谐波齿轮减速器主要由刚轮、柔轮和波发生器三部分组成。柔轮是一个具有外齿的弹性薄壁零件,刚轮是一个刚性内齿圈,而波发生器是由一个椭圆凸轮及压配在凸轮上的薄壁轴承组成(如图所示)。波发生器压入柔轮内,柔轮在波发生器径向力作用下产生变形。在椭圆凸轮长轴方向,刚轮(设固定件)和柔轮的轮齿完全啮合。而短轴方向,刚轮和柔轮的轮齿完全脱开。由于刚轮齿数比柔轮齿数多2个,在输入扭矩作用下凸轮顺时针方向旋转时,椭圆长轴也随发 Harmonic gear reducer mainly by the wheel, flexible wheel and wave generator composed of three parts. The flexspline is a flexible, thin-walled, externally toothed part that is a rigid ring gear. The wave generator consists of an elliptical cam and a thin-walled bearing press-fit onto the cam as shown. The wave generator is pressed into the flexspline and the flexspline deforms under the radial force of the wave generator. In the direction of the long axis of the elliptical cam, the rigid wheels (fixed parts) and the teeth of the flexible wheel are fully meshed. The short-axis direction, just round and flex wheel tooth completely disconnected. As the number of teeth just round gear teeth more than 2, the input torque in the clockwise rotation of the cam, the oval long axis also with the hair