A disc-type output harmonic reducer

Abstract

This utility model discloses a disc-type output harmonic reducer, relating to the field of reducer technology. It includes a housing and a transmission structure. The housing comprises an output side housing, a gear ring housing, a side cover plate, and a motor flange. The gear ring housing is mounted on one side of the output side housing along its length, the side cover plate is mounted on the side of the gear ring housing opposite to the output side housing, and the motor flange is mounted on the side of the side cover plate opposite to the gear ring housing. The transmission structure includes an output shaft disc, a camshaft, and a flexible gear assembly. This disc-type output harmonic reducer improves the smoothness of the reducer's operation by using a disc-type output shaft disc, effectively reducing vibration, mechanical wear, and noise. While enhancing torque capacity, it reduces space requirements, facilitating improved performance. Furthermore, the reducer has excellent sealing performance, reducing maintenance frequency and effectively lowering maintenance costs while ensuring normal operation.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and more specifically, to a disc-type output harmonic speed reducer. 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] Currently, harmonic reducers on the market are relatively small in size and can withstand a smaller maximum load compared to other reducers. Furthermore, when the size of the harmonic reducer is larger, the machining difficulty of the parts increases, placing high demands on production equipment. In addition, traditional harmonic reducers have poor sealing; over time, dust and impurities in the air can enter the reducer, contaminating the lubricating oil and affecting the bearings. This leads to greater vibration and shorter precision retention in shaft parts during operation, and prolonged use can even damage the harmonic reducer. Therefore, there is an urgent market need for a harmonic reducer that offers high stability, high precision, a large speed ratio, good sealing, high torque capacity, and ease of production to address these problems of traditional harmonic reducers. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a disc-type output harmonic reducer. The disc-type output shaft can effectively improve the balance during operation, ensure the smooth operation of the reducer, and enhance the load-bearing capacity of the reducer by improving the torque bearing effect, so as to enhance the performance and practicality of the reducer.

[0005] To achieve the above objectives, this utility model provides a disc-type output harmonic reducer, comprising: The housing includes an output-side housing, a gear ring housing mounted on one side of the output-side housing along its length, a side cover plate mounted on the side of the gear ring housing opposite to the output-side housing, and a motor flange mounted on the side cover plate opposite to the gear ring housing. The transmission structure includes an output shaft disk rotatably mounted inside the output side housing, a camshaft rotatably mounted inside the motor flange, and a flexible gear assembly mounted between the output shaft disk and the camshaft; one side of the flexible gear assembly is mounted to the output shaft disk, and the other side of the flexible gear assembly is mounted to the camshaft.

[0006] Furthermore, the flexible wheel assembly includes a flexible wheel mounted on the output shaft disk near the camshaft side and a flexible bearing mounted on the outside of the camshaft. The flexible wheel is cup-shaped, and an external gear ring that meshes with the gear ring housing is provided on the outside of the flexible wheel.

[0007] Furthermore, a clamping ring is installed on the side of the output shaft disk near the camshaft, and several sixth screws are horizontally threaded through the side of the clamping ring away from the output shaft disk, which is threaded to the output shaft disk and passes through the flexible wheel.

[0008] Furthermore, the inner wall of the output side housing is provided with a first annular convex ring structure, and two symmetrically arranged tapered roller bearings are installed on both sides of the width direction of the first convex ring structure. A stop groove is provided on the side of the output shaft disk away from the camshaft, and the stop groove is used to restrict the movement of the tapered roller bearings away from the camshaft.

[0009] Furthermore, an annular bearing pressure plate is provided on the side of the output shaft disk near the camshaft, and a stop recess is provided on the side of the output shaft disk near the camshaft. The outer wall dimension of the output shaft disk at the stop recess is adapted to the inner diameter of the bearing pressure plate. The outer diameter of the bearing pressure plate is larger than the inner ring dimension of the tapered roller bearing. A first screw that is threadedly connected to the output shaft disk is horizontally installed on the side of the bearing pressure plate away from the output shaft disk.

[0010] Furthermore, a skeleton oil seal is fitted around the outer periphery of the output shaft disc located at the stop vent. The outer wall size of the skeleton oil seal is adapted to the inner wall size of the output side housing, and the inner wall size of the skeleton oil seal is adapted to the outer wall size of the stop vent.

[0011] Furthermore, the gear ring housing includes a meshing ring and a mounting ring. The mounting ring is located on the outer periphery of the meshing ring, and an internal gear ring is provided on the inner side of the meshing ring. The width of the meshing ring is greater than the width of the mounting ring, and O-rings are fitted on both sides of the mounting ring in the width direction.

[0012] Furthermore, both the output side housing and the side cover plate are provided with positioning stops on opposite sides to restrict the movement of the gear ring housing. Several second screws are installed on the side of the side cover plate away from the output side housing, which are threaded through the mounting ring and connected to the output side housing. The second screws are evenly arranged in a ring within the mounting ring.

[0013] Furthermore, the camshaft includes a rotating section and a wave-shaped section. The rotating section is cylindrical, and the wave-shaped section is an elliptical disc structure. The inner side of the motor flange is provided with a second annular convex ring structure. Two deep groove ball bearings symmetrically distributed on both sides of the second convex ring structure are installed between the motor flange and the rotating section. The flexible bearing is fitted on the outer side of the wave-shaped section.

[0014] Furthermore, a limiting stop is provided on the outer side of the waveform segment to restrict the movement of the flexible bearing toward the side closer to the output shaft disk. A cam pressure plate is fitted on the outer side of the rotating segment, and the outer diameter of the cam pressure plate is larger than the inner ring size of the flexible bearing. A shaft elastic retaining ring is fitted on the outer periphery of the rotating segment to restrict the movement of the deep groove ball bearing toward the side away from the output shaft disk.

[0015] Compared with the prior art, this utility model has the following advantages and effects: 1. The disc-type output harmonic reducer of this utility model adopts a disc-type output shaft design, which can maintain good balance when the reducer body drives the output shaft to rotate at high speed. This facilitates the use of tapered roller bearings to reduce vibration, mechanical wear, and noise, effectively improving the stability of the output shaft during reducer operation. Furthermore, the larger contact surface of the disc structure can withstand higher torque, while also making the output section structure more compact. This reduces the space required while effectively improving the reducer's load-bearing capacity, allowing the reducer to output greater torque in space-constrained environments, thus improving its performance. In addition, the output side housing, side cover plate, and motor flange together form the reducer's housing, effectively reducing the difficulty of disassembly and assembly, simplifying maintenance and repair, and further enhancing the overall practicality of the reducer.

[0016] 2. The disc-type output harmonic reducer in this utility model has good sealing performance, which can effectively prevent dust and impurities in the air from entering the reducer, prevent dust and impurities from entering the meshing area and affecting its use, and avoid contaminating the lubricating oil. This allows the reducer to extend its maintenance cycle and reduce the number of maintenance times while ensuring normal operation, effectively reducing maintenance costs and further enhancing its performance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the disc-type output harmonic reducer in this embodiment of the present invention; Figure 2 This is a schematic diagram of the front cross-sectional structure of the disc-type output harmonic reducer in this embodiment of the present invention; Figure 3This is a schematic diagram of the connection structure of the gear ring housing, side cover plate and motor flange of the disc output harmonic reducer in this embodiment of the present utility model.

[0018] Explanation of reference numerals in the attached figures: 1-Output shaft disc; 2-Skeleton oil seal; 3-Tap roller bearing; 4-Output side housing; 5-Bearing pressure plate; 6-First screw; 7-Flexible wheel; 8-Second screw; 9-O-ring seal; 10-Side cover plate; 11-Third screw; 12-Motor flange; 13-Deep groove ball bearing; 14-Cam pressure plate; 15-Cam plug; 16-Fourth screw; 17-Fifth screw; 18-Flexible bearing; 19-Gear ring housing; 20-Sixth screw; 21-Clamping ring; 22-Camshaft; 23-Shaft elastic retaining ring. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] Please see Figure 1-3 As shown, this utility model embodiment provides a disc-type output harmonic reducer, including a housing and a transmission structure.

[0022] The housing includes an output side housing 4, a gear ring housing 19, a side cover plate 10, and a motor flange 12. The gear ring housing 19 is installed on one side of the output side housing 4 along its length, the side cover plate 10 is installed on the side of the gear ring housing 19 away from the output side housing 4, and the motor flange 12 is installed on the side of the side cover plate 10 away from the gear ring housing 19.

[0023] As a further description of the above scheme, a plurality of third screws 11 are horizontally installed on the side of the motor flange 12 away from the side cover plate 10, which are threaded to the side cover plate 10, so as to install the motor flange 12 onto the side cover plate 10 using the third screws 11. A fifth screw 17 is installed on the side of the side cover plate 10 away from the output side housing 4, which passes horizontally through the gear ring housing 19 and is threaded to the output side housing 4, so as to install the side cover plate 10 onto the output side housing 4 using the fifth screw 17, and so that the side cover plate 10 cooperates with the output side housing 4 to clamp the gear ring housing 19.

[0024] The transmission structure includes an output shaft disk 1, a camshaft 22, and a flexible gear assembly. The output shaft disk 1 is rotatably mounted inside the output side housing 4, the camshaft 22 is rotatably mounted inside the motor flange 12, and the flexible gear assembly is located between the output shaft disk 1 and the camshaft 22. One side of the flexible gear assembly is mounted to the output shaft disk 1, and the other side is mounted to the camshaft 22.

[0025] As a further description of the above solution, the disc design of the output shaft disk 1 can maintain good balance when rotating at high speed, so as to reduce vibration, mechanical wear and noise. In addition, the larger contact surface of the disc structure can withstand higher torque, which can enable the reducer to achieve better performance.

[0026] As a preferred embodiment of the above scheme, a cam plug 15 is installed on the side of the camshaft 22 away from the motor flange 12. Several fourth screws 16 are horizontally installed on the side of the cam plug 15 away from the camshaft 22, which are threaded through the cam plug 15 and connected to the camshaft 22. This allows the cam plug 15 to be installed onto the camshaft 22 using the fourth screws 16. The camshaft 22 has a connection hole for connecting with the drive component. In use, the output shaft of the drive component is inserted into the connection hole and connected to the camshaft 22 by means of a key or other connecting parts. During this process, the cam plug 15 can limit the lateral movement of the output shaft of the drive component, so as to prevent the camshaft 22 and the output shaft of the drive component from axially moving.

[0027] Please see Figure 2 As shown, the flexible gear assembly includes a flexible gear 7 installed on the side of the output shaft disk 1 near the camshaft 22 and a flexible bearing 18 installed on the outside of the camshaft 22. The flexible gear 7 is cup-shaped, and an external gear ring that meshes with the gear ring housing 19 is provided on the outside of the flexible gear 7. This allows the flexible gear 7, the gear ring housing 19, the flexible bearing 18 and the camshaft 22 to work together to form a harmonic deceleration structure, thereby causing the output shaft disk 1 to rotate with the rotation of the camshaft 22.

[0028] Please see Figure 2As shown, a clamping ring 21 is installed on the side of the output shaft disk 1 near the camshaft 22. Several sixth screws 20, which are threaded onto the output shaft disk 1 and pass horizontally through the flexible wheel 7, are mounted on the side of the clamping ring 21 away from the output shaft disk 1. This allows the clamping ring 21 to be installed onto the output shaft disk 1 using the sixth screws 20, thereby restricting the lateral movement of the flexible wheel 7. Furthermore, the sixth screws 20 passing through the flexible wheel 7 allow the output shaft disk 1 to rotate with the flexible wheel 7.

[0029] As a further description of the above scheme, the clamping ring 21 includes a positioning section and a limiting section. The positioning section is cylindrical, and the outer wall size of the positioning section is adapted to the inner diameter of the center hole on the flexure 7. The output shaft disk 1 has a positioning groove adapted to the size of the positioning section on the side near the camshaft 22. The limiting section is disc-shaped, and the sixth screw 20 is evenly distributed in a ring on the limiting section. The positioning section of the clamping ring 21 can be inserted into the positioning groove of the output shaft disk 1 after passing through the flexure 7, so as to maintain the coaxiality of the flexure 7 and the output shaft disk 1. The disc-shaped limiting section can facilitate the installation of the sixth screw 20 while restricting the lateral movement of the flexure 7.

[0030] Please see Figure 2 As shown, the inner wall of the output side housing 4 is provided with a first annular convex ring structure. Two tapered roller bearings 3 are symmetrically arranged on both sides of the width direction of the first convex ring structure. A stop groove is provided on the side of the output shaft disk 1 away from the camshaft 22. The stop groove is used to restrict the movement of the tapered roller bearing 3 away from the camshaft 22. This facilitates the use of the combined effect of the first convex ring structure and the stop groove to restrict the movement of the tapered roller bearing 3 away from the camshaft 22.

[0031] Please see Figure 2 As shown, an annular bearing pressure plate 5 is provided on the side of the output shaft disk 1 near the camshaft 22, and a stop recess is provided on the side of the output shaft disk 1 near the camshaft 22. The outer wall dimension of the output shaft disk 1 at the stop recess is adapted to the inner diameter of the bearing pressure plate 5. The outer diameter of the bearing pressure plate 5 is larger than the inner ring dimension of the tapered roller bearing 3. A first screw 6, which is threaded to the output shaft disk 1, is horizontally installed on the side of the bearing pressure plate 5 away from the output shaft disk 1. The bearing pressure plate 5 is used to restrict the movement of the tapered roller bearing 3 towards the side near the camshaft 22, thereby effectively preventing the tapered roller bearing 3 from shifting. This allows the axial displacement of the shaft to be restricted while the tapered roller bearing 3 bears radial and axial loads, thus making the output shaft disk 1 run more smoothly.

[0032] Please see Figure 1-2 As shown, the output shaft disk 1 is fitted with a skeleton oil seal 2 on the outer periphery of the stop groove. The outer wall size of the skeleton oil seal 2 is adapted to the inner wall size of the output side housing 4, and the inner wall size of the skeleton oil seal 2 is adapted to the outer wall size of the stop groove. This facilitates the use of the skeleton oil seal 2 to prevent lubricating oil leakage.

[0033] Please see Figure 2 As shown, the gear ring housing 19 includes a meshing ring and a mounting ring. The mounting ring is located on the outer periphery of the meshing ring, and the width of the meshing ring is greater than the width of the mounting ring. O-ring seals 9 are fitted on both sides of the mounting ring in the width direction. This facilitates the meshing of the gear ring housing 19 with the flexible gear 7 for transmission using the meshing ring. The mounting ring also makes the installation of the gear ring housing 19 convenient. In addition, the O-ring seals 9 can play a sealing role to improve the overall sealing performance of the reducer after installation. Furthermore, the O-ring seals 9 have low frictional resistance and can adapt to situations with alternating pressure.

[0034] Please see Figure 2-3 As shown, both the output housing 4 and the side cover plate 10 have positioning stops on opposite sides to restrict the movement of the gear ring housing 19. Several second screws 8 are installed on the side of the side cover plate 10 away from the output housing 4, which are horizontally threaded through the mounting ring and connected to the output housing 4. The second screws 8 are evenly arranged in a ring within the mounting ring. This allows the positioning stops to be used to confirm the installation position of the gear ring housing 19 after the output housing 4 and the side cover plate 10 are connected, and effectively restricts the lateral movement of the gear ring housing 19. In addition, the second screws 8 that pass through the side cover plate 10 and the gear ring housing 19 and are threaded to the output housing 4 can restrict the radial movement between the output housing 4, the side cover plate 10 and the gear ring housing 19.

[0035] Please see Figure 2 As shown, the camshaft 22 includes a rotating section and a wave-shaped section. The rotating section is cylindrical, and the wave-shaped section is an elliptical disc structure. A second annular convex ring structure is provided on the inner side of the motor flange 12. Two deep groove ball bearings 13 symmetrically distributed on both sides of the second convex ring structure are installed between the motor flange 12 and the rotating section. A flexible bearing 18 is fitted on the outer side of the wave-shaped section. The deep groove ball bearings 13 facilitate the connection between the motor flange 12 and the camshaft 22, thereby reducing noise while ensuring the coaxiality of the input and output, and maintaining stable performance during long-term operation. In addition, the flexible bearing 18 is fitted on the camshaft 22 to prevent axial movement while ensuring the normal operation of the camshaft 22.

[0036] Please see Figure 2As shown, the outer side of the waveform segment is provided with a limiting stop to restrict the movement of the flexible bearing 18 towards the output shaft disk 1. The outer side of the rotating segment is fitted with a cam pressure plate 14, and the outer diameter of the cam pressure plate 14 is larger than the inner ring size of the flexible bearing 18. The outer periphery of the rotating segment is fitted with a shaft elastic retaining ring 23 to restrict the movement of the deep groove ball bearing 13 away from the output shaft disk 1. The cam pressure plate 14 can cooperate with the limiting stop on the camshaft 22 to effectively restrict the movement of the flexible bearing 18, so that the flexible bearing 18 can operate normally in the flexure assembly. In addition, the shaft elastic retaining ring 23 can cooperate with the second convex ring structure on the motor flange 12 to restrict the movement of the deep groove ball bearing 13, so as to ensure the normal operation of the deep groove ball bearing 13 and further improve the operating stability of the reducer.

[0037] As a preferred option of the above scheme, the tapered roller bearing 3, deep groove ball bearing 13 and flexible bearing 18 can be grease lubricated. With the sealing structure, the disassembly and maintenance of the reducer can be simplified while ensuring stable operation of the reducer.

[0038] The working process of the disc-type output harmonic reducer described above is as follows: When installing this disc-type output harmonic reducer, the tapered roller bearing 3 first needs to be fitted onto the output shaft disc 1. The installation position of the tapered roller bearing 3 is confirmed by the first convex ring structure on the inner wall of the output side housing 4 and the stop groove on the output shaft disc 1. Then, the installation of the bearing pressure plate 5 restricts the movement of the tapered roller bearing 3, thereby realizing the installation of the output shaft disc 1 and the tapered roller bearing 3 on the output side housing 4. Next, the flexible gear assembly is installed. First, the clamping ring 21 is installed onto the output shaft disk 1 using the sixth screw 20 so that the flexible gear 7 can be fixed onto the output shaft disk 1 using the clamping ring 21 and the sixth screw 20. Then, the position of the gear ring housing 19 is adjusted so that the gear ring housing 19 meshes with the flexible gear 7, and the gear ring housing 19 is installed onto the output side housing 4 using the second screw 8. Next, the camshaft 22 with the flexible bearing 18 installed needs to be screwed into the inner wall of the flexible wheel 7, and the side cover plate 10 is installed on the output side housing 4 using the fifth screw 17 that passes through the gear ring housing 19, so as to realize the installation and fixation of the side cover plate 10. At the same time, the camshaft 22 is installed on the motor flange 12 using the deep groove ball bearing 13. Finally, the motor flange 12 and the side cover plate 10 are installed and fixed using the third screw 11 to complete the overall assembly of the reducer. In use, simply install the drive unit onto the motor flange 12 and insert the drive shaft of the drive unit into the keyway of the camshaft 22. When installing the drive shaft of the drive unit and the camshaft 22, the lateral movement of the drive shaft of the drive unit can be restricted by the cam plug 15 to prevent axial movement between the camshaft 22 and the output shaft of the drive unit. In addition, the disc design of the output shaft disc 1 can maintain good balance at high speeds, thereby reducing vibration, mechanical wear and noise. The disc structure has a larger contact surface and can withstand higher torque, enabling the reducer to achieve better performance.

[0039] 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 disc-type output harmonic reducer, characterized in that, include: The housing includes an output side housing (4), a gear ring housing (19) installed on one side of the output side housing (4) along its length, a side cover plate (10) installed on the side of the gear ring housing (19) away from the output side housing (4), and a motor flange (12) installed on the side cover plate (10) away from the gear ring housing (19). The transmission structure includes an output shaft disk (1) rotatably mounted inside the output side housing (4), a camshaft (22) rotatably mounted inside the motor flange (12), and a flexible gear assembly mounted between the output shaft disk (1) and the camshaft (22); one side of the flexible gear assembly is mounted to the output shaft disk (1), the other side of the flexible gear assembly is mounted to the camshaft (22), and the external teeth of the flexible gear assembly mesh with the internal teeth of the gear ring housing (19).

2. The disc-type output harmonic reducer according to claim 1, characterized in that, The flexible wheel assembly includes a flexible wheel (7) mounted on the output shaft disk (1) near the camshaft (22) and a flexible bearing (18) mounted on the outside of the camshaft (22). The flexible wheel (7) is cup-shaped, and an outer gear ring that meshes with the gear ring housing (19) is provided on the outside of the flexible wheel (7).

3. The disc-type output harmonic reducer according to claim 2, characterized in that, A clamping ring (21) is installed on the side of the output shaft disk (1) near the camshaft (22). Several sixth screws (20) are horizontally threaded through the side of the clamping ring (21) away from the output shaft disk (1) and threadedly connected to the output shaft disk (1) through the flexible wheel (7).

4. The disc-type output harmonic reducer according to claim 2, characterized in that, The inner wall of the output side housing (4) is provided with a first annular convex ring structure. Two tapered roller bearings (3) are installed on both sides of the width direction of the first convex ring structure. A stop groove is provided on the side of the output shaft disk (1) away from the camshaft (22). The stop groove is used to restrict the movement of the tapered roller bearings (3) away from the camshaft (22).

5. The disc-type output harmonic reducer according to claim 4, characterized in that, The output shaft disk (1) is provided with an annular bearing pressure plate (5) on the side near the camshaft (22). The output shaft disk (1) is provided with a stop recess on the side near the camshaft (22). The outer wall dimension of the output shaft disk (1) located at the stop recess is adapted to the inner diameter of the bearing pressure plate (5). The outer diameter dimension of the bearing pressure plate (5) is larger than the inner ring dimension of the tapered roller bearing (3). The bearing pressure plate (5) is horizontally mounted with a first screw (6) threaded to the output shaft disk (1) on the side away from the output shaft disk (1).

6. The disc-type output harmonic reducer according to claim 4, characterized in that, The output shaft disk (1) is fitted with a skeleton oil seal (2) on the outer periphery of the stop vent. The outer wall size of the skeleton oil seal (2) is adapted to the inner wall size of the output side housing (4), and the inner wall size of the skeleton oil seal (2) is adapted to the outer wall size of the stop vent.

7. The disc-type output harmonic reducer according to claim 1, characterized in that, The gear ring housing (19) includes a meshing ring and a mounting ring. The mounting ring is located on the outer periphery of the meshing ring. An internal gear ring is provided on the inner side of the meshing ring. The width of the meshing ring is greater than the width of the mounting ring. O-rings (9) are fitted on both sides of the mounting ring in the width direction.

8. The disc-type output harmonic reducer according to claim 7, characterized in that, The output side housing (4) and the side cover plate (10) are provided with positioning stops on opposite sides to restrict the movement of the gear ring housing (19). The side cover plate (10) away from the output side housing (4) is provided with a number of second screws (8) that pass horizontally through the mounting ring and are threaded to the output side housing (4). The second screws (8) are arranged in a ring evenly in the mounting ring.

9. The disc-type output harmonic reducer according to claim 2, characterized in that, The camshaft (22) includes a rotating section and a wave section. The rotating section is cylindrical, and the wave section is an elliptical disk structure. The inner side of the motor flange (12) is provided with a second convex ring structure in the shape of an annulus. Two deep groove ball bearings (13) symmetrically distributed on both sides of the second convex ring structure are installed between the motor flange (12) and the rotating section. The flexible bearing (18) is fitted on the outer side of the wave section.

10. The disc-type output harmonic reducer according to claim 9, characterized in that, The outer side of the waveform segment is provided with a limiting stop for restricting the flexible bearing (18) from moving towards the side closer to the output shaft disk (1). The outer side of the rotating segment is fitted with a cam pressure plate (14), and the outer diameter of the cam pressure plate (14) is larger than the inner ring size of the flexible bearing (18). The outer periphery of the rotating segment is fitted with a shaft elastic retaining ring (23) for restricting the deep groove ball bearing (13) from moving towards the side away from the output shaft disk (1).

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