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.