48 results about "Harmonic drive" patented technology

The invention belongs to the technical field of piezoelectric motors, and relates to a non-contact rotary piezoelectric motor based on liquid coupling single harmonic drive, which comprises a base and a stator fixing mechanism, an eccentric adjusting mechanism capable of positioning in the horizontal direction is arranged at the top of the base, a cylindrical rotor is arranged at the positioning end of the eccentric adjusting mechanism through a rotor rotating mechanism, and coupling liquid is contained in a cavity of the rotor; a stator of a beam-shaped structure is clamped at the top of the stator fixing mechanism, the stator comprises a beam-shaped stator and piezoelectric patches, the beam-shaped stator is vertically arranged, the cross section of the beam-shaped stator is rectangular, the piezoelectric patches are arranged on the two sides of the beam-shaped stator in pairs, and the bottom end of the beam-shaped stator is immersed in the coupling liquid. According to the non-contact piezoelectric motor, driving force is transmitted between the stator and the rotor through the liquid medium, direct contact is avoided, the problems of friction abrasion, friction heat generation and the like existing in a contact piezoelectric motor can be effectively solved, and the non-contact piezoelectric motor has the advantages of being long in service life, capable of running for a long time, high in energy efficiency and the like.

A rotor assembly deployment mechanism configured to deploy a rotor assembly of a vertical take-off and landing aircraft from a horizontal, forward thrust, position to a vertical, hover, position. The rotor assembly deployment mechanism is configured to deploy an electric motor and propeller together. The deployment mechanism uses redundant rotary actuators which are coupled together to provide redundant drive capability to the harmonic drives using internal cross-linking.

The present invention is entitled "Electric Brake." In some examples, the present invention provides a brake assembly including an actuator assembly configured to cause translation of a piston to compress a disc stack. The actuator assembly is configured to generate a first torque about a motor axis using a motor and a second torque from the first torque using a harmonic drive. The actuator assembly can include a gear set configured to cause a linear actuator to translate the piston using the second torque. In some examples, the actuator is configured to translate the piston along a compression axis that is different from the motor axis.

The invention provides a harmonic reducer and a robot, and relates to the field of harmonic transmission, the harmonic reducer comprises a cross bearing, a rigid gear, a flexible gear, a cross slide block and a wave generator; the cross bearing comprises a bearing inner ring and a bearing outer ring, and a first groove is formed in the end face of the bearing inner ring; the flexible gear is a cup-shaped flexible gear, and a second groove is formed in the cup bottom; the cross-shaped sliding block comprises a connecting disc, a first convex block and a second convex block, the first convex block is located on the first end face of the connecting disc, the second convex block is located on the second end face of the connecting disc, an included angle is formed between the length direction of the first convex block and the length direction of the second convex block, the first convex block is clamped with the first groove, and the second convex block is clamped with the second groove; the cross section of the first protruding block and the cross section of the second protruding block are trapezoid, the sides, connected with the connecting disc, of the first protruding block and the second protruding block are trapezoid upper bottoms, the first groove is matched with the first protruding block in shape, and the second groove is matched with the second protruding block in shape. The problems that installation is tedious and concentricity is difficult to adjust due to the fact that the flexible gear and the crossed bearing inner ring are connected through screws are solved.

The electromechanical integrated parallel composite flexible disc type axial harmonic reducer consists of a moving part composed of a composite flexible disc (18, 35, 80, 120) that integrates a flexible thrust bearing low-speed moving ring raceway and a planar spur gear on both sides and has an integrated variable stiffness connecting part, and two rolling wave generators (12, 21, 41, 54, 78, 82, 119, 126) of the same structural size but with axial concavity and convexity perpendicular to each other in the circumferential direction, which are fixed on the motor rotor (8, 48, 87, 132). The stationary part is composed of two rigid end caps (3, 42, 63, 103) that are fixed to the planar spur bevel gear (16, 19, 39, 53, 79, 81, 118, 124) and the motor stator (5, 50, 65, 105). Due to the circumferential orthogonal axial symmetrical deformation of the shared composite flexible disk (18, 35, 80, 120), half of the motor input torque is generated by two axial harmonic drive components with the same structural parameters (12, 17, 18, 16 and 21, 20, 18, 19; 41, 49, 35, 39 and 54, 52, 35, 53; 69, 76, 78, 80, 79 and 86, 85, 82, 80, 81; 113, 114, 119, 120, 118 and 128, 127). The components 126, 120, and 124 are connected in parallel for synchronous amplification. After being superimposed by the integrated variable stiffness connector on the outer or inner circle of the composite flexible disk (18, 35, 80, 120), the output is sent to the rotating shell (15, 75, 117) or the spindle (31, 32). The total deformation of the flexible components is reduced due to the shared composite flexible disk (18, 35, 80, 120) and the integrated variable stiffness connector. The elastic deformation force cancels each other out in the moving parts and will not be transmitted to the support bearing, thus reducing frictional power consumption.

The present application relates to the technical field of mechanical arm, specifically to a torque mechanical arm convenient to maintain, comprising a mechanical arm body, a joint assembly, a speed reduction transmission assembly, a driving motor and a joint seat, the joint assembly is connected and disassembled quickly through the driving of a transmission ring, a clamping ear plate and a rudder, which is convenient for equipment maintenance and replacement; the speed reduction transmission assembly adopts harmonic drive technology, effectively reduces mechanical loss, and ensures the stability and high precision of torque transmission; the driving motor and the speed reduction transmission assembly work cooperatively to provide efficient power output, meeting the torque demand of different load requirements. The present application has simple structure, powerful function, and is widely applicable to high-load and high-precision automatic production lines, and has high reliability and easy maintainability.

The utility model relates to a card mounting machine phase adjusting device which comprises a machine frame, a feeder and a long shaft in transmission connection with the feeder, a synchronous belt wheel set is arranged on the machine frame, the synchronous belt wheel set is in transmission connection with a feeder head transmission wheel, the other end, opposite to the feeder, of the long shaft is in linkage with the feeder head transmission wheel, and the feeder head transmission wheel is in transmission connection with the long shaft. A phase adjusting assembly is arranged between the synchronous belt wheel set and the feeder head transmission wheel in a transmission connection mode and comprises a harmonic transmission speed reducer and a driving part, and the harmonic transmission speed reducer comprises an input wheel, an input end phase wheel, an output wheel and an output end phase wheel. The input end phase wheel is in transmission connection with the output end phase wheel, the input end phase wheel is in transmission connection with the synchronous belt wheel set through a belt, the output end phase wheel is in transmission connection with the feeder head transmission wheel, and the driving part is in transmission connection with the output end phase wheel. The technical scheme provided by the utility model has the technical effects of simple structure and convenience in adjustment.

The present application relates to the technical field of harmonic drive component assembly, and particularly discloses a harmonic drive component compliant assembly and detection integrated machine and a detection method, which comprises a rack, a bottom plate, a conveying module, a transfer and pressing assembly module, a flexible gear fixing module, a steel gear clamping module, a fine adjustment module, a lubricating module and a detection module arranged on the rack. The transfer and pressing assembly module realizes three-dimensional movement, 90-degree turning and pressing of the workpiece; the flexible gear fixing module adaptively adsorbs and fixes the flexible gear; the steel gear clamping module realizes self-centering clamping and space posture adjustment of the steel gear; and the detection module synchronously detects parallelism and coaxiality. The present application realizes full-process automation of the harmonic drive component from conveying, lubricating, pressing assembly to detection, solves the problems of large assembly alignment deviation, easy tooth clashing and pressing assembly inclination, and improves assembly precision and efficiency.

A rotor assembly deployment mechanism configured to deploy a rotor assembly of a vertical take-off and landing aircraft from a horizontal, forward thrust, position to a vertical, hover, position. The rotor assembly deployment mechanism is configured to deploy an electric motor and propeller together. The deployment mechanism uses redundant rotary actuators which are coupled together to provide redundant drive capability to the harmonic drives using internal cross-linking.

To provide a method of manufacturing a flexible external gear that can realize a wave gear device less likely to lower reliability, a flexible external gear, a wave gear device, and a joint device for a robot.SOLUTION: A method of manufacturing a flexible external gear 3 for a wave gear device including a rigid internal gear, the flexible external gear 3, and a wave generator, includes a stress generation step and a shot-peening step. The wave gear device deforms the flexible external gear with rotation of a cam, makes a part of external teeth 31 engage with a part of internal teeth, and rotates the flexible external gear 3 relatively to the rigid internal gear in accordance with a difference in tooth number with respect to the rigid internal gear. In the stress generation step, the flexible external gear 3 is elastically deformed to generate a stress on the flexible external gear 3. In the shot-peening step, shot-peening is applied to at least a part of a surface of the flexible external gear 3 on which the stress is generated.SELECTED DRAWING: Figure 8

A method and system for anomaly detection from time series input data. A Gaussian mixture model (GMM) uses sample data to learn distribution parameters in an offline learning stage. The data for offline learning and for subsequent online anomaly detection phases is time series data of a plurality of parameters collected, such as machine operations of a robot performing a repeated set of operations. The method includes aligning the data with a known good reference data file and taking a difference from the reference data file prior to providing the data to the GMM. In the online anomaly detection stage, the GMM calculates the probability that each time series data point conforms to the distribution, and performs logarithmic summation calculation on each data file to determine the likelihood that the file contains abnormal data. The file logarithm likelihood is compared to previous values and an alert is issued when there is a statistical difference from historical data.

The utility model provides a hollow shaft harmonic drive chain test frock relates to drive chain test frock technical field, include: test subassembly, it includes detection platform, input motor and drive chain collector, drive chain connecting flange, it sets up in detection platform, be used for installing hollow shaft harmonic reducer, and centering mechanism, it sets up in drive chain connecting flank, centering mechanism includes at least three centering clamp block, with the same number of slider of centering clamp block, gear ring and drive a the sliding screw rod of slider. The utility model has the advantages of: through the cooperation of centering mechanism design including at least three centering clamp block, slider, gear ring and screw rod, can realize the quick, accurate centering operation of hollow shaft harmonic reducer, make the mouth diameter for loading hollow shaft harmonic reducer can be adjusted, improve the applicability of frock, the setting of expansion shaft enhances the installation stability of reducer, prevents the loosening or deviation in the test process.

A parallel high-efficiency composite flexspline-based internal-meshing harmonic transmission in a motor rotor. A moving component of the parallel high-efficiency composite flexspline-based internal-meshing harmonic transmission consists of a thin-walled composite flexspline and rolling wave generators; outer raceways of inner rings of flexible bearings and inner bevel gear rings are integrated at two ends of the thin-walled composite flexspline, and an inner gear ring is integrated in the middle thereof; the rolling wave generators are respectively and fixedly connected to two ends of a hollow inner rotor of a motor, the structural dimensions of the rolling wave generators being the same, but a semi-minor axis at one end being coplanar with a semi-major axis at the other end; a motor outer stator, to which two cap-shaped rigid gears are fixed, functions as a stationary component; by means of antisymmetric deformations of the two ends of the composite flexspline, half of an input torque of the motor is amplified in the same proportion by two back-to-back parallel internal-meshing harmonic transmission assemblies having same structural parameters, and, after superposition on a constant-circular middle section of the composite flexspline, the torque is output by means of a variable-stiffness coupling formed by the inner-wall gear ring of the composite flexspline and a hollow splined shaft. Three waveform calculation formulas for the composite flexspline are provided, and a curvature inflection point value is introduced to determine the meshing mode between the composite flexspline and the bevel teeth of the rigid gears; the wall thickness of the composite flexspline is effectively reduced, and the middle section does not require a circularity-maintaining constraint, such that the elastic deformation energy and friction power consumption can be reduced, thus achieving high transmission efficiency.

This utility model discloses a high bending moment cup-shaped harmonic reducer, relating to the field of reducer technology. It includes a housing and a transmission reduction structure. The housing comprises an upper housing and a lower housing, with the lower housing mounted on the open side of the upper housing. The transmission reduction structure includes a small bevel gear, an output shaft, a large bevel gear, and harmonic transmission components. The small bevel gear is rotatably mounted inside the upper housing, and the output shaft is rotatably mounted inside both the upper and lower housings. This high bending moment cup-shaped harmonic reducer, through the perpendicular arrangement of the small bevel gear and the output shaft axis, combined with the transmission action of the small and large bevel gears, enables the harmonic reducer to possess characteristics such as high bending moment load capacity, compact transmission structure, high speed ratio, large output torque, light weight, low noise, and high stability. Furthermore, the compact internal structure of this reducer helps reduce its size and production costs, while also making it suitable for use in confined spaces, effectively enhancing the practicality and applicability of the device.

The invention relates to a drive unit (15, 1) for a vehicle that can be driven simultaneously by drive energy provided by human muscle force and by a motor. The drive unit comprises: a support structure (18); an input drive shaft for transmitting drive energy generated by human muscle force; an output driven shaft (35) for outputting drive energy to the traveling device; a first electric drive unit (1) for driving the harmonic drive mechanism (19A); and a second electric drive unit (1) having variable harmonic transmissions (19B, 19). The invention also relates to a vehicle having such a drive unit (15, 1).

A means of transport, in particular a pedelec, which can be driven by means of drive energy produced electromotively and by human muscular power, comprising a drive unit in which an electric drive motor and a harmonic drive transmission are nested one inside the other, thereby saving space.

This application provides a lightweight flexible wheel and a harmonic reducer, relating to the field of harmonic drive technology. The lightweight flexible wheel includes a cylinder and gear teeth. The circumferential surface of the cylinder includes a non-toothed region and a toothed region distributed along the axial direction, with gear teeth formed in the toothed region. A subtractive material section is formed in the non-toothed region, which includes a honeycomb topology structure. Through the design of the honeycomb topology structure, non-load-bearing redundant material in the non-toothed region is eliminated, reducing the overall mass of the flexible wheel and greatly increasing the heat dissipation surface area of ​​the flexible wheel, forming an effective heat dissipation channel. The heat generated by the harmonic reducer containing the lightweight flexible wheel during operation can be quickly dissipated into the surrounding environment or lubricating medium. The honeycomb topology structure has a continuous support network and can uniformly distribute stress when under load, maintaining structural integrity while reducing the weight of the flexible wheel and ensuring the overall stiffness of the flexible wheel. This solves the problem in the prior art of how to reduce the mass of the flexible wheel and improve its heat dissipation performance while ensuring its performance.

The application relates to a harmonic loose-tooth reduction motor with a flexible structure and an inner stator, and relates to the technical fields of motors, harmonic transmission and the like. Main parts for realizing functions include a stator, a flexible mechanism, a loose-tooth frame and a center wheel. The application controls a magnetic field through a coil wound on the stator in combination with a controller and a control program, thereby attracting a flexible wheel with ferromagnetism to generate deformation, so that the loose tooth in contact with the flexible wheel moves along a center wheel tooth profile, finally drives the loose-tooth frame to rotate and generates output. The application combines the reduction gear, the flexible hinge and the motor, reduces the size of the transmission device, makes the working machine more controllable, simultaneously weakens the impact generated by the loose tooth in the traditional loose-tooth reduction gear, improves the transmission stability, and designs the fixed shaft of the inner stator as a hollow shaft, so that the application can be better applied to a robot transmission arm.

The utility model discloses a planetary harmonic reducer driven by a crankshaft, and belongs to the technical field of reducers. The speed reducer comprises a driving crankshaft, a first-stage driving wheel, a second-stage eccentric wheel, a third-stage composite wheel and an output end cover. The driving crankshaft drives the second-stage eccentric wheel to generate differential motion through the second-stage shaft neck designed in an off-axis mode, and the differential motion is sequentially transmitted to the third-stage composite wheel and the output end cover through harmonic meshing, so that multi-stage speed reduction is achieved. The outer gear ring of the first-stage driving wheel is meshed with the second-stage driven inner gear ring, the transmission path is further optimized through the double-gear structure of the third-stage composite wheel, and the output end cover completes final power output through the end cover inner gear ring. The crankshaft and harmonic drive are combined, the problems that a traditional planetary gear train is complex in structure and low in efficiency are solved, and the planetary gear train has the advantages of being compact in structure, high in transmission efficiency and high in reliability and is suitable for high-precision industrial robots and automation equipment.

The utility model discloses a composite bearing, harmonic drive device and automatic working device, the composite bearing comprises a roller pin, a cross roller, a bearing inner ring and a bearing outer ring which are coaxially arranged, the bearing outer ring is sleeved on the outer side of the bearing inner ring, and the roller pin and the cross roller are respectively arranged between the bearing inner ring and the bearing outer ring in a surrounding mode. And the roller pins and the crossed rollers are arranged in series along the axial direction. According to the composite bearing, the roller pin and the crossed roller are combined for use, so that the composite bearing has good radial load bearing capacity, meanwhile, the roller pin and the crossed roller are uniformly fixed through the bearing inner ring and the bearing outer ring, radial run-out is avoided, the bending moment resistance of the composite bearing is improved, and then the service life of the composite bearing is prolonged. The harmonic driving device manufactured by using the composite bearing has good bending moment resistance. Furthermore, the automatic working device using the composite bearing or the harmonic driving device has good bending moment resistance, high-speed stamping can be achieved, and the environment adaptability of the automatic working device is improved.

The invention provides a driving structure, a theodolite and astronomical observation equipment, and the driving structure comprises two groups of harmonic driving assemblies which are perpendicular to each other; wherein each group of harmonic driving assembly comprises a power source and a harmonic assembly connected with the power source; the harmonic assembly is used for transmitting power transmitted by the power source to the correspondingly connected output shaft through harmonic speed reduction; the output shafts comprise the horizontal shaft or the vertical shaft of the theodolite, each harmonic driving assembly is connected with one output shaft of the theodolite, the output shafts, correspondingly connected with the two harmonic driving assemblies, of the theodolite are different in type, a large-dead-weight lens cone can be effectively driven to rotate, the problem that an existing structure cannot drive the large-load lens cone is solved, and meanwhile the structure is simple and convenient to operate. The transmission precision of harmonic transmission is higher, the angular deviation in the driving process can be reduced, and the pointing control precision of the lens cone is improved.

An operating device for a rotation-rate sensor. A mechanical amplification of a deflection oscillatory motion and / or a phase shift of the deflection oscillatory motion relative to a harmonic drive oscillation of a seismic mass can be determined using an electronic apparatus of the operating device by taking into account at least one drive frequency variable with respect to a characteristic drive frequency of the harmonic drive oscillation of the seismic mass of the rotation-rate sensor and by also taking into account at least one detection frequency variable, which is provided by the operating device itself to the operating device, with respect to a characteristic detection frequency of the deflection oscillatory motion, caused by a Coriolis force, of the seismic mass put into the harmonic drive oscillation or with respect to a difference between the characteristic drive frequency and the characteristic detection frequency.

This application provides a method for measuring the half-shaft dimensions of a three-wave generator, relating to the field of harmonic drive technology. The method includes: providing a support structure having at least two positioning surfaces forming a preset angle; placing the three-wave generator on the support structure and adjusting its orientation so that the two long / short half-shafts of the generator form a preset orientation relationship with the two positioning surfaces; measuring the linear distance between a reference point on the three-wave generator and a reference point on the support structure; and calculating the long and short half-shaft dimensions of the three-wave generator based on the linear distance, the preset angle, and known geometric parameters of the three-wave generator. Thus, this method allows for rapid positioning of the three-wave generator through the geometric constraints of the support structure and indirectly calculates the dimensions of individual half-shafts using simple linear distance measurement, thereby balancing measurement efficiency and accuracy.

The present invention provides a drive unit, a robot, and a method for assembling the drive unit, all of which facilitate grease filling. [Solution] The drive device 1 comprises a motor 14 having a rotating shaft 17 and a harmonic drive gear reducer 16 that reduces the rotation of the rotating shaft 17. The harmonic drive gear reducer 16 includes an internal gear 23, a flexible external gear 24 that partially meshes with the internal gear 23, and a wave generator 25 connected to the rotating shaft 17, in contact with the inner circumferential surface of the external gear 24, and bending the external gear 24 to move the meshing position between the internal gear 23 and the external gear 24 in the circumferential direction. The drive device 1 comprises a motor 14 having a rotating shaft 17 and a harmonic drive gear reducer 16 that reduces the rotation of the rotating shaft 17, and the harmonic drive gear reducer 16 includes an internal gear 23, a flexible external gear 24 that partially meshes with the internal gear 23, and a wave generator 25 that partially meshes with the external gear 24 and the wave generator 25 and is filled with grease, and a second region R2 formed by the wave generator 25 and the motor 14 and is filled with grease. The wave generator 25 is provided with a through hole 34 connecting the first region R1 and the second region R2.

The invention provides a harmonic reducer and a robot, and relates to the technical field of harmonic transmission. The harmonic reducer comprises a rigid gear, a flexible gear and a wave generator; the rigid gear is sleeved with the flexible gear, and outer teeth of the flexible gear are meshed with inner teeth of the rigid gear. The flexible gear is sleeved with the wave generator; a damping particle cavity is formed between the outer circumferential wall and the inner circumferential wall of the rigid wheel and filled with metal particles. Wherein the flexible gear is the fixed end of the harmonic reducer, the wave generator is the input end of the harmonic reducer, the rigid gear is the output end of the harmonic reducer, and the rotation of the rigid gear can enable metal particles to collide and rub to generate low-order damping and enable the metal particles to collide and rub with the rigid gear to generate high-order damping. According to the arrangement, the metal particles and the rigid wheel are jointly combined into the particle damping shock absorber, the integrated design of the particle damping shock absorber and the rigid wheel is achieved, generated low-order damping and high-order damping are used for absorbing vibration energy, and the problem of how to effectively suppress resonance of a harmonic reducer in the prior art is solved.

The utility model relates to the technical field of optical instruments, and discloses a high-reflection concave mirror fine adjustment device which comprises a fixing plate and two connecting plates, the right end of the front side of the fixing plate is fixedly connected with an air cylinder, and the rear side of the air cylinder on the right side is fixedly connected to the front side of the air cylinder. The rear side of the connecting plate on the left side is fixedly connected to the left end of the front side of the fixing plate, harmonic transmission equipment is fixedly connected to the adjacent sides of the two connecting plates, a limiting shell is fixedly connected to one side of the harmonic transmission equipment, and a threaded column is rotationally connected to the inner bottom wall of the limiting shell. The top end of the threaded column is fixedly connected with a rotary knob. According to the concave mirror plate fixing device, the sliding clamp ascends and descends in the limiting shell so as to be matched with replacement of the replacement clamp, the concave mirror plate fixing device can be matched with locking grooves in the two sides of concave mirror plates of different specifications, the concave mirror plates are fixed, and therefore the situation that the device is difficult to be well matched with various concave mirrors is avoided.

A drive for a harmonic gear assembly, comprising an input shaft having a shaft axis (A) and an epicyclic carrier unit removably mounted around, and coaxial with the input shaft, the epicyclic carrier unit comprising a carrier having an interior circumference designed to match the outer circumference of the shaft and further comprising a first roller assembly mounted at a first location around the circumference of the carrier unit and comprising a first roller shaft extending substantially parallel to the shaft axis and a first roller rotatably mounted around the first rotor shaft, and a second roller assembly mounted at a second location around the circumference of the carrier unit and comprising a second roller shaft extending substantially parallel to the shaft axis and a second roller rotatably mounted around the second rotor shaft, the first and second rollers extending radially outwards from the carrier to define a major axis between the radially outer surfaces of the first and second rollers, and wherein the outer surface of the carrier unit at locations other than the first and second locations defines a minor axis.

The invention relates to the field of strain wave gearing, which is also commonly referred to as "harmonic drive". In order to provide a frictional strain wave gearing which enables the deformation of the flexspline in a simple, mechanical manner, including the generation of the necessary contact forces, so that technically usable forces can be transmitted without significant effort to compensate for mechanical tolerances present in the gearing, a frictional strain wave gearing is proposed, having an outer cylinder, a flexspline and a wave generator, wherein the outer cylinder, the flexspline and the wave generator are in force transmission by frictional contact, which is generated by a pressing force, wherein at least one structure having an elastic shape is formed by a component of the wave generator or the outer cylinder, the elastic shape being hollow in the region of the frictional contact and having a constant wall thickness even when the shape is deformed, wherein the elastic structure is configured to exert the pressing force. The invention also relates to a frictional planetary gearing.

A strain wave gear device (1) is provided with a strain gauge-type torque detection device (5). A gauge grid (61) of a strain gauge (6) straddles a boundary line (36) between a boss inside end surface (34a) and a diaphragm inside end surface (33a) of an external gear (3), and is attached to the boss inside end surface (34a) and the diaphragm inside end surface (33a). Compared to a case where the entire gauge grid (61) is attached to the diaphragm inner end surface (33a), a strain gauge output having less rotational ripple and excellent linearity can be obtained, and torque detection can be performed with high accuracy.

The utility model discloses a buffer type harmonic drive flexible gear and harmonic reducer, the harmonic drive flexible gear comprises a cylinder and a flange located at one end of the cylinder, the side wall of the cylinder far away from the flange is provided with an outer gear ring, the side wall of the cylinder close to the outer gear ring abuts against a wave generator, the joint of the cylinder and the flange forms a bending part, and the bending part is connected with the outer gear ring. The bending part is provided with the first buffering holes, the first buffering holes vertically penetrate through the bending part, the first buffering holes are evenly distributed in the circumferential direction of the cylinder body, a deformation space of the bending part is formed, stress concentration of the bending part is dispersed, the local stress level is reduced, the possibility of fatigue crack generation is reduced, and the service life of the flexible gear is prolonged.