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.