The coaxial robot joint small high precision reducer adopts WS tooth shape, which further optimizes the double circular arc tooth shape of the traditional theory. The tooth shape formed by the circular arc curve of the original two sections of curvature connection is optimized for the circular arc curve of the multi-section curvature connection, so as to ensure the correct meshing of the reducer gear and protect the risk of grease failure after extreme pressure by reducing the relative sliding friction. Based on WS tooth shape products, the bearing capacity is increased by 15%, the temperature rise is reduced by 8-10ºC, the gear fatigue pitting contact area is reduced by more than 30%, and the service life of continuous running is more than 15,000 hours, improving the comprehensive performance of harmonic reducer.
