CN113738846B

CN113738846B - Harmonic reducer of novel structure

Info

Publication number: CN113738846B
Application number: CN202110980999.0A
Authority: CN
Inventors: 刘换新; 刘尚柏; 邓青云
Original assignee: Guangdong Saini Intelligent Equipment Technology Co ltd
Current assignee: Guangdong Saini Intelligent Equipment Technology Co ltd
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2023-05-16
Anticipated expiration: 2041-08-25
Also published as: CN113738846A

Abstract

The invention discloses a novel-structure harmonic reducer, which belongs to the technical field of reducers and comprises a shell, a flexible gear, a steel gear and a wave generator, wherein the steel gear is arranged at one end of the shell, internal teeth are arranged on the inner side of the steel gear, external teeth meshed with the internal teeth are arranged on the outer side of the flexible gear, the novel-structure harmonic reducer further comprises a connecting assembly and a load piece, the connecting assembly comprises a connecting flange and a force input shaft, the connecting flange is arranged at one side, far away from the shell, of the steel gear, the force input shaft is rotatably arranged at the connecting flange through a connecting bearing, the outer side of the connecting flange is provided with a mounting hole communicated with the inner side of the connecting flange, the wave generator comprises a cam, the cam is connected with the flexible gear through a flexible bearing, the load piece is arranged at one end, far away from the cam, of the flexible gear, and the force input shaft is fixedly connected with the cam. The harmonic speed reducer and the motor are installed by workers conveniently, and stability of each component during transmission after installation of the harmonic speed reducer is guaranteed.

Description

Harmonic reducer of novel structure

Technical Field

The invention relates to the field of speed reducers, in particular to a harmonic speed reducer with a novel structure.

Background

The harmonic speed reducer is a device for realizing movement and power transmission by controllable elastic deformation of the middle flexible part. The harmonic speed reducer is mainly applied to the fields of robots, aerospace, precise instruments and the like, and has the advantages of large transmission ratio, high transmission precision, simple structure, small volume, light weight and the like compared with a common speed reducer.

The harmonic reducer in the related art generally comprises a shell, a rigid gear, a wave generator and a flexible gear, wherein the rigid gear is fixed on the shell, the rigid gear is cylindrical and is internally provided with internal teeth, the flexible gear is connected to the shell, the flexible gear is cylindrical and is externally provided with external teeth meshed with the teeth of the rigid gear, the wave generator is mounted on an output shaft of a motor, the flexible gear is sleeved outside a cam of the wave generator, and when the wave generator is driven to rotate by the output shaft of the motor, the flexible gear is decelerated and rotated due to the meshing of the external teeth and the internal teeth, so that a load connected to the bottom of the flexible gear is driven to rotate to enable the load to execute a certain target task.

Aiming at the related technology, the inventor considers that the harmonic reducer and the motor are installed by installing the flange firstly, then installing the wave generator, and then sleeving the flexible gear outside the cam of the wave generator, and then fixing the shell and the flange, thus the operation is complex.

Disclosure of Invention

In order to facilitate the installation of a harmonic reducer and a motor by workers, the application provides a harmonic reducer with a novel structure.

The harmonic reducer of novel structure that this application provided adopts following technical scheme:

the utility model provides a novel harmonic reducer of structure, includes casing, flexspline, rigid gear and ripples generator, the rigid gear is installed in the one end of casing, the rigid gear inboard is provided with the internal tooth, the flexspline outside is provided with the external tooth that meshes with the internal tooth, still includes coupling assembling and load spare, coupling assembling includes flange and income power axle, coupling flange installs in the rigid gear one side of keeping away from the casing, coupling flange is used for being connected with the casing of motor, it installs in coupling flange to go into the power axle through connecting bearing rotation, it is used for being connected with the output shaft of motor to go into the power axle, the mounting hole that is linked together with self inside has been seted up to the outside of coupling flange, the ripples generator includes the cam, the cam is connected with the flexspline through flexible bearing, the load spare is installed in the one end that the cam was kept away from to the flexspline, go into power axle and cam fixed connection.

Through adopting above-mentioned technical scheme, install flange in the casing of motor, install the installation to harmonic reducer and motor in the output shaft of motor through the mounting hole later, when motor drive power input shaft rotated, the cam of wave generator passes through flexible bearing and drives flexspline together and rotate, flexspline drives the load spare and decelerate and rotate because of the meshing of external tooth and internal tooth, the staff need not to install each part of split in proper order when installing harmonic reducer and motor, thereby make the staff easy and simple to handle the installation of harmonic reducer and motor, simultaneously, the setting of dismouting need not to each drive part when harmonic reducer integration and installation, stability when being favorable to guaranteeing each part transmission after the harmonic reducer installation.

Optionally, the mounting hole is in clamping fit with a sealing cover for opening and closing the orifice of the mounting hole.

Through adopting above-mentioned technical scheme, the leakproofness after sealed lid is favorable to guaranteeing flange installation for the external object is difficult for entering into the rotation of internal interference income power axle through the mounting hole, guarantees the stability when income power axle rotates, simultaneously, makes impurity such as dust be difficult for entering into to flange in causing the pollution to income power axle through the mounting hole.

Optionally, the screens hole has been seted up to the one end that the flexible wheel was kept away from to income power axle, the cooperation of pegging graft of screens hole and the output shaft of motor, the fixed slot that is linked together with the screens hole has been seted up to the one end that the flexible wheel was kept away from to income power axle, the fixed slot extends to the lateral wall of income power axle, the movable slot has been seted up near the free end of screens hole drill way to income power axle, the movable slot is linked together with the screens hole, the free end that the income power axle is close to screens hole drill way is provided with the fixing bolt that corresponds with the mounting hole, during the fixing bolt rotation, two cell walls of fixed slot are towards being close to each other or the direction motion of keeping away from.

Through adopting above-mentioned technical scheme, insert the output shaft of motor to the screens downthehole to twist fixing bolt and make two cell walls of fixed slot when being close to each other the direction motion, the drill way in screens hole is together dwindled, thereby can realize the centre gripping fixed to the motor output shaft, the atress that the movable groove set up the messenger income power axle can be segmented, thereby make the income power axle be difficult for damaging because of the atress is uneven when the output shaft centre gripping of income power axle to the motor is fixed, be favorable to guaranteeing the life of income power axle.

Optionally, the outer peripheral face of income power axle is protruding to be equipped with screens portion, the outer peripheral face joint of income power axle has first jump ring, the inner circle of connecting bearing is located between screens portion and the first jump ring, be provided with first oil blanket between screens portion and the flange.

Through adopting above-mentioned technical scheme, the stability at joint bearing place position is favorable to guaranteeing to be provided with screens portion and first jump ring to the stable transmission of harmonic speed reducer of being convenient for, the setting of first oil blanket makes impurity such as moisture be difficult for entering into joint bearing place position, thereby is favorable to guaranteeing the stability when joint bearing moves.

Optionally, the flange inner peripheral face protruding is equipped with the spacing portion that corresponds with screens position, flange's inner peripheral face joint is cooperated with the second jump ring that corresponds with first jump ring position, the outer lane of connecting bearing is located between spacing portion and the second jump ring.

Through adopting above-mentioned technical scheme, the setting of second jump ring plays the further limiting displacement to connecting the bearing, is favorable to further guaranteeing the stability of connecting the position that the bearing is located, simultaneously, the second jump ring still plays the further limiting displacement to the income power axle for be difficult for taking place axial displacement when going into the power axle operation, thereby further guarantee the stability when going into the power axle rotation.

Optionally, go into the power axle and pass through key connection with the cam, go into the one end that the power axle kept away from flange and pass through bolt fixedly connected with spacing gasket, spacing gasket is contradicted in the cam towards one side of going into the power axle.

Through adopting above-mentioned technical scheme, the key-connected be provided with be favorable to guaranteeing the synchronous stability when income power axle and cam rotate, spacing gasket has carried out spacingly to the motion of axial direction when the cam rotates to be favorable to guaranteeing the stability when the cam rotates, the dismouting easy and simple to handle that the mode of bolt fastening made spacing gasket, be convenient for overhaul and maintain spacing gasket.

Optionally, the wave generator further includes a clamping plate fixed on the cam through a bolt, a containing groove extending to the outer peripheral surface of the cam is formed in one side of the cam facing the clamping plate, the flexible bearing is located in the containing groove, and one side of the clamping plate facing the cam is abutted to the flexible bearing.

Through adopting above-mentioned technical scheme, the cooperation of screens board and storage tank plays further limiting displacement to flexible bearing place position to make the difficult axial displacement that takes place of flexible bearing, be favorable to guaranteeing the stability when flexible bearing operates.

Optionally, the load piece is the crossed roller bearing, the one end that the flexible gear kept away from the income axle is provided with the bolster, flexible gear and bolster pass through the inner circle that the bolt fastening is in the crossed roller bearing, the outer lane of crossed roller bearing passes through the bolt fastening and is in the casing, be provided with the second oil blanket between crossed roller bearing's inner circle and the outer lane, the second oil blanket is located the one side that the flexible gear was kept away from to crossed roller bearing.

Through adopting above-mentioned technical scheme, the setting of bolster plays the cushioning effect when fixing the flexspline to make flexspline be difficult for impaired when fixing, cross roller bearing can bear radial, axial and overturning the load simultaneously, and bearing capacity is strong, and the flexspline of being convenient for is to the stable output of load, simultaneously, and impurity such as second oil blanket's setting makes impurity such as moisture be difficult for entering between the inner circle and the outer lane of cross roller bearing, thereby is favorable to further guaranteeing the stability when cross roller bearing moves.

Optionally, a sealing rubber ring is arranged between the shell and the outer ring of the crossed roller bearing.

Through adopting above-mentioned technical scheme, the airtight performance between casing and the crossed roller bearing is favorable to further guaranteeing to seal the rubber ring's setting for external impurity is difficult for entering into the place of crossed roller bearing, thereby guarantees crossed roller bearing's life.

Optionally, a flange connection part is integrally arranged on the outer side of the shell.

Through adopting above-mentioned technical scheme, the setting of flange joint portion is convenient for make the casing be connected with outside other parts to further guarantee the stability of casing place position.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when the harmonic reducer and the motor are installed, workers do not need to install all the split components in sequence, so that the installation and operation of the harmonic reducer and the motor by the workers are simple and convenient.

2. The harmonic reducer integration and need not to carry out the setting of dismouting to each transmission part when installing, be favorable to guaranteeing the stability when each part transmission after the harmonic reducer installation.

3. The setting of movable groove makes the atress of income power axle can be piecewise to make the income power axle be difficult for damaging because of the atress is uneven when the output shaft centre gripping of income power axle to the motor is fixed, be favorable to guaranteeing the life of income power axle.

Drawings

Fig. 1 is a schematic overall structure of an embodiment of the present application.

Fig. 2 is a schematic cross-sectional view of the overall structure of an embodiment of the present application.

Fig. 3 is an enlarged partial schematic view of the portion a in fig. 2.

Fig. 4 is an exploded schematic view of the overall structure of an embodiment of the present application.

Fig. 5 is a partially enlarged schematic view of the portion B in fig. 4.

Reference numerals illustrate:

1. a housing; 2. a flexible wheel; 3. rigid wheel; 4. a wave generator; 401. a cam; 402. a clamping plate; 5. a load member; 6. a flange connection portion; 7. a first boss; 8. a first O-ring; 9. a connecting flange; 10. a force input shaft; 11. a second protruding portion; 12. a second O-ring; 13. a threaded connection hole; 14. connecting a bearing; 15. a clamping hole; 16. a fixing groove; 17. a movable groove; 18. a fixing bolt; 19. a mounting hole; 20. sealing cover; 21. a fixed plane; 22. a clamping part; 23. a first clamping groove; 24. a first clamp spring; 25. a limit part; 26. a second clamping groove; 27. a second clamp spring; 28. a first oil seal; 29. a key; 30. a limiting gasket; 31. a flexible bearing; 32. a receiving groove; 33. internal teeth; 34. external teeth; 35. sealing rubber rings; 36. a third boss; 37. a second oil seal; 38. a buffer member; 39. and (5) fastening a bolt.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-5.

The embodiment of the application discloses a harmonic reducer of novel structure. Referring to fig. 1 and 2, the novel structure of the harmonic reducer comprises a housing 1, a flexspline 2, a rigid spline 3, a wave generator 4, a load member 5 and a connecting assembly, wherein the housing 1 is approximately cylindrical, and a flange connecting portion 6 is integrally arranged on the outer peripheral surface of the housing 1, so that the housing 1 is connected with other components, and the stability of the position of the housing 1 is ensured.

Referring to fig. 2 and 3, the rigid wheel 3 is cylindrical, one end of the rigid wheel 3 is attached to one end of the housing 1, the rigid wheel 3 is fixedly connected with the fixed housing 1 through a plurality of bolts uniformly distributed around the circumferential direction of the axis of the rigid wheel 3, in order to ensure tightness after the rigid wheel 3 is fixed with the housing 1, a first annular protruding portion 7 is integrally arranged at one end of the rigid wheel 3, which faces the housing 1, the outer circumferential surface of the first protruding portion 7 abuts against the inner circumferential surface of the housing 1, a first O-shaped ring 8 is embedded in the outer circumferential surface of the first protruding portion 7, and the first O-shaped ring 8 abuts against the inner circumferential surface of the housing 1.

With continued reference to fig. 2 and 3, the coupling assembling includes flange 9 and income power axle 10, flange 9 is kept away from the one end of casing 1 in the steel ring through a plurality of bolts fixed mounting around the even subsection of self axis circumference, in order to guarantee the leakproofness between flange 9 and the steel ring, flange 9 is provided with the second bellying 11 that is the ring shape towards the one end of steel ring an organic whole, the outer peripheral face of second bellying 11 is contradicted in the inner peripheral face of steel ring, and the outer peripheral face of second bellying 11 inlays and establishes and install second O type circle 12, the inner peripheral face of second O type circle 12 support tight steel ring.

Referring to fig. 1 and 2, a plurality of screw connection holes 13 uniformly distributed around the circumferential direction of the axis of the connecting flange 9 are formed at one end of the connecting flange 9 away from the steel ring, so that the connecting flange 9 is fixedly connected with the housing 1 of the motor. The force input shaft 10 is rotatably arranged on the connecting flange 9 through the connecting bearing 14, so that the force input shaft 10 is fixedly connected with an output shaft of the motor, a clamping hole 15 is formed in one end, close to the connecting flange 9, far away from the steel ring, of the force input shaft 10, and the output shaft of the motor is in plug-in fit with the clamping hole 15.

Referring to fig. 4 and 5, the end of the force input shaft 10 provided with the clamping hole 15 is further provided with a fixing groove 16, the fixing groove 16 is long and is communicated with the clamping hole 15, and the fixing groove 16 extends to the side wall of the force input shaft 10. The free end of the force input shaft 10, which is close to the orifice of the clamping hole 15, is provided with a movable groove 17 extending along the radial direction of the force input shaft 10, and the movable groove 17 is communicated with the clamping hole 15 and the fixed groove 16. The free end thread fit that the income power axle 10 is close to screens hole 15 drill way has fixing bolt 18, and when fixing bolt 18 rotated, the two cell walls of fixed slot 16 moved towards the direction that is close to each other or keeps away from to can realize the centre gripping fixed to the motor output shaft of grafting in screens hole 15.

Referring to fig. 2 and 4, in order to facilitate the rotation of the fixing bolt 18 by the worker, the outer circumferential surface of the connection flange 9 is provided with a mounting hole 19, the mounting hole 19 is communicated with the inside of the connection flange 9, and the mounting hole 19 and the fixing screw are distributed along the radial direction of the connection flange 9, so that the worker can screw the fixing bolt 18 through the mounting hole 19. In order to prevent foreign matters from easily entering the connecting flange 9 through the mounting holes 19 to influence the rotation of the force input shaft 10, the connecting flange 9 is clamped and matched with a sealing cover 20 for opening and closing the orifice of the mounting holes 19. The outer peripheral surface of the connecting flange 9 is provided with a fixing plane 21, when the sealing cover 20 seals the orifice of the mounting hole 19, one side of the sealing cover 20 positioned outside the mounting hole 19 is attached to the fixing plane 21, so that the stability of the position of the sealing cover 20 when the sealing cover 20 seals the orifice of the mounting hole 19 is guaranteed.

Referring to fig. 2 and 3, in order to ensure stability of the connection bearing 14 during operation, the outer circumferential surface of the input shaft 10 is convexly provided with a circular clamping portion 22, the outer circumferential surface of the input shaft 10 is provided with a circular first clamping groove 23, a first clamping spring 24 is engaged in the first clamping groove 23, the inner ring of the connection bearing 14 is located between the clamping portion 22 and the first clamping spring 24, and two end surfaces of the inner ring of the connection bearing 14 respectively abut against the clamping portion 22 and the first clamping spring 24.

With continued reference to fig. 2 and 3, the inner peripheral surface of the connecting flange 9 is convexly provided with a limiting part 25 corresponding to the position of the clamping part 22, the inner peripheral surface of the connecting flange 9 is provided with a second annular clamping groove 26, a second clamping spring 27 corresponding to the position of the first clamping spring 24 is clamped and matched in the second clamping groove 26, the outer ring of the connecting bearing 14 is positioned between the limiting part 25 and the second clamping spring 27, and two end surfaces of the outer ring of the connecting bearing 14 respectively abut against the limiting part 25 and the second clamping spring 27, so that the limiting effect on the connecting bearing 14 and the input shaft 10 during operation is achieved, and the stability of the positions of the input shaft 10 and the connecting bearing 14 during operation is ensured. The limiting part 25 and the clamping part 22 are arranged close to the clamping hole 15, and a first oil seal 28 is arranged between the limiting part 25 and the clamping part 22, so that impurities such as moisture and the like are not easy to enter the position where the bearing 14 is connected.

Referring to fig. 2, the wave generator 4 includes a cam 401 and a detent plate 402, and the input shaft 10 is connected to the cam 401 by a key 29 to ensure synchronous stability when the input shaft 10 and the cam 401 rotate. In order to further ensure the stability of the cam 401 and the force input shaft 10 after being fixed, one end of the force input shaft 10 far away from the clamping hole 15 is fixedly connected with a limiting gasket 30 through a bolt, and the limiting gasket 30 is abutted against the cam 401 towards one side of the force input shaft 10 so as to further limit the position of the cam 401.

Referring to fig. 2 and 3, the cam 401 is connected with the flexible gear 2 through the flexible bearing 31, in order to further ensure the stability of the position where the flexible bearing 31 is located during operation, one side of the cam 401 away from the limit gasket 30 is provided with an annular accommodating groove 32, the accommodating groove 32 extends to the outer peripheral surface of the cam 401, and the flexible bearing 31 is located in the accommodating groove 32. The clamping plate 402 is fixed on one side of the cam 401, which is far away from the limiting gasket 30, through a plurality of bolts which are uniformly distributed around the axial line of the clamping plate, and one side of the clamping plate 402, which faces the cam 401, is abutted against the inner ring of the flexible bearing 31, so that the further limiting effect on the rotation of the flexible bearing 31 is achieved.

Referring to fig. 4 and 5, a ring of internal teeth 33 is integrally provided on the inner peripheral surface of the rigid wheel 3, that is, on the inner side of the rigid wheel 3. The flexspline 2 is cylindrical, a ring of external teeth 34 is provided on the outer circumferential surface of the flexspline 2, i.e., on the outer side of the flexspline 2, and the external teeth 34 are meshed with the internal teeth 33, in this embodiment, the number of the internal teeth 33 is two more than the number of the external teeth 34, so that when the flexspline 2 rotates together with the cam 401, the flexspline 2 stably decelerates and rotates due to the meshing of the internal teeth 33 and the external teeth 34.

Referring to fig. 2 and 4, the load element 5 is in the present embodiment selected as a cross roller bearing, the outer ring of which is fixedly connected to the housing 1 by means of bolts. In order to ensure the tightness between the outer ring of the crossed roller bearing and the shell 1, a sealing rubber ring 35 is arranged on one side, close to the shell 1, of the outer ring of the crossed roller bearing, a circle of third protruding parts 36 is integrally arranged on one side, facing the crossed roller bearing, of the shell 1, the outer peripheral surface of each third protruding part 36 abuts against the inner peripheral surface of the outer ring of the crossed roller bearing, and the end surface of each third protruding part 36 abuts against the sealing rubber ring 35 tightly. In order to prevent external impurities from easily entering between the outer ring and the inner ring of the crossed roller bearing, a second oil seal 37 is arranged between the outer ring and the inner ring of the crossed roller bearing, and the second oil seal 37 is positioned on one side, far away from the shell 1, of the crossed roller bearing.

Referring to fig. 2, a buffer member 38 is disposed at one end of the flexspline 2 far away from the input shaft 10, the buffer member 38 is cylindrical, a plurality of fastening bolts 39 are uniformly distributed on the flexspline 2 around the circumferential direction of the axis of the flexspline 2, and each fastening bolt 39 sequentially penetrates through the buffer member 38 and the flexspline 2 and is in threaded fit with the inner ring of the cross roller bearing, so that the buffer member 38, the flexspline 2 and the inner ring of the cross roller bearing are fixed, and the buffer member 38 is provided with stress when the flexspline 2 and the inner ring of the cross roller bearing are fixed, so that the flexspline 2 and the inner ring of the cross roller bearing are not easy to damage when being fixed.

The implementation principle of the harmonic reducer with the novel structure in the embodiment of the application is as follows: when the device is used, the connecting flange 9 is firstly arranged on the shell 1 of the motor through bolts, then the input shaft 10 is fixedly arranged on the output shaft of the motor through the mounting holes 19 through bolts, the harmonic speed reducer and the motor can be mounted, when the motor drives the input shaft 10 to rotate, the cam 401 of the wave generator 4 drives the flexible gear 2 to rotate together through the flexible bearing 31, and the flexible gear 2 drives the inner ring of the crossed roller bearing to rotate in a speed reducing way due to the meshing of the external teeth 34 and the internal teeth 33, so that a part fixedly connected with the crossed roller bearing can perform a certain target task.

The staff need not to install each split part in proper order when installing harmonic reducer and motor to make the staff easy and simple to handle the installation of harmonic reducer and motor, simultaneously, the harmonic reducer integration need not to carry out the setting of dismouting to each drive part when installing, is favorable to guaranteeing the stability when each part is transmitted after the harmonic reducer installation.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims

1. The utility model provides a novel harmonic reducer of structure, includes casing (1), flexbile gear (2), steel wheel (3) and ripples generator (4), steel wheel (3) are installed in the one end of casing (1), steel wheel (3) inboard is provided with internal tooth (33), flexbile gear (2) outside is provided with external tooth (34) with internal tooth (33) engaged with, its characterized in that: the motor power generation device comprises a motor, and is characterized by further comprising a connecting assembly and a load piece (5), wherein the connecting assembly comprises a connecting flange (9) and a force entering shaft (10), the connecting flange (9) is installed on one side, far away from the shell (1), of the steel wheel (3), the connecting flange (9) is used for being connected with the shell (1) of the motor, the force entering shaft (10) is rotatably installed on the connecting flange (9) through a connecting bearing (14), the force entering shaft (10) is used for being connected with an output shaft of the motor, an installation hole (19) communicated with the inside of the connecting flange (9) is formed in the outer side of the connecting flange (9), the wave generator (4) comprises a cam (401), the cam (401) is connected with the flexible wheel (2) through a flexible bearing (31), the load piece (5) is installed on one end, far away from the cam (401), of the flexible wheel (2), and the force entering shaft (10) is fixedly connected with the cam (401).

The flexible gear is characterized in that a clamping hole (15) is formed in one end, far away from the flexible gear (2), of the input shaft (10), the clamping hole (15) is in plug-in fit with an output shaft of the motor, a fixing groove (16) communicated with the clamping hole (15) is formed in one end, far away from the flexible gear (2), of the input shaft (10), the fixing groove (16) extends to the side wall of the input shaft (10), a movable groove (17) is formed in the free end, close to an orifice of the clamping hole (15), of the input shaft (10), the movable groove (17) is communicated with the clamping hole (15), a fixing bolt (18) corresponding to an installation hole (19) is arranged in the free end, close to the orifice of the clamping hole (15), of the input shaft (10), and when the fixing bolt (18) rotates, two groove walls of the fixing groove (16) move towards directions close to or far away from each other;

the mounting hole (19) is in clamping fit with a sealing cover (20) for opening and closing the orifice of the mounting hole (19), a fixing plane (21) is arranged on the outer peripheral surface of the connecting flange (9), and when the mounting hole (19) is closed by the sealing cover (20), one side of the sealing cover (20) positioned outside the mounting hole is attached to the fixing plane (21);

the outer peripheral surface of the force input shaft (10) is convexly provided with a clamping part (22), the outer peripheral surface of the force input shaft (10) is in clamping fit with a first clamping spring (24), the inner ring of the connecting bearing (14) is positioned between the clamping part (22) and the first clamping spring (24), and a first oil seal (28) is arranged between the clamping part (22) and the connecting flange (9);

the inner peripheral surface of the connecting flange (9) is convexly provided with a limiting part (25) corresponding to the position of the clamping part (22), the inner peripheral surface of the connecting flange (9) is in clamping fit with a second clamping spring (27) corresponding to the position of the first clamping spring (24), and the outer ring of the connecting bearing (14) is positioned between the limiting part (25) and the second clamping spring (27);

the wave generator (4) further comprises a clamping plate (402) fixed on the cam (401) through bolts, a containing groove (32) extending to the outer peripheral surface of the cam (401) is formed in one side, facing the clamping plate (402), of the cam (401), the flexible bearing (31) is located in the containing groove (32), and one side, facing the cam (401), of the clamping plate (402) is abutted against the flexible bearing (31);

the input shaft (10) is connected with the cam (401) through a key (29), one end, far away from the connecting flange (9), of the input shaft (10) is fixedly connected with a limiting gasket (30) through a bolt, and one side, facing the input shaft (10), of the limiting gasket (30) is abutted against the cam (401);

the load piece (5) is a crossed roller bearing, one end of the flexible gear (2) far away from the input shaft (10) is provided with a buffer piece (38), the flexible gear (2) and the buffer piece (38) are fixed on an inner ring of the crossed roller bearing through bolts, an outer ring of the crossed roller bearing is fixed on the shell (1) through bolts, a second oil seal (37) is arranged between the inner ring and the outer ring of the crossed roller bearing, and the second oil seal (37) is located on one side of the crossed roller bearing far away from the flexible gear (2).

2. A novel structure harmonic reducer as defined in claim 1, wherein: a sealing rubber ring (35) is arranged between the shell (1) and the outer ring of the crossed roller bearing.

3. A novel structure harmonic reducer as defined in claim 1, wherein: the flange connection part (6) is integrally arranged on the outer side of the shell (1).