What are the main components of the harmonic reducer?

Harmonic reducer (harmonic drive reducer): mainly composed of three basic components: rigid wheel, flexible wheel, wave generator; main features: high motion precision, large transmission ratio, small size, light weight, high transmission efficiency , Long life, widely used in industrial robots, aviation, aerospace, etc.  Harmonic is used as a reducer, usually in the form of active wave generator, fixed rigid wheel, and flexible wheel output. When the wave generator is installed in the inner circle of the flexspline, the flexspline is forced to elastically deform and become an elliptical shape, so that the flexspline gear at the long axis is inserted into the tooth groove of the flexspline to become a fully engaged state; and its short axis The teeth of the two wheels are not in contact at all and are in a disengaged state. 　　 is in the state of being engaged or engaged during the process from engagement to disengagement. When the generator of the harmonic reducer rotates continuously, the flexspline is forced to continuously deform, so that the teeth of the two wheels continuously change their respective working states during the process of meshing, meshing, meshing, and disengaging, resulting in the so-called The staggered tooth movement realizes the movement transmission between the active wave generator and the flexspline.