Double rigid wheel harmonic reducer

Abstract

The present invention discloses a double rigid wheel harmonic reducer, comprising: a wave generator, a flexible bearing is arranged on the wave generator, a straight cylindrical flexible wheel is arranged outside the flexible bearing, the first and second rigid wheels are installed outside the flexible wheel, a cross roller bearing is arranged outside the first and second rigid wheels, the two rigid wheels are respectively fixed with the end cover on the outside and the inner ring or outer ring of the cross roller bearing, the number of teeth of one rigid wheel is the same as the number of teeth of the flexible wheel in the meshing area of ​​the rigid wheel, and the number of teeth of the other is more than the number of teeth of the flexible wheel in the meshing area; at least one of the two rigid wheels is in the shape of a top hat, and the structure of the top hat-shaped rigid wheel includes: a rigid wheel body and a rigid wheel connecting seat, the rigid wheel body is in the shape of a straight cylinder; a deformation gap is left between the rigid wheel body of at least one top hat-shaped rigid wheel and the inner ring of the cross roller bearing. The advantages of the present invention are: the load-bearing capacity is greatly improved, and the vibration is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and more specifically to harmonic speed reducers. Background Technology

[0002] Harmonic reducers have advantages such as high precision, small size, and high torque capacity, and are widely used in the field of industrial robots.

[0003] A traditional harmonic reducer mainly consists of: a wave generator with a pair of end caps at both ends, allowing the wave generator to rotate within the end caps; a flexible wheel and a rigid wheel are positioned between the end caps; the flexible wheel comprises a cylindrical flexible wheel body and an annular flexible wheel flange, with the flange located on the outer wall of one end of the flexible wheel body; the included angle between the flexible wheel flange and the flexible wheel body is close to 90 degrees, forming a shape similar to a top hat; the flexible wheel flange is fixed to its outer end cap; the flexible wheel body is mounted on the wave generator; flexible wheel teeth are provided on the outer wall of the flexible wheel body; a flexible bearing is positioned between the wave generator and the flexible wheel body; and a rigid wheel is located outside the flexible wheel, fixed to its outer end cap; rigid wheel teeth are provided on the inner wall of the rigid wheel. The rotation of the wave generator causes the flexible wheel body to deform, thereby continuously meshing the flexible wheel teeth with the rigid wheel teeth.

[0004] To meet the requirements of flexible deformation, the flexure of a harmonic reducer has a very thin wall, making the transition area between the flexure body and the flexure flange the weakest point of the reducer, with a thickness of no more than 0.3mm. When the harmonic reducer is subjected to high torque or impact torque, this part is prone to torsional deformation and damage due to its weak rigidity. In addition, under high speed and high load conditions, the flexure is prone to vibration, thus shortening its service life. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a dual rigid wheel harmonic reducer, which has significantly increased impact resistance and load-bearing capacity, and effectively reduced vibration.

[0006] To solve the above problems, the technical solution adopted by the present invention is: a double rigid wheel harmonic reducer, comprising: a wave generator, with a pair of end caps at both ends of the wave generator, the wave generator being able to rotate within the pair of end caps, a flexible bearing disposed on the wave generator between the pair of end caps, a flexible wheel disposed on the outer ring of the flexible bearing, the flexible wheel being cylindrical, the flexible wheel having flexible wheel teeth disposed on its outer wall, a first rigid wheel and a second rigid wheel disposed outside the flexible wheel, both the inner walls of the first rigid wheel and the second rigid wheel having rigid wheel teeth, and cross-roll bearings disposed outside the first rigid wheel and the second rigid wheel, one of the rigid wheels being fixed to its outer end cap and the inner ring of the cross-roll bearing, and the other rigid wheel being fixed to its outer end cap and the outer ring of the cross-roll bearing. The number of teeth on one rigid wheel is the same as the number of teeth on the flexible wheel in the meshing area of ​​the rigid wheel, while the number of teeth on the other rigid wheel is greater than the number of teeth on the flexible wheel in the meshing area with it. At least one of the two rigid wheels is top-hat shaped. The structure of the top-hat shaped rigid wheel includes: a rigid wheel body and a rigid wheel connecting seat. The rigid wheel body is cylindrical, and the rigid wheel connecting seat is located at the outer end of the rigid wheel body near the corresponding end cap. The rigid wheel teeth are located on the inner wall of the rigid wheel body. Under the meshing force of the flexible wheel teeth, the rigid wheel body can undergo elastic deformation. The rigid wheel connecting seat is fixedly connected to the corresponding end cap and the cross-roller bearing. A deformation gap is left between the outer wall of the rigid wheel body of at least one top-hat shaped rigid wheel and the inner wall of the inner ring of the cross-roller bearing. The deformation gap can only allow the rigid wheel body to undergo elastic deformation.

[0007] Furthermore, in the aforementioned dual-rigid-wheel harmonic reducer, both rigid wheels are top-hat shaped, and a deformation gap is left between the outer wall of the rigid wheel body of the two top-hat shaped rigid wheels and the inner wall of the inner ring of the cross-roll bearing, which only allows the corresponding rigid wheel body to undergo elastic deformation.

[0008] Furthermore, in the aforementioned dual rigid wheel harmonic reducer, the deformation clearance is 0.2mm to 1mm.

[0009] Furthermore, in the aforementioned dual rigid wheel harmonic reducer, a pair of flexible bearings are provided on the wave generator, the flexible wheel is provided on the outer ring of the pair of flexible bearings, and a pair of rigid wheels are respectively provided outside the flexible wheel at the corresponding position of the pair of flexible bearings.

[0010] Furthermore, in the aforementioned dual rigid wheel harmonic reducer, a dividing groove is provided on the outer wall of the flexible wheel. The minimum wall thickness of the flexible wheel at the dividing groove is 0.2mm to 0.8mm. The dividing groove divides the flexible wheel teeth on the flexible wheel into a first meshing area flexible wheel teeth and a second meshing area flexible wheel teeth in the axial direction. The first rigid wheel meshes with the flexible wheel teeth in the first meshing area, and the second rigid wheel meshes with the flexible wheel teeth in the second meshing area.

[0011] Furthermore, in the aforementioned dual rigid wheel harmonic reducer, the cross-section of the separating groove is arc-shaped.

[0012] Furthermore, in the aforementioned dual-rigid-wheel harmonic reducer, the number of teeth on the first meshing region flexible wheel and the second meshing region flexible wheel on both sides of the separating groove are the same or have a difference of two teeth; when the number of teeth on the first meshing region flexible wheel and the second meshing region flexible wheel are the same, one of the rigid wheels has the same number of teeth as the corresponding meshing region flexible wheel, while the other rigid wheel has two more teeth than the corresponding meshing region flexible wheel; when there is a difference of two teeth between the first meshing region flexible wheel and the second meshing region flexible wheel, the number of teeth on both rigid wheels is the same as the number of teeth on the meshing region flexible wheel with more teeth.

[0013] The advantages of this invention are: 1. The straight-cylindrical flexible wheel combined with the double rigid wheel structure allows for a corresponding increase in the wall thickness of the straight-cylindrical flexible wheel, such as increasing it to 1mm or more. One of the rigid wheels outputs torque, thus significantly improving the load-bearing capacity and impact resistance of the harmonic reducer. 2. At least one rigid wheel is designed in a top-hat shape. Under meshing force, the body of the top-hat-shaped rigid wheel can undergo elastic deformation. Furthermore, a deformation gap, allowing only the rigid wheel body to undergo elastic deformation, is provided between the rigid wheel body and the inner wall of the cross-roller bearing. This structure effectively buffers the vibration, reduces vibration, and brakes promptly in case of excessive external force, effectively preventing damage to the harmonic reducer and thus protecting it and extending its service life. 3. Separating grooves are provided on the flexible wheel. These grooves not only reduce the mutual influence between the meshing areas of the two rigid wheels and the flexible wheel but also provide a buffering effect, further reducing vibration and effectively extending the service life. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the double rigid wheel harmonic reducer described in Embodiment 1 of the present invention.

[0015] Figure 2 yes Figure 1 A magnified structural diagram of part A in the middle.

[0016] Figure 3 This is a schematic diagram of the structure of the double rigid wheel harmonic reducer described in Embodiment 2 of the present invention.

[0017] Figure 4 yes Figure 3 A magnified structural diagram of part B. Detailed Implementation

[0018] The dual rigid wheel harmonic reducer of the present invention will be further described in detail below with reference to preferred embodiments.

[0019] Example 1, as Figure 1 , Figure 2As shown. A dual-rigid-wheel harmonic reducer includes: a wave generator 1, with a pair of end caps at both ends of the wave generator 1, namely a first end cap 11 and a second end cap 12. The wave generator 1 can rotate within the pair of end caps. A pair of flexible bearings—a first flexible bearing 41 and a second flexible bearing 42—are provided on the wave generator 1. Flexible wheels 2 are provided on the outer rings of the first flexible bearing 41 and the second flexible bearing 42.

[0020] The flexible wheel 2 is cylindrical, and flexible wheel teeth are provided on its outer wall. A dividing groove 23 is provided on the outer wall of the flexible wheel 2, and the cross-section of the dividing groove 23 is arc-shaped. The minimum wall thickness of the flexible wheel 2 at the dividing groove 23 is 0.2mm to 0.8mm. The dividing groove 23 axially divides the flexible wheel teeth on the flexible wheel 2 into a first meshing region flexible wheel teeth 21 and a second meshing region flexible wheel teeth 22.

[0021] A first rigid wheel 5 and a second rigid wheel 8 are disposed outside the flexible wheel 2. A first end cap 11 is located outside the first rigid wheel 5, and a second end cap 12 is located outside the second rigid wheel 8. A first rigid wheel tooth 501 is disposed on the inner wall of the first rigid wheel 5, and a second rigid wheel tooth 801 is disposed on the inner wall of the second rigid wheel 8. The first rigid wheel 5 and the second rigid wheel 8 are respectively mounted outside the flexible wheel 2 at the corresponding positions of the first flexible bearing 41 and the second flexible bearing 42, and the first rigid wheel tooth 501 of the first rigid wheel 5 meshes with the flexible wheel tooth 21 in the first meshing area; the second rigid wheel tooth 801 of the second rigid wheel 8 meshes with the flexible wheel tooth 22 in the second meshing area.

[0022] A cross-roller bearing 6 is provided outside the first rigid wheel 5 and the second rigid wheel 8. In this embodiment, the first rigid wheel 5 is fixed to its outer first end cap 11 and the outer ring 61 of the cross-roller bearing 6. The second rigid wheel 8 is fixed to its outer second end cap 12 and the inner ring 62 of the cross-roller bearing 6.

[0023] In this embodiment, the number of teeth of the flexible wheel 22 in the second meshing region is the same as that of the flexible wheel 21 in the first meshing region. The number of teeth of the first rigid wheel 5 is the same as that of the flexible wheel 21 in the first meshing region. The number of teeth of the second rigid wheel 8 is two more than that of the flexible wheel 22 in the second meshing region.

[0024] Of the two rigid wheels, the first rigid wheel 5 is top-hat shaped. The structure of the first rigid wheel 5 includes a first rigid wheel body 51 and a first rigid wheel connecting seat 52. The first rigid wheel body 51 is cylindrical, and the first rigid wheel connecting seat 52 is located at the outer end of the first rigid wheel body 51 near the first end cap 11. First rigid wheel teeth 501 are located on the inner wall of the first rigid wheel body 51. Under the meshing force of the flexible gear teeth 21 in the first meshing area, the cylindrical first rigid wheel body 51 can undergo elastic deformation. The first rigid wheel connecting seat 52 is fixedly connected to the first end cap 11 and the outer ring 61 of the cross-roller bearing 6. A deformation gap 7 is provided between the outer wall of the first rigid wheel body 51 and the inner wall of the inner ring 62 of the cross-roller bearing 6. This deformation gap 7 only allows for elastic deformation of the first rigid wheel body 51, and the deformation gap 7 is 0.2mm to 1mm.

[0025] During operation, the output of the first rigid wheel 5 or the second rigid wheel 8 can be determined according to actual needs. The rotation of the wave generator 1 drives the flexible wheel 2 to deform, so that the flexible wheel 2 meshes with the first rigid wheel 5 and the second rigid wheel 8, thereby driving the rigid wheel at the output end to rotate.

[0026] As can be seen from Example 1, the dual rigid wheel harmonic reducer of the present invention has the following advantages.

[0027] 1. A double rigid wheel structure is adopted, with one rigid wheel fixed as the fixed end of the harmonic reducer and the other rigid wheel as the output end; the flexible wheel 2 is cylindrical, and its wall thickness can be appropriately increased compared to the top-hat shaped flexible wheel mentioned in the background technology, such as to 1mm or more, while satisfying the deformation requirements of the flexible wheel 2. This greatly improves the rigidity of the flexible wheel; the use of a rigid wheel output and the increased rigidity of the flexible wheel greatly improve the load capacity and impact resistance of the harmonic reducer, while also significantly reducing vibration during operation. The fatigue life of the entire harmonic reducer is nearly 50% longer than that of the traditional harmonic reducer mentioned in the background technology.

[0028] Second, a separating groove 23 is provided on the flexible wheel 2. The separating groove 23 divides the flexible wheel teeth on the flexible wheel 2 into a first meshing area flexible wheel teeth 21 and a second meshing area flexible wheel teeth 22, which mesh with the two rigid wheels respectively. The meshing states of the first rigid wheel 5 and the first meshing area flexible wheel teeth 21 and the second rigid wheel 8 and the second meshing area flexible wheel teeth 22 are completely different, one being a meshing state with the same number of teeth and the other a meshing state with a difference in the number of teeth. Separating the flexible wheel teeth in the two meshing states with the separating groove 23 can greatly reduce the mutual influence between the two meshing areas, suppress vibration, and thus make the harmonic reducer run more smoothly and extend the service life of the entire harmonic reducer. In addition, the separating groove 23 has a very short axial length. When the harmonic reducer is subjected to impact force, the separating groove 23 can undergo slight elastic deformation, thereby playing a good buffering role and further protecting the harmonic reducer.

[0029] Third, the first rigid wheel 5 is top-hat shaped. A deformation gap 7 is provided between the outer wall of the first rigid wheel body 51 and the inner wall of the inner ring 62 of the cross-roller bearing 6. The purpose of this gap is to provide space for elastic deformation of the first rigid wheel body 51, preventing plastic deformation. During operation, when the harmonic reducer is subjected to a large torque or impact, the first rigid wheel body 51 undergoes elastic deformation under the action of the meshing force of the flexure teeth, which effectively buffers the load. When the torque or impact is very large, the first rigid wheel body 51 elastically deforms and jams against the inner wall of the inner ring 62 of the cross-roller bearing 6. At this time, the first rigid wheel tooth 501 of the first rigid wheel body 51 interferes with the corresponding first meshing area flexure tooth 21, and the harmonic reducer is in a locked braking state. Due to the limitation of the deformation gap 7, the first rigid wheel body 51 only undergoes elastic deformation and does not undergo plastic deformation. Therefore, when the torque and impact decrease or disappear, the first rigid wheel body 51 can fully recover its elastic deformation, and the harmonic reducer can continue to work normally. Therefore, the deformation gap 7 provides deformation space for the first rigid wheel body 51, but only allows it to deform within the elastic deformation range. This not only plays a good buffering role, but also plays a timely braking role, thus effectively protecting the harmonic reducer and preventing damage to the harmonic reducer.

[0030] Example 2, as Figure 3 , Figure 4 As shown. A dual-rigid-wheel harmonic reducer includes: a wave generator 1, with a pair of end caps at both ends of the wave generator 1, namely a first end cap 11 and a second end cap 12. The wave generator 1 can rotate within the pair of end caps, and a pair of flexible bearings—a first flexible bearing 41 and a second flexible bearing 42—are provided on the wave generator 1. A flexible wheel 2 and a rigid wheel are also provided between the pair of end caps.

[0031] The flexible wheel 2 is cylindrical, and flexible wheel teeth are provided on its outer wall. The flexible wheel 2 is mounted on the outer ring of a pair of flexible bearings. A dividing groove 23 is provided on the outer wall of the flexible wheel 2, and the cross-section of the dividing groove 23 is arc-shaped. The minimum wall thickness of the flexible wheel 2 at the dividing groove 23 is 0.2mm to 0.8mm. The dividing groove 23 divides the flexible wheel teeth on the flexible wheel 2 axially into a first meshing region flexible wheel teeth 21 and a second meshing region flexible wheel teeth 22.

[0032] The rigid wheel includes a first rigid wheel 5 and a second rigid wheel 8. A first end cap 11 is located outside the first rigid wheel 5, and a second end cap 12 is located outside the second rigid wheel 8. The inner wall of the first rigid wheel 5 is provided with first rigid wheel teeth 501, and the inner wall of the second rigid wheel 8 is provided with second rigid wheel teeth 801. The first rigid wheel 5 and the second rigid wheel 8 are respectively mounted outside the flexible wheels 2 at corresponding positions of the first flexible bearing 41 and the second flexible bearing 42. The first rigid wheel teeth 501 of the first rigid wheel 5 mesh with the flexible wheel teeth 21 in the first meshing area; the second rigid wheel teeth 801 of the second rigid wheel 8 mesh with the flexible wheel teeth 22 in the second meshing area.

[0033] A cross-roller bearing 6 is provided outside the first rigid wheel 5 and the second rigid wheel 8. In this embodiment, the first rigid wheel 5 is fixed to its outer first end cap 11 and the outer ring 61 of the cross-roller bearing 6. The second rigid wheel 8 is fixed to its outer second end cap 12 and the inner ring 62 of the cross-roller bearing 6.

[0034] In this embodiment, the number of teeth of the flexible wheel 22 in the second meshing region is two fewer than the number of teeth of the flexible wheel 21 in the first meshing region. The number of teeth of the first rigid wheel 5 is the same as the number of teeth of the second rigid wheel 8. The number of teeth of the first rigid wheel 5 is the same as the number of teeth of the flexible wheel 21 in the first meshing region, while the number of teeth of the second rigid wheel 8 is two more than the number of teeth of the flexible wheel 22 in the second meshing region.

[0035] Of the two rigid wheels, the first rigid wheel 5 and the second rigid wheel 8 are both top-hat shaped. The structure of the first rigid wheel 5 includes: a first rigid wheel body 51 and a first rigid wheel connecting seat 52. The first rigid wheel body 51 is cylindrical, and the first rigid wheel connecting seat 52 is located at the outer end of the first rigid wheel body 51 near the first end cover 11. The first rigid wheel teeth 501 are located on the inner wall of the first rigid wheel body 51. Under the meshing force of the flexible gear teeth 21 in the first meshing area, the cylindrical first rigid wheel body 51 can undergo elastic deformation. The first rigid wheel connecting seat 52 is fixedly connected to the first end cover 11 and the outer ring 61 of the cross-roller bearing 6.

[0036] The structure of the second rigid wheel 8 includes: a second rigid wheel body 81 and a second rigid wheel connecting seat 82. The second rigid wheel body 81 is cylindrical, and the second rigid wheel connecting seat 82 is located at the outer end of the second rigid wheel body 81 near the second end cover 12. Second rigid wheel teeth 801 are disposed on the inner wall of the second rigid wheel body 81. Under the meshing force of the flexible gear teeth 21 in the second meshing area, the cylindrical second rigid wheel body 81 can undergo elastic deformation. The second rigid wheel connecting seat 82 is fixedly connected to the second end cover 12 and the outer ring 62 of the cross-roller bearing 6.

[0037] A first deformation gap 7 is provided between the outer wall of the first rigid wheel body 51 and the inner wall of the inner ring 62 of the cross-roller bearing 6. This first deformation gap 7 only allows the first rigid wheel body 51 to undergo elastic deformation. A second deformation gap 3 is provided between the outer wall of the second rigid wheel body 81 and the inner wall of the inner ring 62 of the cross-roller bearing 6. This second deformation gap 3 only allows the second rigid wheel body 81 to undergo elastic deformation. The sizes of the first deformation gap 7 and the second deformation gap 3 are 0.2 mm to 1 mm. The sizes of the first deformation gap 7 and the second deformation gap 3 can be the same or different, depending on the actual deformation of the first rigid wheel body 51 and the second rigid wheel body 81.

[0038] The difference between Embodiment 2 and Embodiment 1 is as follows: First, both rigid wheels are designed in a top hat shape. A first deformation gap 7 is provided between the first rigid wheel body 51 and the cross-roller bearing 6, and a second deformation gap 3 is provided between the second rigid wheel body 81 and the cross-roller bearing 6. During operation, when the harmonic reducer is subjected to a large torque or impact, under the action of the meshing force of the flexible gear teeth, both the first rigid wheel body 51 and the second rigid wheel body 81 can undergo elastic deformation, thereby playing a buffering role. When the torque or impact is large, causing the first rigid wheel body 51 to deform and jam against the inner wall of the inner ring 62 of the cross roller bearing 6, or / and the second rigid wheel body 81 to deform and jam against the inner wall of the inner ring 62 of the cross roller bearing 6, the harmonic reducer is in a locked braking state. Due to the limitation of the first deformation gap 7 and the second deformation gap 3, the first rigid wheel body 51 and / or the second rigid wheel body 81 only undergo elastic deformation and do not undergo plastic deformation. Therefore, when the torque and impact decrease or disappear, the first rigid wheel body 51 and / or the second rigid wheel body 81 return to elastic deformation, and the harmonic reducer can continue to work normally.

[0039] Second, there is a tooth difference between the flexible gear teeth 21 in the first meshing area and the flexible gear teeth 22 in the second meshing area on both sides of the separating groove 23. When there is a tooth difference between the flexible gear teeth 21 in the first meshing area and the flexible gear teeth 22 in the second meshing area, the two rigid wheels have the same number of teeth, that is, the two rigid wheels can be simplified to the same type of rigid wheel, which greatly reduces the processing cost and effectively reduces the assembly difficulty.

[0040] The advantages of this invention are as follows: 1. The cylindrical flexible wheel combined with the double rigid wheel structure allows for a corresponding increase in the wall thickness of the cylindrical flexible wheel, such as to 1mm or more. One of the rigid wheels outputs torque, thus significantly improving the load-bearing capacity and impact resistance of the harmonic reducer. 2. At least one rigid wheel is configured with a top-hat shape. The body of the top-hat-shaped rigid wheel can undergo elastic deformation under meshing force. Furthermore, a deformation gap is provided between the rigid wheel body and the inner wall of the inner ring 62 of the cross-roller bearing 6, allowing only the rigid wheel body to undergo elastic deformation. This structure effectively buffers the vibration, reduces vibration, and brakes promptly in case of excessive external force, effectively preventing damage to the harmonic reducer and thus protecting it and extending its service life. 3. The flexible wheel 2 is provided with a separating groove 23. This groove not only reduces the mutual influence between the meshing areas of the two rigid wheels and the flexible wheel but also provides a buffering effect, further reducing vibration and effectively extending the service life.

Claims

1. Double rigid wheel harmonic reducer, including: A wave generator, a pair of end covers are arranged at both ends of the wave generator, the wave generator can rotate in the pair of end covers, a flexible bearing is arranged on the wave generator between the pair of end covers, a flexible wheel is arranged on the outer ring of the flexible bearing, and the characteristic is that: the flexible wheel is in the shape of a straight cylinder, a flexible wheel tooth is arranged on the outer wall of the flexible wheel, a first rigid wheel and a second rigid wheel are arranged outside the flexible wheel, and rigid wheel teeth are arranged on the inner walls of the first rigid wheel and the second rigid wheel, and a cross roller bearing is arranged outside the first rigid wheel and the second rigid wheel, one of the rigid wheels is fixed to the end cover on its outer side and the inner ring of the cross roller bearing, and the other rigid wheel is fixed to the end cover on its outer side and the outer ring of the cross roller bearing, the number of teeth of one rigid wheel is the same as the number of teeth of the flexible wheel in the meshing area of ​​the rigid wheel, and the number of teeth of the other rigid wheel is more than the number of teeth of the flexible wheel in the meshing area; at least one of the two rigid wheels is in the shape of a top hat, and the top hat-shaped rigid wheel The structure comprises: a rigid wheel body and a rigid wheel connecting seat, the rigid wheel body is in the shape of a straight cylinder, the rigid wheel connecting seat is arranged at the outer end of the rigid wheel body near the corresponding end cover, the rigid wheel teeth are arranged on the inner wall of the rigid wheel body, under the meshing force of the flexible wheel teeth, the rigid wheel body can be elastically deformed, and the rigid wheel connecting seat is fixedly connected to the corresponding end cover and the cross roller bearing; a deformation gap is left between the outer wall of the rigid wheel body of at least one top-hat-shaped rigid wheel and the inner wall of the inner ring of the cross roller bearing, and the deformation gap can only allow the rigid wheel body to be elastically deformed; both rigid wheels are in the shape of top-hats, and a deformation gap is left between the outer wall of the rigid wheel body of the two top-hat-shaped rigid wheels and the inner wall of the inner ring of the cross roller bearing, which can only allow the corresponding rigid wheel body to be elastically deformed; the deformation gap is 0.2mm~1mm; a separation groove is provided on the outer wall of the flexible wheel, and the minimum wall thickness of the flexible wheel at the separation groove is 0 .2mm~0.8mm, the separation groove separates the flexspline teeth on the flexspline into the flexspline teeth in the first meshing area and the flexspline teeth in the second meshing area in the axial direction, the first rigid wheel meshes with the flexspline teeth in the first meshing area correspondingly, and the second rigid wheel meshes with the flexspline teeth in the second meshing area correspondingly.

2. The double rigid wheel harmonic reducer according to claim 1, characterized in that: A pair of flexible bearings are arranged on the wave generator, the flexible wheels are arranged on the outer rings of the pair of flexible bearings, and a pair of rigid wheels are respectively arranged outside the flexible wheels at corresponding positions of the pair of flexible bearings.

3. The double rigid wheel harmonic reducer according to claim 2, characterized in that: The cross section of the separation groove is in the shape of an arc.

4. The double rigid wheel harmonic reducer according to claim 3, characterized in that: The number of teeth of the first meshing area flex spline teeth and the second meshing area flex spline teeth on both sides of the separation groove are the same or there is a difference of two teeth; when the number of teeth of the first meshing area flex spline teeth and the second meshing area flex spline teeth are the same, one of the rigid wheels has the same number of teeth as the corresponding meshing area flex spline teeth, and the other rigid wheel has two more teeth than the corresponding meshing area flex spline teeth; when there is a difference of two teeth between the first meshing area flex spline teeth and the second meshing area flex spline teeth, the number of teeth of the two rigid wheels is the same as the number of teeth of the meshing area flex spline teeth with the larger number of teeth.

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