Abstract: Provided is a double-flexspline harmonic reducer, comprising a strong flexspline (3), a weak flexspline (2) and a wave generator (1). The strong flexspline (3) and the weak flexspline (2) are coaxially fixed in an axial direction and a radial direction, and teeth which can be engaged with each other and are different in the number thereof are provided on the strong flexspline (3) and the weak flexspline (2) respectively. The wave generator (1) causes the weak flexspline (2) to undergo non-circular elastic deformation and then to partially engage with the strong flexspline (3), and a contact portion of the strong flexspline (3) and the weak flexspline (2) undergoes non-circular elastic deformation under a radial pressure from the weak flexspline (2). A wall thickness of the strong flexspline (3) is greater than or equal to 2 times and less than 5 times that of the weak flexspline (2).

Abstract: The present application discloses a double-flexspline harmonic reducer, comprising a strong flexspline (3) , a weak flexspline (2), a wave generator (1), and a deformation stopper (4) of the strong flexspline; the strong flexspline and the weak flexspline are coaxially fixed axially and radially, the strong flexspline and the weak flexspline are respectively provided with teeth that can engage with each other; the number of teeth of the strong flexspline and the weak flexspline are different; the wave generator is used to make the weak flexspline to undergo non-circular elastic deformation and partially engage with the strong flexspline; the contact part of the strong flexspline and the weak flexspline is subjected to the radial pressure of the weak flexspline to generate a non-circular elastic deformation, a flexible tubular wall of the strong flexspline has a toothless surface, and a limiting contact surface is processed on the toothless surface.

Abstract: Provided is a double-flexspline harmonic reducer, comprising a strong flexspline (3), a weak flexspline (2) and a wave generator (1). The strong flexspline (3) and the weak flexspline (2) are coaxially fixed in an axial direction and a radial direction, and teeth which can be engaged with each other and are different in the number thereof are provided on the strong flexspline (3) and the weak flexspline (2) respectively. The wave generator (1) causes the weak flexspline (2) to undergo non-circular elastic deformation and then to partially engage with the strong flexspline (3), and a contact portion of the strong flexspline (3) and the weak flexspline (2) undergoes non-circular elastic deformation under a radial pressure from the weak flexspline (2). A wall thickness of the strong flexspline (3) is greater than or equal to 2 times and less than 5 times that of the weak flexspline (2).

Abstract: The present application discloses a double-flexspline harmonic reducer, comprising a strong flexspline (3), a weak flexspline (2), a wave generator (1), and a deformation stopper (4) of the strong flexspline; the strong flexspline and the weak flexspline are coaxially fixed axially and radially, the strong flexspline and the weak flexspline are respectively provided with teeth that can engage with each other; the number of teeth of the strong flexspline and the weak flexspline are different; the wave generator is used to make the weak flexspline to undergo non-circular elastic deformation and partially engage with the strong flexspline; the contact part of the strong flexspline and the weak flexspline is subjected to the radial pressure of the weak flexspline to generate a non-circular elastic deformation, a flexible tubular wall of the strong flexspline has a toothless surface, and a limiting contact surface is processed on the toothless surface.

Abstract: A differential includes a housing, an internal gear pair having an oscillating gear A and an output gear A, an internal gear pair consisting of an oscillating gear B and an output gear B, at least two A-type intermediate gears, and at least two B-type intermediate gears. Each A-type intermediate gear is radially fixed to the housing, and an axis of rotation of each A-type intermediate gear is parallel to an axis of rotation of the housing. Each A-type intermediate gear is meshed with at least one B-type intermediate gear, and the gear ratio of each gear pair consisting of an A-type intermediate gear and a B-type intermediate gear is the same. Each A-type intermediate gear includes an eccentric shaft having an axis parallel to its axis of rotation, and the eccentric shaft on each A-type intermediate gear has the same distance from the axis of rotation of the gear.

Abstract: A differential includes a housing, an internal gear pair having an oscillating gear A and an output gear A, an internal gear pair consisting of an oscillating gear B and an output gear B, at least two A-type intermediate gears, and at least two B-type intermediate gears. Each A-type intermediate gear is radially fixed to the housing, and an axis of rotation of each A-type intermediate gear is parallel to an axis of rotation of the housing. Each A-type intermediate gear is meshed with at least one B-type intermediate gear, and the gear ratio of each gear pair consisting of an A-type intermediate gear and a B-type intermediate gear is the same. Each A-type intermediate gear includes an eccentric shaft having an axis parallel to its axis of rotation, and the eccentric shaft on each A-type intermediate gear has the same distance from the axis of rotation of the gear.