TWI650497B - Hollow harmonic gearbox structure - Google Patents

Abstract

A hollow harmonic gearbox structure includes an output shaft, a steel wheel, a socket, a rotating seat, a flexible wheel and a front end cover, wherein the input shaft is circumferentially wound around the output shaft such that the output shaft is located at the input shaft The inner circumference is such that a front section of the output shaft is located in a front section of the input shaft. The output shaft is provided with a disc body, a ring portion and a ring groove. A ball bearing is disposed between the input shaft and the ring portion. The input shaft is provided with a convex ring. The steel wheel abuts against the ring. The convex ring is located in the inner circumference of the steel wheel, and the outer peripheral surface is sleeved with a flexible bearing. The flexible wheel is between the flexible bearing and the steel wheel. The socket surrounds the periphery of the input shaft and abuts against the steel wheel and is fixed by a lock bolt. The swivel surrounds the periphery of the seat, and a cross roller bearing is interposed between the seat and the seat. The front end cover surrounds the periphery of the input shaft. The outer portion of the flexible wheel is attached between the outer ring portion and the rotating seat, and is fixed by a lock bolt. A ball bearing and a rotary oil seal are interposed between the front end cover and the input shaft.俾 It can achieve easy processing, precise control, good structural stability, and avoid oil leakage by setting the same side of the input and input.

Description

Hollow harmonic gearbox structure

The invention relates to a hollow harmonic gear box structure, in particular to a design that can be easily processed by the output end and the input end on the same side of the gear box, the control is easy to control, the structure is stable, and the oil leakage is avoided. Harmonic gear technology for efficiency.

According to the general harmonic gear transmission mechanism, it is mainly a mechanical power transmission mechanism composed of three components: a wave generator, a flexible gear and a rigid gear. The mechanical power transmission mechanism is formed by the wave generator to elastically deform the flexible gear and interact with the rigid gear to achieve the purpose of transmitting motion or power. In the transmission, the wave generator rotates one revolution, and the number of times of cyclic deformation at a certain point on the flexible gear is called the wave number. As for the deformation process of the flexible gear, it is a substantially symmetrical harmonic, so it is called harmonic transmission.

Representative patents of conventional harmonic gears such as the domestic invention No. I550212 "Unit type harmonic gear device", invention No. I563194 "Hollow harmonic gear unit", invention No. I563195 "Hollow harmonic gear device and hollow actuation The device and the new M498820 "cup type harmonic gear unit" are shown in the patent. Although these patents have the transmission function of harmonic gears; however, these patents do not have the function setting on the same side as the input and output, so the patented harmonic gearboxes are both on the output and input on the two sides (ie different sides). Therefore, it has many defects such as difficulty in processing, difficulty in control, low strength, poor structural stability, and serious problems of oil leakage. Other than that, Some prior art techniques have placed the ball bearings directly on the inside of the input shaft, which would result in a lack of concentricity of bearing machining on both sides of the input shaft.

In view of the above-mentioned conventional wave generator and the lack of the same side of the patents due to the output and the input, in view of this, the creators of the present invention have been continuously developed and developed a set different from the above-mentioned conventional knowledge. The invention of the technology.

The first object of the present invention is to provide a hollow harmonic gearbox structure, which is mainly characterized by easy installation, easy control, high structural stability and oil avoidance by setting the inner and outer tubes concentric and the power input and output on the same side. Missing things and other effects. The technical means for achieving the main object of the present invention comprises: an output shaft, a steel wheel, a socket, a rotary seat, a flexible wheel and a front end cover, wherein the input shaft is circumferentially wound around the output shaft such that the output shaft is located at the output shaft An inner circumference of the input shaft is disposed, and a front end of the output shaft is located in a front inner circumference of the input shaft, and an end of the front end of the output shaft is an output end, and an end of the front end of the input shaft is an input end a rear end of the output shaft is provided with a ring body; a ring portion is protruded from a front end surface of the disk body; a ring groove is formed between the ring portion and the outer circumference of the output shaft; a front end of the input shaft extends into the ring groove a ball bearing is disposed between the outer wall surface of the front portion and the inner wall surface of the ring portion; a convex ring is disposed on the middle of the input shaft; the steel wheel surrounds the periphery of the input shaft, the steel a rear end surface of the wheel abuts against a front end surface of the ring portion; the convex ring is located in the inner circumference of the steel wheel, and an outer peripheral surface of the convex ring is sleeved with a flexible bearing; the flexible bearing is located in the inner circumference of the steel wheel; a rear section of the flexible wheel is interposed between the flexible bearing and the steel wheel; the ring a socket surrounds the periphery of the input shaft, a rear end surface of the socket abuts a front end surface of the steel wheel, the steel wheel is interposed between the socket and the ring portion and is fixed by a bolt; the annular rotation a seat surrounds the periphery of the socket; a cross roller bearing is interposed between the socket and the rotating seat; the annular front end The cover surrounds a periphery of a front end of the input shaft; an outer ring portion of a rear end surface of the front end cover is opposite to a front end surface of the rotating base; and a front end portion of the flexible wheel is externally expanded, and a front end surface of the disk portion And a rear end surface is respectively disposed between the outer ring portion of the front end cover and the front end surface of the rotating seat, and is fixed by a bolt; a set of inner ring portions of the rear end surface of the front end cover is protruded a ball bearing interposed between an inner circumferential surface of one of the collars and an outer circumferential surface of the front portion of the input shaft; an inner circumferential surface of a front portion of the front end cover and an outer circumferential surface of the front portion of the input shaft A rotating oil seal is interposed between them.

A second object of the present invention is to provide a structure that is stable and can be easily processed, has an easy-to-control precision, is structurally stable, and avoids oil leakage by the functions of concentricity of the inner and outer tubes and the same side of the power input and output. Hollow harmonic gearbox structure. The technical means for achieving the second object of the present invention includes an output shaft, a steel wheel, a socket, a rotary seat, a flexible wheel and a front end cover, wherein the input shaft is circumferentially wound around the output shaft such that the output shaft is located The input shaft is surrounded by a front end of the output shaft, and an end of the front end of the output shaft is an output end, and an end of the front end of the input shaft is an input a ring body is formed on the rear end of the output shaft; a ring portion is protruded from a front end surface of the disk body; a ring groove is formed between the ring portion and the outer circumference of the output shaft; a ring bearing, a ball bearing is disposed between the outer wall surface of the front portion and the inner wall surface of the ring portion; a convex ring is arranged on the middle of the input shaft; the steel wheel surrounds the periphery of the input shaft a rear end surface of the steel wheel abuts against a front end surface of the ring portion; a ring edge protrudes from a front end surface of the ring portion; and an outer peripheral surface of one of the front portions of the convex ring of the input shaft and one of the ring edges The inner wall surface is partially opposed; an outer peripheral surface of the rear portion of the steel wheel abuts the ring edge An inner wall surface; the convex ring is located in the inner circumference of the steel wheel, and an outer peripheral surface of the convex ring is sleeved with a flexible bearing; the flexible bearing is located in the inner circumference of the steel wheel; the rear end of the tubular flexible wheel is interposed between the flexible bearing and the Between the steel wheels; the annular bearing surrounds the periphery of the input shaft, the bearing is one behind The end surface abuts a front end surface of the steel wheel, the steel wheel is interposed between the bearing seat and the ring portion and is fixed by a bolt; the annular rotating seat surrounds the periphery of the bearing seat; the bearing seat and the bearing Intersecting a cross roller bearing between the transposing; the annular front end cover surrounds a periphery of the front end of the input shaft; an outer ring portion of a rear end surface of the front end cover is opposite to a front end surface of the rotating base; the flexible wheel a front end portion of the front end portion and a rear end surface of the front end cover are respectively disposed between the outer ring portion of the front end cover and the front end surface of the rotating seat, and are fixed by a bolt; a ring is protruded from an inner ring portion of the rear end surface of the front end cover, and a ball bearing is disposed between an inner circumferential surface of the collar and an outer circumferential surface of the front portion of the input shaft; a front end of the front end cover A rotating oil seal is interposed between an inner circumferential surface and an outer circumferential surface of the front portion of the input shaft.

A third object of the present invention is to provide a leakproof property, and the utility model can be easily processed, the control is easy to control, the structure is stable, and the oil leakage is avoided by the functions of the inner and outer tubes concentric and the power input and output on the same side. Efficient hollow harmonic gearbox structure. The technical means for achieving the third object of the present invention comprises: an output shaft, a steel wheel, a socket, a rotating seat, a flexible wheel and a front end cover, wherein the input shaft is circumferentially wound around the output shaft such that the output shaft is located The input shaft is surrounded by a front end of the output shaft, and an end of the front end of the output shaft is an output end, and an end of the front end of the input shaft is an input end a rear end of the output shaft is provided with a ring body; a ring portion is protruded from a front end surface of the disk body; a ring groove is formed between the ring portion and the outer circumference of the output shaft; a front end of the input shaft extends into the ring groove a ball bearing is disposed between the outer wall surface of the front portion and the inner wall surface of the ring portion; a convex ring is disposed on the middle of the input shaft; the steel wheel surrounds the periphery of the input shaft, the steel a rear end surface of the wheel abuts against a front end surface of the ring portion; the convex ring is located in the inner circumference of the steel wheel, and an outer peripheral surface of the convex ring is sleeved with a flexible bearing; the flexible bearing is located in the inner circumference of the steel wheel; a rear end of the flexible wheel is interposed between the flexible bearing and the steel wheel; the annular bearing surrounds the periphery of the input shaft, and a rear end surface of the bearing abuts against a front end surface of the steel wheel, the steel wheel is interposed The bearing seat and the ring portion are fixed by a bolt; the annular rotating seat surrounds the periphery of the bearing; a cross roller bearing is interposed between the bearing seat and the rotating seat; the annular front end cover surrounds An outer circumference of the front end of the input shaft; an outer ring portion of the rear end surface of the front end cover is opposite to a front end surface of the rotating base A front end portion and a rear end surface of the disc portion are respectively disposed between the outer ring portion of the front end cover and the front end surface of the rotating seat, and a bolt is locked Fixing; a ring is protruded from an inner ring portion of the rear end surface of the front end cover, and a ball bearing is disposed between an inner circumferential surface of the collar and an outer circumferential surface of the front portion of the input shaft; the front end cover a rotating oil seal is interposed between an inner circumferential surface of a front portion and an outer circumferential surface of the front portion of the input shaft; and the outer portion of the outer peripheral portion of the front end cover and the front end surface of the rotary seat Set a leak-proof ring.

10‧‧‧ input shaft

11‧‧‧ dish

12‧‧‧ Ring Department

13‧‧‧ Ring groove

14‧‧‧ rim

15‧‧‧Ball bearings

16‧‧‧ convex ring

17‧‧‧Flexible bearings

18‧‧‧ bolt

19‧‧‧ bolts

20‧‧‧ Output shaft

30‧‧‧Steel wheel

31‧‧‧

40‧‧‧ seat

50‧‧‧Transposition

51‧‧‧ Crossed Roller Bearings

60‧‧‧Flex

61‧‧‧Parts

70‧‧‧ front end cover

71‧‧‧Outer Rings

76‧‧‧Bolts

72‧‧‧ Inner Ring Department

73‧‧‧ collar

74‧‧‧Ball bearings

75‧‧‧Rotary oil seal

77‧‧‧Anti-leakage ring

1 is a schematic cross-sectional view showing a specific structure of the present invention.

In order to allow the reviewing committee to further understand the technical features of the present invention and the technical means for achieving the object of the present invention, it will be described in detail by way of specific embodiments and drawings: please refer to FIG. The embodiment of the present invention includes an input shaft 10, an output shaft 20, a steel wheel 30, a socket 40, a rotating base 50, a flex wheel 60 and a front end cover 70. The input shaft 10 is circumferentially wound around the output shaft 20 such that the output shaft 20 is located within the input shaft 10 and has a gap with the input shaft 10. The output shaft 20 has a slightly T-shaped profile. Specifically, a rear end of the output shaft 20 is externally provided with a disk body 11. A front end surface of the disk body 11 is convexly provided with a ring portion 12, and between the ring portion 12 and the outer periphery of the output shaft 20 A ring groove 13 is formed. The input shaft 10 is extended in front In the ring groove 13, a ball bearing 15 is disposed between the outer wall of the front section of the input shaft 10 and the inner wall surface of the ring portion 12. A convex ring 16 is disposed on the middle protrusion ring of the input shaft 10. One of the outer peripheral faces of one of the front sections of the male ring 16 of the input shaft 10 is partially opposed to the inner wall surface of one of the rims 14. The steel wheel 30 surrounds the outer periphery of the input shaft 10. A rear end surface of the steel wheel 30 abuts against the front end surface of the ring portion 12. An outer peripheral surface of the rear portion of the steel wheel 30 abuts against the inner edge of the annular portion 14. Wall. The convex ring 16 is located in the inner circumference of the steel wheel 30, and an outer peripheral surface of the convex ring 16 is sleeved with a flexible bearing 17. The flexible bearing 17 is located inside the steel wheel 30; a rear section of the tubular flex wheel 60 is interposed between the flexible bearing 17 and the steel wheel 30. The annular bearing 40 surrounds the periphery of the input shaft 10, and a rear end surface of the bearing 40 abuts against a front end surface of the steel wheel 30. The front end surface of the steel wheel 30 protrudes from a flange 31, and the bearing seat An inner circumferential surface of the rear portion of 40 is abutted against an outer circumferential surface of the abutment, so that the steel wheel 30 is interposed between the socket 40 and the ring portion 12 and is fixed by a bolt 18. The annular swivel 50 surrounds the periphery of the socket 40; a cross roller bearing 51 is interposed between the socket 40 and the swivel 50. The annular front end cover 70 surrounds the periphery of a front section of the input shaft 10. An outer ring portion 71 of the rear end surface of the front end cover 70 is opposite to a front end surface of the rotating base 50. The front end of the flexible wheel 60 is externally expanded by a disk portion 61. A front end surface and a rear end surface of the disk portion 61 are respectively The outer ring portion 71 of the front end cover 70 and the front end surface of the rotating base 50 are interposed and fixed by a plurality of bolts 76. An inner ring portion 72 of the rear end surface of the front end cover 70 protrudes from a ring 73. A ball bearing 74 is interposed between an inner circumferential surface of the collar 73 and an outer circumferential surface of the front portion of the input shaft 10. . A rotary oil seal 75 is interposed between an inner circumferential surface of a front end of the front end cover 70 and an outer circumferential surface of the front portion of the input shaft 10. A leakage preventing ring 77 is interposed between the disk portion 61 and the outer ring portion of the front end cover 70 and the front end surface of the rotating base 50.

Referring to FIG. 1 , an embodiment of the second object of the present invention includes an input shaft 10 , an output shaft 20 , a steel wheel 30 , a socket 40 , a rotating base 50 , and a flexible wheel 60 . And a front end cover 70. The input shaft 10 is circumferentially wound around the output shaft 20 such that the output shaft 20 is located inside the input shaft 10. The output shaft 20 has a disk body 11 protruding from the rear end of the output shaft 20, and the disk body 11 is front A ring portion 12 is protruded from the end surface, and a ring groove 13 is formed between the ring portion 12 and the outer circumference of the output shaft 20. A ring edge 14 is protruded from a peripheral end surface of the ring portion 12. A front end of the input shaft 10 extends into the annular groove 13. A ball bearing 15 is disposed between the outer wall of the front portion of the input shaft 10 and the inner wall surface of the ring portion 12. A convex ring 16 is disposed on the middle protrusion ring of the input shaft 10. A ring edge 14 is protruded from a peripheral end surface of the ring portion 12. One of the outer peripheral faces of a front section of the male ring 16 of the input shaft 10 is partially opposed to an inner wall surface of the annular rim 14. The steel wheel 30 surrounds the outer periphery of the input shaft 10. A rear end surface of the steel wheel 30 abuts against the front end surface of the ring portion 12. An outer peripheral surface of the rear portion of the steel wheel 30 abuts against the inner edge of the annular portion 14. Wall. The convex ring 16 is located in the inner circumference of the steel wheel 30, and an outer peripheral surface of the convex ring 16 is sleeved with a flexible bearing 17. The flexible bearing 17 is located inside the steel wheel 30; a rear section of the tubular flex wheel 60 is interposed between the flexible bearing 17 and the steel wheel 30. The annular bearing 40 surrounds the periphery of the input shaft 10, and a rear end surface of the bearing 40 abuts a front end surface of the steel wheel 30 such that the steel wheel 30 is interposed between the bearing 40 and the ring portion 12. And a lock 18 is fixed by a lock. The annular swivel 50 surrounds the periphery of the socket 40; a cross roller bearing 51 is interposed between the socket 40 and the swivel 50. The annular front end cover 70 surrounds the periphery of a front section of the input shaft 10. An outer ring portion 71 of the rear end surface of the front end cover 70 is opposite to a front end surface of the rotating base 50. The front end of the flexible wheel 60 is externally expanded by a disk portion 61. A front end surface and a rear end surface of the disk portion 61 are respectively The outer ring portion 71 of the front end cover 70 and the front end surface of the rotating base 50 are interposed and fixed by a plurality of bolts 76. A ring 73 is protruded from an inner ring portion 72 of the rear end surface of the front end cover 70. A ball bearing 74 is interposed between an inner circumferential surface of the collar and an outer circumferential surface of the front portion of the input shaft 10. A rotary oil seal 75 is interposed between an inner circumferential surface of a front end of the front end cover 70 and an outer circumferential surface of the front portion of the input shaft 10.

Referring to FIG. 1 , an embodiment of the third object of the present invention includes an input shaft 10 , an output shaft 20 , a steel wheel 30 , a socket 40 , a rotating base 50 , and a flexible wheel 60 . And a front end cover 70. The input shaft 10 is circumferentially wound around the output shaft 20 such that the output shaft 20 is located inside the input shaft 10. The output shaft 20 has a disk body 11 protruding from the rear end of the output shaft 20, and the disk body 11 is front A ring portion 12 is protruded from the end surface, and a ring groove 13 is formed between the ring portion 12 and the outer circumference of the output shaft 20. A front end of the input shaft 10 extends into the annular groove 13. A ball bearing 15 is disposed between the outer wall of the front portion of the input shaft 10 and the inner wall surface of the ring portion 12. A convex ring 16 is disposed on the middle protrusion ring of the input shaft 10. The steel wheel 30 surrounds the periphery of the input shaft 10, and a rear end surface of the steel wheel 30 abuts against the front end surface of the ring portion 12. The convex ring 16 is located in the inner circumference of the steel wheel 30, and an outer peripheral surface of the convex ring 16 is sleeved with a flexible bearing 17. The flexible bearing 17 is located inside the steel wheel 30; a rear section of the tubular flex wheel 60 is interposed between the flexible bearing 17 and the steel wheel 30. The annular bearing 40 surrounds the periphery of the input shaft 10, and a rear end surface of the bearing 40 abuts against a front end surface of the steel wheel 30. The front end surface of the steel wheel 30 protrudes from a flange 31, and the bearing seat An inner circumferential surface of the rear portion of 40 is abutted against an outer circumferential surface of the flange 31 such that the steel wheel 30 is interposed between the socket 40 and the ring portion 12 and is fixed by a bolt 18. The annular swivel 50 surrounds the periphery of the socket 40; a cross roller bearing 51 is interposed between the socket 40 and the swivel 50. The annular front end cover 70 surrounds the periphery of a front section of the input shaft 10. An outer ring portion 71 of the rear end surface of the front end cover 70 is opposite to a front end surface of the rotating base 50. The front end of the flexible wheel 60 is externally expanded by a disk portion 61. A front end surface and a rear end surface of the disk portion 61 are respectively The outer ring portion 71 of the front end cover 70 and the front end surface of the rotating base 50 are interposed and fixed by a plurality of bolts 76. A ring 73 is protruded from an inner ring portion 72 of the rear end surface of the front end cover 70. A ball bearing 74 is interposed between an inner circumferential surface of the collar and an outer circumferential surface of the front portion of the input shaft 10. A rotary oil seal 75 is interposed between an inner circumferential surface of a front end of the front end cover 70 and an outer circumferential surface of the front portion of the input shaft 10.

Referring to FIG. 1 , an embodiment of the fourth object of the present invention includes an input shaft 10 , an output shaft 20 , a steel wheel 30 , a socket 40 , a rotating base 50 , and a flexible wheel 60 . And a front end cover 70. The input shaft 10 is circumferentially wound around the output shaft 20 such that the output shaft 20 is located inside the input shaft 10. A disk body 11 is formed on the rear end of the output shaft 20, and a ring portion 12 is protruded from a front end surface of the disk body 11. A ring groove 13 is formed between the ring portion 12 and the outer periphery of the output shaft 20. The front portion of the input shaft 10 extends into the annular groove 13 , and the outer wall of the front portion of the input shaft 10 and the inner portion of the ring portion 12 A ball bearing 15 is interposed between the walls. A convex ring 16 is disposed on the middle protrusion ring of the input shaft 10. The steel wheel 30 surrounds the periphery of the input shaft 10, and a rear end surface of the steel wheel 30 abuts against the front end surface of the ring portion 12. The convex ring 16 is located in the inner circumference of the steel wheel 30, and an outer peripheral surface of the convex ring 16 is sleeved with a flexible bearing 17. The flexible bearing 17 is located inside the steel wheel 30; a rear section of the tubular flex wheel 60 is interposed between the flexible bearing 17 and the steel wheel 30. The annular bearing 40 surrounds the periphery of the input shaft 10, and a rear end surface of the bearing 40 abuts against a front end surface of the steel wheel 30. The steel wheel 30 is interposed between the bearing 40 and the ring portion 12 and The lock is secured by a bolt 18. The annular swivel 50 surrounds the periphery of the socket 40; a cross roller bearing 51 is interposed between the socket 40 and the swivel 50. The annular front end cover 70 surrounds the periphery of a front section of the input shaft 10. An outer ring portion 71 of the rear end surface of the front end cover 70 is opposite to a front end surface of the rotating base 50. The front end of the flexible wheel 60 is externally expanded by a disk portion 61. A front end surface and a rear end surface of the disk portion 61 are respectively The outer ring portion 71 of the front end cover 70 and the front end surface of the rotating base 50 are interposed and fixed by a plurality of bolts 76. A ring 73 is protruded from an inner ring portion 72 of the rear end surface of the front end cover 70. A ball bearing 74 is interposed between an inner circumferential surface of the collar and an outer circumferential surface of the front portion of the input shaft 10. A rotary oil seal 75 is interposed between an inner circumferential surface of a front end of the front end cover 70 and an outer circumferential surface of the front portion of the input shaft 10. A leakage preventing ring 77 is interposed between the disk portion 61 and the outer ring portion of the front end cover 70 and the front end surface of the rotating base 50.

Therefore, according to the description of the above specific embodiments, the present invention can be easily processed, the precision is easy to control, and the structure is stable by the concentricity of the inner and outer tubes and the function of the power input end and the output end on the same side of the gear box. Avoid oil leakage and other effects.

The above is only a possible embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention, and the equivalent implementations of other changes according to the contents, features and spirits of the following claims should be It is included in the patent of the present invention. The invention is specifically defined in the structural features of the request item, is not found in the same kind of articles, and has practicality and progress, has met the requirements of the invention patent, and has applied for the law according to law, and the SIPO must approve the patent according to law to maintain the The legal rights of the applicant.

Claims (5)

A hollow harmonic gearbox structure comprising: an input shaft; an output shaft; a steel wheel; a bearing; a rotating seat; a flexible wheel; and a front end cover, wherein the input shaft is circumferentially wrapped around The output shaft is disposed at an inner circumference of the input shaft and has a spacing from the input shaft, and a front section of the output shaft is located in a front section of the input shaft, and the front section of the output shaft An end is an output end, and an end of the front end of the input shaft is an input end; a rear end of the output shaft is externally expanded; a front end surface of the disc body has a ring portion; the ring portion and the ring portion A ring groove is formed between the outer circumference of the output shaft; a ring edge protrudes from a front end surface of the ring portion; a front end of the input shaft extends into the ring groove, and the front wall of the input shaft is in an outer wall surface and one of the ring portions a ball bearing is disposed between the wall surfaces; a convex ring is disposed on the middle of the input shaft; the steel wheel surrounds the periphery of the input shaft, and a rear end surface of the steel wheel abuts against a front end surface of the ring portion; The ring is located in the inner circumference of the steel wheel, and an outer peripheral surface of the convex ring is sleeved with a flexible bearing; The bearing is located in the inner circumference of the steel wheel; a rear section of the tubular flexible wheel is interposed between the flexible bearing and the steel wheel; the annular bearing surrounds the periphery of the input shaft, and a rear end surface of the bearing and the steel wheel The front end surface abuts, the steel wheel is interposed between the bearing seat and the ring portion and is fixed by a bolt; The annular swivel surrounds the periphery of the socket; a cross roller bearing is interposed between the socket and the rotating seat; the annular front end cover surrounds a periphery of a front section of the input shaft; and a rear end surface of the front end cover An outer ring portion is opposite to a front end surface of the rotating base; a front end portion of the flexible wheel portion is externally expanded, and a front end surface and a rear end surface of the disk portion are respectively attached to the outer ring portion of the front end cover and the outer ring portion Between the front end faces of the transposition seat, and a bolt is fixed by a bolt; an inner ring portion of the rear end surface of the front end cover protrudes from a ring, and an inner circumferential surface of the collar and the front end of the input shaft A ball bearing is interposed between an outer peripheral surface; a rotating oil seal is interposed between an inner peripheral surface of a front end of the front end cover and an outer peripheral surface of the front portion of the input shaft. The hollow-type harmonic gearbox structure of claim 1, wherein a ring edge protrudes from a front end surface of the ring portion; and an outer peripheral surface of one of the front sections of the input ring and one of the ring edges The wall surface is partially opposed; an outer peripheral surface of the rear portion of the steel wheel abuts against the inner wall surface of the ring edge. The hollow type harmonic gearbox structure according to claim 1, wherein the front end surface of the steel wheel has a ring edge; an inner circumferential surface of the rear portion of the bearing abuts against an outer circumferential surface of the flange. The hollow type harmonic gear box structure according to claim 1, wherein a gap preventer is interposed between the disk portion and the outer ring portion of the front end cover and the front end surface of the rotating seat. The hollow type harmonic gearbox structure of claim 1, wherein the output shaft profile is slightly transversely T-shaped.