the use effect of the reducer is enhanced.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and more specifically, to a planetary harmonic speed reducer with a high speed ratio. Background Technology

[0002] Harmonic reducers mainly consist of three basic components: a wave generator, a flexible gear, and a rigid gear. They are a new type of transmission structure within gear reducers, utilizing a flexible gear to generate a controllable elastic deformation wave, causing relative tooth misalignment between the rigid and flexible gears to transmit power and motion. Due to their advantages such as high transmission ratio, strong load-bearing capacity, high transmission accuracy, and high transmission efficiency, harmonic reducers are widely used in aerospace, energy, navigation, shipbuilding, bionic machinery, and transportation. Their superior performance is even more evident in servo systems with particularly high dynamic performance.

[0003] However, the traditional harmonic reducer structure on the market is a single-stage harmonic reducer structure, with the input and output on the same axis and a reduction ratio below 200. This makes it impossible to meet the needs of customers with a reduction ratio above 200. Therefore, there is an urgent need in the market for a reducer with high stability, large speed ratio and high precision to solve these problems of traditional reducers. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a planetary harmonic structure high speed ratio reducer, so as to achieve high speed ratio, high torque and high stability transmission effect while ensuring that the reducer has a compact structure, light weight and low noise. Moreover, the whole structure has modular features, and the speed ratio can be adjusted as needed to meet the requirements of different working conditions.

[0005] To achieve the above objectives, this utility model provides a planetary harmonic reducer with a high speed ratio, comprising:

[0006] Mounting plate, rear housing, planetary gear transmission assembly mounted on the mounting plate, bearing housing mounted on the side of the rear housing near the mounting plate, output shaft rotatably mounted inside the rear housing and bearing housing, and harmonic gear transmission assembly mounted between the mounting plate and bearing housing.

[0007] The planetary gear transmission assembly includes an input sun gear partially rotatably mounted inside the mounting plate, a planetary internal gear ring mounted on one side of the mounting plate and located on the outer periphery of the input sun gear, a plurality of planet gears evenly distributed between the input sun gear and the planetary internal gear ring, and a pin partially rotatably mounted inside the planet gears. The outer periphery of the planet gears meshes with the input sun gear and the planetary internal gear ring.

[0008] The harmonic gear transmission assembly includes a rigid wheel mounted on the side of the planetary internal gear ring away from the mounting plate, a wave generator located inside the rigid wheel and rotatably connected to the pin shaft, a flexible wheel located between the rigid wheel and the wave generator, and a flexible bearing located between the wave generator and the flexible wheel. The output shaft is fixedly connected to the flexible wheel, and the flexible wheel meshes with the rigid wheel.

[0009] Furthermore, a needle roller assembly is provided between the inner wall of the planetary gear and the outer wall of the pin.

[0010] Furthermore, the wave generator has several fitting grooves on the side near the planetary gear transmission assembly, and the inner wall of the fitting groove is adapted to the outer wall of the pin.

[0011] Furthermore, the mounting plate and the planetary internal gear ring opposite each other, the planetary internal gear ring and the rigid wheel opposite each other, the rigid wheel and the bearing housing opposite each other, and the bearing housing and the rear housing opposite each other are all provided with positioning pins and matching stop structures.

[0012] Furthermore, a first annular baffle is provided on the side of the wave generator away from the mounting plate. The first baffle is sleeved on the wave generator. The outer diameter of the first baffle is larger than the inner diameter of the flexible bearing, and the outer diameter of the first baffle is smaller than the outer diameter of the flexible bearing.

[0013] Furthermore, a first connecting screw is horizontally arranged on the side of the rear housing away from the bearing seat, and the first connecting screw is threaded through the rear housing, the bearing seat, the rigid wheel, and the planetary internal gear ring; a second connecting screw is horizontally arranged on the side of the planetary internal gear ring away from the mounting plate, and the second connecting screw passes through the planetary internal gear ring and is threadedly connected to the mounting plate.

[0014] Furthermore, the flexible wheel includes a sleeve section and a sleeve section connected coaxially in sequence. The sleeve section is sleeved on the output shaft, and the outer wall of the sleeve section away from the sleeve section is provided with a meshing gear ring section, which meshes with the internal gear ring of the rigid wheel.

[0015] Furthermore, the output shaft includes a first shaft segment, a second shaft segment, and a third shaft segment connected coaxially in sequence. The first shaft segment and the second shaft segment correspond to the positions of the rear housing and the bearing seat, respectively, and the outer wall dimension of the third shaft segment is adapted to the inner diameter dimension of the flexible gear sleeve segment.

[0016] Furthermore, the third shaft segment of the output shaft is provided with a concave groove and a boss structure on the side opposite to the wave generator. The boss structure is stepped. The inner wall dimension of the concave groove is larger than the outer wall dimension of the small diameter segment of the boss structure. A first deep groove ball bearing is installed between the concave groove and the small diameter segment of the boss structure. The outer wall dimension of the large diameter segment of the boss structure is larger than the outer wall dimension of the inner ring of the first deep groove ball bearing.

[0017] Furthermore, a second deep groove ball bearing is installed between the second shaft segment of the output shaft and the bearing housing. A limiting ring is provided on the outer periphery of the second shaft segment of the output shaft near the rear housing, and the limiting ring is located on the side of the second deep groove ball bearing near the rear housing. A third deep groove ball bearing is installed between the first shaft segment of the output shaft and the rear housing.

[0018] Compared with the prior art, this utility model has the following advantages and effects:

[0019] 1. The planetary-to-harmonic high-ratio reducer of this utility model can drive the planetary gear transmission assembly and harmonic gear transmission assembly by installing a driving component on the mounting plate. This facilitates two-stage transmission by connecting the planetary gears and harmonic gears in a coaxial series manner, effectively improving the overall reduction ratio of the reducer. In addition, the overall structure of the reducer has been modularized, which not only ensures convenient disassembly and assembly of the reducer and simplifies maintenance operations, but also allows for adjustment of the overall speed ratio of the reducer by replacing and adjusting the structure, thereby meeting the usage requirements of different working conditions, effectively improving the practicality and applicability of the reducer structure, and enhancing the performance of the reducer.

[0020] 2. The planetary harmonic reducer with high speed ratio in this utility model has a compact internal structure, which effectively reduces the overall volume and weight of the reducer, achieving a small and lightweight structure. In addition, all supports in the reducer structure use deep groove ball bearings, which can ensure a low coefficient of friction in the reducer structure, so as to maintain low noise, low vibration, high load-bearing capacity and high stability during the operation of the reducer structure, further improving the practicality of the reducer structure. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the planetary harmonic reducer with high speed ratio in this embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the front cross-sectional structure of the planetary harmonic reducer with high speed ratio in an embodiment of this utility model.

[0023] Figure 3 This is a schematic diagram of the connection structure between the mounting plate and the planetary internal gear ring of the planetary harmonic reducer in this embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the connection structure between the flexure and the output shaft 14 of the planetary harmonic reducer in this embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the planetary harmonic reducer with high speed ratio after removing the mounting plate and the planetary internal gear ring in an embodiment of this utility model.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1-Input sun gear; 2-Planet gear; 3-Pin shaft; 4-Needle roller assembly; 5-Mounting plate; 6-Planet internal gear ring; 7-Wave generator; 8-Flexible bearing; 9-First baffle; 10-Flexible wheel; 11-Rigid wheel; 12-First deep groove ball bearing; 13-Bearing housing; 14-Output shaft; 15-Second deep groove ball bearing; 16-Rear housing; 17-Third deep groove ball bearing; 18-Second baffle; 19-First connecting screw; 20-Third baffle; 21-Second connecting screw. Detailed Implementation

[0028] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] Please see Figure 1-5 As shown, this utility model embodiment provides a planetary to harmonic structure high speed ratio reducer, including a mounting plate 5, a rear housing 16, a planetary gear transmission assembly mounted on the mounting plate 5, a bearing seat 13 mounted on the side of the rear housing 16 near the mounting plate 5, an output shaft 14 rotatably mounted inside the rear housing 16 and the bearing seat 13, and a harmonic gear transmission assembly mounted between the mounting plate 5 and the bearing seat 13.

[0031] The planetary gear transmission assembly includes an input sun gear 1 partially rotatably mounted inside the mounting plate 5, a planetary internal gear ring 6 mounted on one side of the mounting plate 5 and located on the outer periphery of the input sun gear 1, several planetary gears 2 evenly distributed between the input sun gear 1 and the planetary internal gear ring 6, and a pin 3 partially rotatably mounted inside the planetary gears 2. The outer walls of the planetary gears 2 respectively mesh with the input sun gear 1 and the planetary internal gear ring 6.

[0032] The harmonic gear transmission assembly includes a rigid wheel 11 mounted on the side of the planetary internal gear ring 6 away from the mounting plate 5, a wave generator 7 located inside the rigid wheel 11 and rotatably connected to the pin shaft 3, a flexible wheel 10 located between the rigid wheel 11 and the wave generator 7, a flexible bearing 8 located between the wave generator 7 and the flexible wheel 10, an output shaft 14 fixedly connected to the flexible wheel 10, and the flexible wheel 10 meshing with the rigid wheel 11.

[0033] As a further description of the above technical solution, when in use, the drive component is installed on the mounting plate 5, and the output end of the drive component is connected to the input sun gear 1, so as to drive the planetary gear transmission assembly and the harmonic gear transmission assembly to operate. The two-stage transmission method of planetary gears and harmonic gears connected in series effectively improves the reduction ratio of the device.

[0034] Please see Figure 2 As shown, a needle roller assembly 4 is provided between the inner wall of the planetary gear 2 and the outer wall of the pin 3; the needle roller assembly 4 facilitates the rotational installation of the planetary gear 2 and the pin 3, and utilizes the structural characteristics of the needle roller assembly 4 to make the radial structure of the planetary gear transmission assembly compact while ensuring the radial load capacity and operating performance of the planetary gear transmission assembly.

[0035] Please see Figure 2-3 As shown, the wave generator 7 has several fitting slots on the side near the planetary gear transmission assembly, and the inner wall of the fitting slots is adapted to the outer wall of the pin 3; this allows the pin 3 to extend into the wave generator 7 using the fitting slots, thereby driving the wave generator 7 to rotate as the pin 3 revolves around the input sun gear 1 with the planetary gear 2.

[0036] Please see Figure 2-5 As shown, locating pins and matching stop structures are provided on the side opposite to the mounting plate 5 and the planetary internal gear ring 6, the side opposite to the planetary internal gear ring 6 and the rigid wheel 11, the side opposite to the rigid wheel 11 and the bearing housing 13, and the side opposite to the bearing housing 13 and the rear housing 16; this facilitates the use of the locating pins and stop structures to ensure the coaxiality between the various structures.

[0037] Please see Figure 2As shown, a first annular baffle 9 is provided on the side of the wave generator 7 away from the mounting plate 5. The first baffle 9 is sleeved on the wave generator 7. The outer diameter of the first baffle 9 is larger than the inner diameter of the flexible bearing 8, and the outer diameter of the first baffle 9 is smaller than the outer diameter of the flexible bearing 8. This allows the first baffle 9 to be used to block the flexible bearing 8 on the side away from the planetary gear transmission assembly, thereby preventing the flexible bearing 8 from falling off between the wave generator 7 and the flexible wheel 10.

[0038] Please see Figure 2 and Figure 5 As shown, a ring-shaped third baffle 20 is provided on the side of the mounting plate 5 near the planetary internal gear ring 6. The third baffle 20 can separate the mounting plate 5 and the planetary gear 2 after the mounting plate 5 and the planetary internal gear ring 6 are connected, so as to prevent the planetary gear 2 from contacting the mounting plate 5 and causing wear when it rotates.

[0039] Please see Figure 1-5 As shown, a first connecting screw 19 is horizontally arranged on the side of the rear housing 16 away from the bearing seat 13, and the first connecting screw 19 is threaded through the rear housing 16, the bearing seat 13, the rigid wheel 11 and the planetary internal gear ring 6; a second connecting screw 21 is horizontally arranged on the side of the planetary internal gear ring 6 away from the mounting plate 5, and the second connecting screw 21 is threaded through the planetary internal gear ring 6 and connected to the mounting plate 5.

[0040] As a further description of the above scheme, the rear housing 16, bearing seat 13, rigid wheel 11 and planetary internal gear ring 6 can be connected and assembled sequentially by the first connecting screw 19, and the planetary internal gear ring 6 and mounting plate 5 can be connected and assembled by the second connecting screw 21. The use of threaded connection not only ensures stable installation, but also makes disassembly convenient, so as to realize the modular setting of the reducer, making the replacement and maintenance of the internal structure of the reducer convenient, thereby facilitating the use requirements under different working conditions and effectively enhancing the practicality and applicability of the device.

[0041] As a preferred embodiment of the above solution, the first connecting screw 19 and the second connecting screw 21 can be coated with thread-fastening adhesive on the outer periphery of their threads to form a strong adhesive layer after installation, effectively improving the impact resistance of the connecting components and further enhancing the overall stability of the reducer.

[0042] Please see Figure 2 and Figure 4 As shown, the flexible wheel 10 includes a sleeve section and a sleeve section connected coaxially in sequence. The sleeve section is sleeved on the output shaft 14. The outer wall of the sleeve section away from the sleeve section is provided with a meshing gear ring section, which meshes with the internal gear ring of the rigid wheel 11.

[0043] As a further description of the above scheme, the inner wall dimension of the sleeve section of the flexible wheel 10 is larger than the outer wall dimension of the wave generator 7, so as to avoid the inner wall of the flexible wheel 10 from hitting the wave generator 7 while ensuring the meshing effect between the flexible wheel 10 and the rigid wheel 11.

[0044] Please see Figure 2 and Figure 4 As shown, the output shaft 14 includes a first shaft segment, a second shaft segment, and a third shaft segment connected coaxially in sequence. The first shaft segment and the second shaft segment correspond to the positions of the rear housing 16 and the bearing seat 13, respectively. The outer wall dimension of the third shaft segment is adapted to the inner diameter dimension of the flexible wheel 10 sleeve segment. The first shaft segment is used to connect with the external structure, and the connection between the flexible wheel 10 sleeve segment and the third shaft end of the output shaft 14 enables the flexible wheel 10 to drive the output shaft 14 to rotate.

[0045] As a further description of the above scheme, a second baffle 18 is sleeved on the outer periphery of the third shaft section of the output shaft 14, located on the side of the flexible wheel 10 sleeve section away from the second shaft section of the output shaft 14. A screw that is threadedly connected to the second shaft section of the output shaft 14 and the flexible wheel 10 sleeve section is horizontally inserted in the second baffle 18. This facilitates the use of the installed second baffle 18 to restrict the lateral movement of the vertical section of the flexible wheel 10, while the screw allows the flexible wheel 10 to rotate synchronously with the output shaft 14.

[0046] Please see Figure 2 As shown, the third shaft segment of the output shaft 14 has a concave groove and a boss structure on the side opposite to the wave generator 7. The boss structure is stepped. The inner wall size of the concave groove is larger than the outer wall size of the small diameter segment of the boss structure. A first deep groove ball bearing 12 is installed between the concave groove and the small diameter segment of the boss structure. The outer wall size of the large diameter segment of the boss structure is larger than the outer wall size of the inner ring of the first deep groove ball bearing 12. The concave groove and boss structure facilitate the installation of the first deep groove ball bearing 12. The inner wall of the concave groove and the large diameter segment of the boss structure restrict the lateral movement of the first deep groove ball bearing 12. The first deep groove ball bearing 12 can also prevent rotational interference between the output shaft 14 and the wave generator 7.

[0047] Please see Figure 1-4 As shown, the mounting plate 5, the rear housing 16, and the bearing seat 13 are all annular, and the inner diameter of the rear housing 16 is larger than that of the bearing seat 13. The annular arrangement of the mounting plate 5 allows the input sun gear 1 to connect with the drive component inside the mounting plate 5. The annular arrangement of the rear housing 16 and the bearing seat 13 allows the output shaft 14 to connect with the external structure inside the rear housing 16. Due to the difference in the inner diameters of the rear housing 16 and the bearing seat 13, the rear housing 16 and the bearing seat 13 can respectively meet the installation requirements of the output end of the output shaft 14 and the second shaft section.

[0048] Please see Figure 2As shown, a second deep groove ball bearing 15 is installed between the second shaft section of the output shaft 14 and the bearing housing 13. A limit ring is provided on the outer periphery of the second shaft section of the output shaft 14 near the rear housing 16, and the limit ring is located on the side of the second deep groove ball bearing 15 near the rear housing 16. A third deep groove ball bearing 17 is installed between the first shaft section of the output shaft 14 and the rear housing 16. The installation stability of the output shaft 14 is improved by utilizing the second deep groove ball bearing 15 and the third deep groove ball bearing 17. The limit ring on the second shaft section of the output shaft 14 can restrict the lateral movement of the second deep groove ball bearing 15 in conjunction with the inner diameter difference between the rear housing 16 and the bearing housing 13, thereby maintaining the performance of the second deep groove ball bearing 15.

[0049] The working process of the planetary harmonic reducer with high speed ratio described above is as follows:

[0050] When using this planetary harmonic reducer, the drive unit is first installed on the mounting plate 5, and the output end of the drive unit is connected to the input sun gear 1. When the drive unit is working, the input sun gear 1 can drive the planetary gear 2 to rotate. During the rotation of the planetary gear 2, it will move due to the meshing with the planetary internal gear ring 6, so that the planetary gear 2 rotates on its own axis and revolves around the axis of the input sun gear 1 under the action of the input sun gear 1. Due to the setting of the pin shaft 3, the planetary gear 2 will drive the wave generator 7 to rotate when it rotates around the input sun gear 1. This facilitates the rotation of the output shaft 14 by the flexible gear 10 under the combined action of the wave generator 7, the flexible gear 10 and the rigid gear 11. During this process, the periodic tooth misalignment between the wave generator 7 and the flexible gear 10 can be used to make the flexible gear 10 produce angular displacement relative to the rigid gear 11, thereby maintaining a good deceleration effect.

[0051] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A planetary harmonic reducer with a high speed ratio, characterized in that, include: Mounting plate (5), rear housing (16), planetary gear transmission assembly mounted on the mounting plate (5), bearing seat (13) mounted on the side of the rear housing (16) near the mounting plate (5), output shaft (14) rotatably mounted inside the rear housing (16) and the bearing seat (13), and harmonic gear transmission assembly mounted between the mounting plate (5) and the bearing seat (13); The planetary gear transmission assembly includes an input sun gear (1) partially rotatably mounted inside the mounting plate (5), a planetary internal gear ring (6) mounted on one side of the mounting plate (5) and located on the outer periphery of the input sun gear (1), a plurality of planet gears (2) evenly distributed between the input sun gear (1) and the planetary internal gear ring (6), and a pin (3) partially rotatably mounted inside the planet gears (2). The outer periphery of the planet gears (2) meshes with the input sun gear (1) and the planetary internal gear ring (6). The harmonic gear transmission assembly includes a rigid wheel (11) mounted on the side of the planetary internal gear ring (6) away from the mounting plate (5), a wave generator (7) located inside the rigid wheel (11) and rotatably connected to the pin (3), a flexible wheel (10) located between the rigid wheel (11) and the wave generator (7), and a flexible bearing (8) located between the wave generator (7) and the flexible wheel (10). The output shaft (14) is fixedly connected to the flexible wheel (10), and the flexible wheel (10) meshes with the rigid wheel (11).

2. The planetary harmonic reducer with high speed ratio according to claim 1, characterized in that, A needle roller assembly (4) is provided between the inner wall of the planetary gear (2) and the outer wall of the pin (3).

3. The planetary harmonic reducer with high speed ratio according to claim 1, characterized in that, The wave generator (7) has several fitting grooves on the side near the planetary gear transmission assembly, and the inner wall of the fitting groove is adapted to the outer wall of the pin (3).

4. The planetary harmonic reducer with high speed ratio according to claim 1, characterized in that, The mounting plate (5) and the planetary internal gear ring (6) on opposite sides, the planetary internal gear ring (6) and the rigid wheel (11) on opposite sides, the rigid wheel (11) and the bearing seat (13) on opposite sides, and the bearing seat (13) and the rear housing (16) on opposite sides are all provided with positioning pins and matching stop structures.

5. The planetary harmonic reducer with high speed ratio according to claim 1, characterized in that, The wave generator (7) has a first annular baffle (9) on the side away from the mounting plate (5). The first baffle (9) is sleeved on the wave generator (7). The outer diameter of the first baffle (9) is larger than the inner diameter of the flexible bearing (8), and the outer diameter of the first baffle (9) is smaller than the outer diameter of the flexible bearing (8).

6. The planetary harmonic reducer with high speed ratio according to claim 5, characterized in that, A first connecting screw (19) is horizontally arranged on the side of the rear housing (16) away from the bearing seat (13), and the first connecting screw (19) is threaded through the rear housing (16), the bearing seat (13), the rigid wheel (11) and the planetary internal gear ring (6); a second connecting screw (21) is horizontally arranged on the side of the planetary internal gear ring (6) away from the mounting plate (5), and the second connecting screw (21) is threaded through the planetary internal gear ring (6) and connected to the mounting plate (5).

7. The planetary harmonic reducer with high speed ratio according to claim 6, characterized in that, The flexible wheel (10) includes a sleeve section and a sleeve section connected coaxially in sequence. The sleeve section is sleeved on the output shaft (14). The outer wall of the sleeve section away from the sleeve section is provided with a meshing gear ring section, which meshes with the internal gear ring of the rigid wheel (11).

8. The planetary harmonic reducer with high speed ratio according to claim 7, characterized in that, The output shaft (14) includes a first shaft segment, a second shaft segment and a third shaft segment connected coaxially in sequence. The first shaft segment and the second shaft segment correspond to the positions of the rear housing (16) and the bearing seat (13) respectively. The outer wall size of the third shaft segment is adapted to the inner diameter size of the flexible wheel (10) sleeve segment.

9. The planetary harmonic reducer with high speed ratio according to claim 8, characterized in that, The third shaft segment of the output shaft (14) is provided with a concave groove and a boss structure on the side opposite to the wave generator (7). The boss structure is stepped. The inner wall size of the concave groove is larger than the outer wall size of the small diameter segment of the boss structure. A first deep groove ball bearing (12) is installed between the concave groove and the small diameter segment of the boss structure. The outer wall size of the large diameter segment of the boss structure is larger than the outer wall size of the inner ring of the first deep groove ball bearing (12).

10. The planetary harmonic reducer with high speed ratio according to claim 8, characterized in that, A second deep groove ball bearing (15) is installed between the second shaft section of the output shaft (14) and the bearing housing (13). A limiting ring is provided on the outer periphery of the second shaft section of the output shaft (14) near the rear housing (16), and the limiting ring is located on the side of the second deep groove ball bearing (15) near the rear housing (16). A third deep groove ball bearing (17) is installed between the first shaft section of the output shaft (14) and the rear housing (16).

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