Wave generator and harmonic reducer

Abstract

The present disclosure provides a wave generator and a harmonic reducer. The wave generator comprises a cam, a plurality of balancing pieces arranged along the circumferential direction of the cam, and each balancing piece is independently movable relative to the cam from the center of the cam to the outer circumference of the cam. According to the wave generator of the present disclosure, the position of each balancing piece can be flexibly adjusted according to the actual unbalanced mass generated by the wave generator, and the centrifugal force decomposition and synthesis of the plurality of balancing pieces during rotation can completely offset or reduce the centrifugal force and the moment of the unbalanced force, on the one hand, without the need to improve the manufacturing and assembly precision of the parts, and the cost is low. On the other hand, the adjustment process does not damage the cam body structure, and if the adjustment is not proper, it can be reset, greatly improving the product yield and debugging efficiency. At the same time, since the position of each balancing piece can be independently and flexibly adjusted, the precision of dynamic balancing adjustment is improved.

Description

Technical Field

[0001] This disclosure relates to the field of harmonic reducers, specifically to a wave generator and a harmonic reducer. Background Technology

[0002] In existing technologies, the mass balance of harmonic reducers is crucial to their operational stability. Improving the mass balance of harmonic reducers can be achieved by two methods: first, increasing the manufacturing precision of components, but this has limited effectiveness and is costly; second, by using a weight reduction method for subsequent mass adjustment, but this method is irreversible, has a limited adjustment mode, low adjustment precision, and is prone to damaging components. Utility Model Content

[0003] In view of this, the present disclosure provides a wave generator that is low in cost, has high dynamic balance adjustment accuracy, and can achieve reset adjustment, which greatly improves product yield and debugging efficiency.

[0004] This disclosure also provides a harmonic reducer, including the wave generator described above.

[0005] A wave generator according to an embodiment of the present disclosure includes: a cam; and a plurality of balancing members disposed on the cam, the plurality of balancing members being spaced apart along the circumferential direction of the cam, and each of the balancing members being independently movable relative to the cam along the direction from the center of the cam to the outer periphery of the cam.

[0006] According to the wave generator of this disclosure, multiple balancing components are disposed on a cam, and the multiple balancing components are arranged at intervals along the circumferential direction of the cam. Each balancing component is independently movable relative to the cam along the direction from the center of the cam to the outer periphery of the cam. The position of each balancing component can be flexibly adjusted according to the actual unbalanced mass generated by the wave generator, so as to completely cancel or reduce the unbalanced centrifugal force and its torque by decomposing and synthesizing the centrifugal force of the multiple balancing components during rotation. On the one hand, there is no need to improve the manufacturing and assembly precision of the parts, resulting in low cost. On the other hand, the adjustment process does not damage the cam body structure, and if the adjustment is improper, it can be reset, greatly improving product yield and debugging efficiency. Simultaneously, since the position of each balancing component can be adjusted independently and flexibly, the accuracy of dynamic balance adjustment is improved.

[0007] In some embodiments of this disclosure, a plurality of the balancing elements are arranged at uniform intervals along the circumferential direction of the cam.

[0008] In some embodiments of this disclosure, the cam has a shaft hole that passes through the cam along the cam axial direction, and the cam has a plurality of adjustment holes corresponding one-to-one with the plurality of balance members. Each adjustment hole passes through the outer peripheral surface and the inner peripheral surface of the cam, and each balance member is movably disposed in the corresponding adjustment hole along the axial direction of the corresponding adjustment hole.

[0009] In some embodiments of this disclosure, the outer peripheral surface of the balancing member has an external thread, and the wall of the adjusting hole has an internal thread that mates with the external thread.

[0010] In some embodiments of this disclosure, the depth of the adjustment hole is greater than the length of the balancing member, and the balancing member is completely located within the adjustment hole.

[0011] In some embodiments of this disclosure, each of the balancing components has a mounting groove at one end away from the center of the cam. The wave generator further includes: a plurality of scale components, each scale component corresponding to one of the balancing components, and each scale component being retractably disposed in the mounting groove of the corresponding balancing component; the outer peripheral surface of the scale component has a scale extending along the length direction of the scale component.

[0012] In some embodiments of this disclosure, the inner circumferential surface of the adjustment hole is spaced apart from both end faces of the cam in the axial direction; or, the adjustment hole is open at one end along the axial direction of the cam.

[0013] In some embodiments of this disclosure, the surface roughness of the balancing element satisfy: .

[0014] In some embodiments of this disclosure, the density of the balancing element is less than the density of the cam.

[0015] The harmonic reducer according to an embodiment of this disclosure includes: the wave generator described above.

[0016] According to the harmonic reducer of this disclosure, by setting the aforementioned wave generator, multiple balancing components are disposed on the cam, and the multiple balancing components are arranged at intervals along the circumferential direction of the cam. Each balancing component is independently movable relative to the cam along the direction from the center of the cam to the outer periphery of the cam. The position of each balancing component can be flexibly adjusted according to the actual unbalanced mass generated by the wave generator, realizing the decomposition and synthesis of the centrifugal force of multiple balancing components during rotation to completely offset or reduce the unbalanced centrifugal force and its torque. On the one hand, it does not require increasing the manufacturing and assembly precision of parts, resulting in low cost. On the other hand, the adjustment process does not damage the cam body structure, and if the adjustment is improper, it can be reset, greatly improving product yield and debugging efficiency. Simultaneously, since the position of each balancing component can be independently and flexibly adjusted, the accuracy of dynamic balance adjustment is improved. Attached Figure Description

[0017] Figure 1 This is a perspective view of a wave generator according to an embodiment of the present disclosure.

[0018] Figure 2This is a cross-sectional view of a wave generator according to an embodiment of the present disclosure, wherein the balancing element is not shown.

[0019] Figure 3 This is a cross-sectional view of a wave generator according to an embodiment of the present disclosure, wherein the balancing element is shown.

[0020] Figure 4 This is a schematic diagram of the assembly of the balance component and the scale component of a wave generator according to an embodiment of the present disclosure.

[0021] Figure label: 10. Wave generator; 1. Cam; 11. Shaft hole; 12. Adjustment hole; 2. Balancing component; 21. Mounting slot; 22. Score section; 3. Scale component; 31. Sub-component; 20. Flexible bearings. Detailed Implementation

[0022] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0023] In the embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0024] In the description of embodiments of this disclosure, the term "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, a, b, a, c, b, c, or a, b, c, where a, b, and c can be single or multiple.

[0025] In the description of embodiments of this disclosure, the term "and / or" refers to and covers any and all possible combinations of one or more of the associated listed items. The term "and / or" describes an association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0026] In the description of the embodiments disclosed herein, unless otherwise expressly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, "linking" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0027] As used herein, "perpendicular" and "equal" include the described situation and situations that are similar to the described situation, within an acceptable range of deviation, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the particular quantity (i.e., the limitations of the measurement system). For example, "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where the acceptable range of deviation for approximate perpendicularity could be, for example, a deviation within 10°. "Equal" includes absolute equality and approximate equality, where the acceptable range of deviation for approximate equality could be, for example, a difference between the two equalities less than or equal to 10% of either one.

[0028] Currently, harmonic reducers are precision transmission devices based on the principle of elastic deformation. The wave generator is its core component, typically consisting of an elliptical cam and a flexible bearing fitted around it. During high-speed operation, even the slightest mass imbalance (originating from material inhomogeneity, machining, and assembly errors) will generate significant centrifugal force, leading to increased vibration of the entire machine, decreased transmission accuracy, accelerated wear, and increased noise.

[0029] Traditional balancing methods mainly rely on improving the manufacturing precision of individual components of the harmonic reducer to reduce the overall mass imbalance of the reducer. Alternatively, mass balancing can be achieved through weight reduction methods (such as drilling). However, weight reduction is irreversible; excessive weight reduction can lead to component failure. Furthermore, the correction accuracy is limited, and the adjustment method is singular—it can only reduce, not increase—and cannot effectively compensate for new imbalances generated after assembly.

[0030] According to the wave generator of this disclosure, multiple balancing components are disposed on a cam, spaced apart along the circumferential direction of the cam. Each balancing component is independently movable relative to the cam along the direction from the center to the outer periphery of the cam. The position of each balancing component can be flexibly adjusted according to the actual unbalanced mass generated by the wave generator. This allows for the decomposition and synthesis of the centrifugal force during rotation of the multiple balancing components, completely offsetting or reducing the unbalanced centrifugal force and its torque. On the one hand, this eliminates the need to improve the manufacturing and assembly precision of parts, resulting in low cost. On the other hand, the adjustment process does not damage the cam body structure; if the adjustment is improper, it can be reset, greatly improving product yield and debugging efficiency. Furthermore, since the position of each balancing component can be independently and flexibly adjusted, the accuracy of dynamic balancing adjustment is improved.

[0031] The specific structure according to embodiments of this disclosure is described below with reference to the accompanying drawings.

[0032] The following describes a harmonic reducer according to an embodiment of the present disclosure.

[0033] The harmonic reducer according to an embodiment of the present disclosure includes: the wave generator 10 described above.

[0034] The wave generator 10 of this disclosure is described below with reference to the accompanying drawings.

[0035] like Figure 1 , Figure 2 and Figure 3 As shown, the wave generator 10 according to an embodiment of the present disclosure includes: a cam 1 and a plurality of balancing members 2.

[0036] For details, please refer to Figure 1 , Figure 2 and Figure 3 As shown, multiple balancing elements 2 are disposed on the cam 1. The multiple balancing elements 2 are arranged at intervals along the circumferential direction of the cam 1. Each balancing element 2 is independently movable relative to the cam 1 along the direction from the center of the cam 1 to the outer periphery of the cam 1.

[0037] It is understandable that the wave generator 10 will generate unbalanced mass after assembly, which will cause unbalanced centrifugal force when the wave generator 10 rotates. Multiple balancing components 2 are arranged at intervals along the circumferential direction of the cam 1, so as to realize the decomposition and synthesis of the centrifugal force of multiple balancing components 2 during rotation, so as to completely offset or reduce the unbalanced centrifugal force and its torque, which is beneficial to adaptively offset or reduce unbalanced centrifugal force in different directions.

[0038] Each balancing component 2 can move independently. This design allows for flexible adjustment of the position of each balancing component 2 based on the actual unbalanced mass generated during the rotation of the wave generator 10. This eliminates the need to increase the manufacturing and assembly precision of parts, resulting in low cost. Furthermore, the adjustment process does not damage the structure of the cam 1 body; if improperly adjusted, it can be reset, greatly improving product yield and debugging efficiency. Simultaneously, because the position of each balancing component 2 can be adjusted independently and flexibly, the accuracy of dynamic balancing adjustment is improved.

[0039] For further information, please continue to refer to [link / reference]. Figure 1 As shown, the wave generator 10 also includes a flexible bearing 20. After the cam 1 and the flexible bearing 20 are assembled, the flexible bearing 20 is sleeved on the outside of the cam 1, and one axial end of the cam 1 protrudes from the flexible bearing 20. Each balancing component 2 is located on the part of the cam 1 that protrudes from the flexible bearing 20 at one axial end. Therefore, correction can be performed after the cam 1 and the flexible bearing 20 are assembled, effectively compensating for imbalances caused by tolerances of individual parts and cumulative assembly errors, further improving product yield and debugging efficiency.

[0040] After the wave generator 10 is assembled (cam 1 and flexible bearing 20 are press-fitted), it is installed on the dynamic balancing machine, and the angular acceleration is measured. Below, radius At the initial unbalanced mass The magnitude and phase angle, thus, can be determined according to the formula Calculate unbalanced centrifugal force According to the formula Calculate The value, and then according to The result is the centrifugal force generated by a reasonable combination of different balancing components 2 (Usually, the balancer 2 needs to be adjusted in at least two different phases, through multiple balancers 2) Vector decomposition and composition are used to completely counteract the initial unbalanced force and its torque, and then according to the formula... Calculate the corresponding balancer 2 at a radius of The required equivalent mass at (center of cam 1) Finally, according to the formula The distance that needs to be moved can be calculated. (The direction of adjustment relative to the initial position of this balancing component is the same as...) The directions are consistent, thus achieving the adjustment of the balance component 2. The initial positions of the multiple balance components 2 must be at the same distance from the center of the cam 1, which facilitates the uniform distribution of the multiple balance components 2 and helps avoid interference from unbalanced forces caused by uneven distribution, thereby further improving the accuracy of dynamic balance adjustment.

[0041] After adjustment, place it back on the dynamic balancing machine for measurement until the residual imbalance meets the accuracy requirements. After passing the inspection, the position of each balancing component 2 is locked to prevent loosening under long-term vibration. Among these, Where G represents the balance accuracy level, and the unit is... M represents the mass of the wave generator 10 assembly, in units of... ; The system's highest operating angular acceleration, in units .

[0042] According to the wave generator 10 of this disclosure, multiple balancing components 2 are disposed on a cam 1. The multiple balancing components 2 are arranged at intervals along the circumferential direction of the cam 1, and each balancing component 2 is independently movable relative to the cam 1 along the direction from the center of the cam 1 to the outer periphery of the cam 1. The position of each balancing component 2 can be flexibly adjusted according to the actual unbalanced mass generated by the wave generator 10, so as to completely offset or reduce the unbalanced centrifugal force and its torque by decomposing and synthesizing the centrifugal force of the multiple balancing components 2 during rotation. On the one hand, there is no need to improve the manufacturing and assembly accuracy of the parts, resulting in low cost. On the other hand, the adjustment process does not damage the structure of the cam 1 body, and it can be reset if the adjustment is improper, which greatly improves the product yield and debugging efficiency. At the same time, since the position of each balancing component 2 can be adjusted independently and flexibly, the accuracy of dynamic balance adjustment is improved.

[0043] In some embodiments of this disclosure, please continue to refer to Figure 1 , Figure 2 and Figure 3 As shown, multiple balancing components 2 are evenly spaced along the circumferential direction of the cam 1. This avoids interference from unbalanced forces caused by uneven distribution of the multiple balancing components 2, thereby further improving the accuracy of dynamic balance adjustment.

[0044] In some embodiments of this disclosure, please continue to refer to Figure 1 , Figure 2 and Figure 3 As shown, the cam 1 has a shaft hole 11 that passes through the cam 1 along the axial direction of the cam 1. The cam 1 has a plurality of adjustment holes 12 that correspond one-to-one with a plurality of balance members 2. Each adjustment hole 12 passes through the outer peripheral surface and the inner peripheral surface of the cam 1. Each balance member 2 is movably disposed in the corresponding adjustment hole 12 along the axial direction of the corresponding adjustment hole 12.

[0045] Understandably, the shaft hole 11 is used for mounting the rotating shaft, and each adjusting hole 12 penetrates both the outer and inner circumferential surfaces of the cam 1, allowing waste generated during drilling of the adjusting holes 12 to be discharged along the adjusting holes 12, preventing waste from accumulating in the adjusting holes 12. Furthermore, the setting of the adjusting holes 12 reduces the weight of the cam 1, contributing to the lightweight design of the wave generator 10.

[0046] For further information, please refer to [link / reference]. Figure 2 and Figure 3 As shown, the axes of the adjusting holes 12 intersect at the center of the cam 1, which facilitates the uniform spacing of multiple balancing components 2 along the circumferential direction of the cam 1. This further avoids interference from unbalanced forces caused by uneven distribution of the multiple balancing components 2, thereby further improving the accuracy of dynamic balance adjustment.

[0047] Please refer to some embodiments of this disclosure. Figure 1 As shown, the inner circumferential surface of the adjusting hole 12 is spaced apart from both end faces of the cam 1 in the axial direction; thus, the structural strength of the cam 1 is guaranteed.

[0048] Alternatively, the adjusting hole 12 may be open at one end along the axial direction of the cam 1 (not shown). When the adjusting hole 12 is open at one end along the axial direction of the cam 1, the balancer 2 can be inserted into the open end of the adjusting hole 12 along the axial direction of the cam 1. At this time, the axis of the balancer 2 is parallel to the axis of the cam 1, which is beneficial for the assembly of the balancer 2.

[0049] Furthermore, when the balancer 2 can be inserted into the open end of the adjustment hole 12 along the axial direction of the cam 1, the outer peripheral wall of the balancer 2 has a stop portion. The stop portion is provided on the balancer 2 in a radial direction along the adjustment hole 12. The stop portion is adapted to stop against the hole wall of the adjustment hole 12, thereby realizing the locking of the balancer 2 in the adjustment hole 12.

[0050] In some embodiments of this disclosure, the outer circumferential surface of the balancing component 2 has an external thread, and the wall of the adjusting hole 12 has an internal thread that mates with the external thread. In this case, the axis of the balancing component 2 coincides with the axis of the adjusting hole 12, thereby achieving a threaded engagement between the balancing component 2 and the cam 1. On the one hand, the threaded engagement allows the balancing component 2 to be locked at any position along the length of the adjusting hole 12, preventing position changes and eliminating the need for additional locking components, resulting in a simple structure and low cost. On the other hand, the threaded engagement allows the balancing component 2 to be continuously adjusted along the length of the adjusting hole 12, further improving the accuracy of the dynamic balance adjustment.

[0051] In addition, after the adjustment is completed and the residual imbalance meets the accuracy requirements and passes the verification, a small amount of thread-locking agent can be applied to the threads on the outer circumferential surface of the balancer 2 to achieve complete locking of the position of the balancer 2 and prevent it from loosening under long-term vibration.

[0052] Please refer to some embodiments of this disclosure. Figure 2 and Figure 3As shown, the depth of the adjusting hole 12 is greater than the length of the balancing member 2, and the balancing member 2 is completely located within the adjusting hole 12. It should be noted that "the balancing member 2 is completely located within the adjusting hole 12" means that both ends of the balancing member 2 in the length direction are located within the adjusting hole 12, or one end of the balancing member 2 in the length direction is located within the adjusting hole 12, and the other end is flush with the plane containing the other end of the adjusting hole 12 in the length direction.

[0053] Therefore, on the one hand, it helps to reduce the overall weight of the wave generator 10, thus making the wave generator 10 lighter. On the other hand, it prevents the balancer 2 from protruding from the adjustment hole 12 and interfering with the assembly of the wave generator 10 with other structures.

[0054] In some embodiments of this disclosure, please refer to Figure 4 As shown, each balancer 2 has a mounting groove 21 at one end away from the center of the cam 1. The wave generator 10 also includes: multiple scale members 3, each scale member 3 corresponding to one of the multiple balance members 2, and each scale member 3 is retractably disposed in the mounting groove 21 of the corresponding balance member 2; the outer peripheral surface of the scale member 3 has a scale scale extending along the length direction of the scale member 3.

[0055] Understandably, after calculating the required movement distance ∆L, the scale member 3 is extended until it at least partially extends out of the adjustment hole 12 (it can be clamped by inserting a tool into the mounting slot 21). Based on the calculated ∆L, the balance member 2 is moved a distance ∆L with reference to the scale on the scale member 3. Then, the scale member 3 is retracted into the mounting slot 21 or the adjustment hole 12 to prevent the scale member 3 from extending out of the adjustment hole 12 and interfering with the assembly of the wave generator 10 with other structures. Thus, with the assistance of the scale member 3, the balance member 2 can be adjusted precisely.

[0056] Further, please refer to Figure 4 As shown, the minimum length of the scale member 3 is less than or equal to the depth of the mounting groove 21. Therefore, when one end of the balance member 2 is aligned with the plane containing one end of the adjustment hole 12 in the length direction, the scale member 3 can be prevented from extending out of the adjustment hole 12 and interfering with the assembly of the wave generator 10 with other structures.

[0057] Further, please refer to Figure 4 As shown, when the outer circumferential surface of the balancing component 2 has an external thread and the wall of the adjusting hole 12 has an internal thread that mates with the external thread, the end of the balancing component 2 facing away from the scale component 3 has a scoring portion 22 for engaging with a screwdriver, thereby enabling the balancing component 2 to be screwed in or out. The scoring portion 22 and the scale component 3 are respectively located at both ends of the balancing component 2, which avoids interference between the scoring portion 22 and the scale component 3.

[0058] Further, please refer to Figure 4As shown, the scale component 3 includes multiple sub-components 31 arranged from the inner circumference to the outer circumference. Each sub-component 31 is fitted outside the adjacent sub-component 31 on the inner circumference. The outermost sub-component 31 is fixed relative to the balance component 2, and the remaining sub-components 31 are movable relative to the balance component 2 along the length direction of the balance component 2, thereby realizing that the scale component 3 is telescopically disposed in the mounting groove 21.

[0059] In some embodiments of this disclosure, please refer to Figure 4 As shown, at least one end of the balancer 2 along its length is a plane perpendicular to the axis of the balancer 2. This simplifies the manufacturing process and also prevents interference between the end of the balancer 2 and the wall of the adjustment hole 12.

[0060] In some embodiments of this disclosure, please refer to Figure 4 As shown, along the direction from the center of the balancer 2 to the outer periphery of the balancer 2, the cross-sectional area of ​​at least one end of the balancer 2 in the length direction gradually decreases, thereby avoiding interference between the end of the balancer 2 and the wall of the adjustment hole 12.

[0061] In some embodiments of this disclosure, the density of the balancer 2 is less than the density of the cam 1. This further reduces the weight of the wave generator 10, which is beneficial for the lightweight design of the wave generator 10.

[0062] In some embodiments of this disclosure, the surface roughness of the balancing element 2 satisfy: ,For example for , , or This reduces the frictional force when the balancer 2 moves on the cam 1, thus making the adjustment of the balancer 2 on the cam 1 smoother.

[0063] In the description of this specification, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples without contradicting each other.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A wave generator, characterized in that, include: Cam (1); Multiple balancing elements (2) are disposed on the cam (1). The multiple balancing elements (2) are arranged at intervals along the circumferential direction of the cam (1). Each of the balancing elements (2) is independently movable relative to the cam (1) along the direction from the center of the cam (1) to the outer periphery of the cam (1).

2. The wave generator according to claim 1, characterized in that, The plurality of the balance components (2) are evenly spaced along the circumferential direction of the cam (1).

3. The wave generator according to claim 1, characterized in that, The cam (1) has a shaft hole (11) that passes through the cam (1) along the axial direction of the cam (1). The cam (1) has a plurality of adjustment holes (12) that correspond one-to-one with the plurality of balance members (2). Each adjustment hole (12) passes through the outer peripheral surface and the inner peripheral surface of the cam (1). Each balance member (2) is movably disposed in the corresponding adjustment hole (12) along the axial direction of the corresponding adjustment hole (12).

4. The wave generator according to claim 3, characterized in that, The outer circumferential surface of the balancer (2) has an external thread, and the wall of the adjustment hole (12) has an internal thread that mates with the external thread.

5. The wave generator according to claim 3, characterized in that, The depth of the adjustment hole (12) is greater than the length of the balance member (2), and the balance member (2) is completely located within the adjustment hole (12).

6. The wave generator according to claim 3, characterized in that, Each of the balance components (2) has a mounting groove (21) at one end opposite to the center of the cam (1), and the wave generator further includes: Multiple scale elements (3), each scale element (3) corresponds to a multiple balance element (2), and each scale element (3) is retractably disposed in the mounting groove (21) of the corresponding balance element (2); The outer circumferential surface of the scale element (3) has a scale extending along the length direction of the scale element (3).

7. The wave generator according to claim 3, characterized in that, The inner circumferential surface of the adjusting hole (12) is spaced apart from both end faces of the cam (1) in the axial direction; or, The adjustment hole (12) is open at one end along the axial direction of the cam (1).

8. The wave generator according to claim 1, characterized in that, The surface roughness Ra of the balancing component (2) satisfies: Ra≤0.8μm.

9. The wave generator according to claim 1, characterized in that, The density of the balancer (2) is less than the density of the cam (1).

10. A harmonic reducer, characterized in that, include: The wave generator according to any one of claims 1-9.

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