What are the basic components of a harmonic reducer

Harmonic reducer is an important part of the robot, and is generally applied to the forearm, wrist or hand of the robot. With the increase of labor costs in our country, the trend of robots replacing labor is becoming more and more obvious, and the advantages of robots producing products such as good consistency and high assembly accuracy are also getting more and more attention from manufacturers. Therefore, the demand for robots in my country is also increasing. As one of the important components of robots, the demand for harmonic reducers is also increasing. So what are the basic components of a harmonic reducer? The harmonic reducer is mainly composed of three basic components, namely the wave generator, the flexible wheel and the rigid wheel.  1. Wave generator: composed of flexible bearings and elliptical cams. 2. Flexible wheel: thin-walled metal elastomer component with outer gear ring. 3. Rigid wheel: a rigid ring-shaped part with an inner gear ring, generally 2 teeth more than the flexible wheel. The continuous rotation of the wave generator forces a point on the flexspline to continuously change its position. At this time, at any point on the pitch circle of the flexspline, along with the angular movement of the wave generator, a symmetrical harmonic wave is formed. , So it is called a harmonic reducer. When it is used, it usually adopts active wave generator, fixed rigid wheel, and output form of flexible wheel.