Harmonic reducer flexible gear, harmonic reducer and flexible gear production process

Abstract

The invention discloses a harmonic reducer flexible gear, a harmonic reducer and a flexible gear production process, and the harmonic reducer flexible gear comprises a cylindrical main body part which is made of a first material, is subjected to radial flexible deformation under external force and is provided with an opening end used for installing a wave generator assembly of the harmonic reducer; a flexible gear outer ring gear formed of a second material, joined to the outer peripheral surface of the open end side of the cylindrical body portion in the circumferential direction, and radially and flexibly deformed in synchronization with the cylindrical body portion; the axial length of the cylindrical main body part is greater than that of the flexible gear outer gear ring, so that heat dissipation can be conveniently carried out through the part, exceeding the flexible gear outer gear ring, of the cylindrical main body part; and the rigidity of the cylindrical main body part is greater than that of the flexible gear outer gear ring. The harmonic reducer comprises a wave generator, a flexible bearing, the flexible gear and a rigid gear. When the flexible gear works, heat generated by meshing and collision of the outer gear ring of the flexible gear can be guided out by the cylindrical main body part, heat accumulation is avoided, and the service life of the flexible gear is prolonged.

Description

Technical Field

[0001] The invention relates to the field of harmonic reducers, and in particular to a harmonic reducer flexspline and a harmonic reducer and a flexspline production process. Background Art

[0002] Harmonic reducers are widely used in many fields such as robotics, aerospace, instrumentation, precision optical equipment and medical machinery, and the flexspline is the core component. The structural characteristics of the flexspline are thin walls, and it is subjected to alternating stress caused by deformation during operation. It is the most complex component in the harmonic reducer and also the component most prone to failure. Therefore, the manufacturing process of the flexspline is extremely important.

[0003] Currently, there are mainly two types of flexible splines: machining processes for metal flexible splines and injection molding processes for all-plastic flexible splines. Due to strength and precision issues, machining processes for metal flexible splines are currently the main method. The machining process for metal flexible splines is very complex, with high costs and low production efficiency. Flexible splines with all-plastic structures have high production efficiency and good toughness, but the strength and rigidity of the roots of the flexible spline teeth are poor, and the strength of the annular part of the plastic flexible spline is poor, which cannot meet the requirements of high load torque. In addition, plastic materials have poor thermal conductivity and heat dissipation, which will lead to heat accumulation. The temperature of the plastic flexible spline will rise, which will greatly reduce the strength of the flexible spline teeth and the service life of the plastic flexible spline. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the present invention provides a harmonic reducer flexspline and a harmonic reducer and a flexspline production process, which have the advantages of good heat dissipation, high rigidity and high strength.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A harmonic reducer flexible wheel, comprising:

[0007] A cylindrical main body formed of a first material, which is radially flexible and deformed by an external force, and has an open end for mounting a wave generator assembly of a harmonic reducer;

[0008] The flexible outer gear ring formed of the second material is joined to the outer peripheral surface of the opening end side of the cylindrical main body along the circumferential direction, and undergoes radial flexible deformation synchronously with the cylindrical main body;

[0009] Among them, the axial length of the cylindrical main body is greater than the axial length of the flexible spline outer gear ring, which facilitates heat dissipation through the portion of the cylindrical main body that exceeds the flexible spline outer gear ring; the stiffness of the cylindrical main body is greater than the stiffness of the flexible spline outer gear ring, so that the cylindrical main body supports the flexible spline outer gear ring.

[0010] By adopting the above technical solution, the cylindrical main body is used as a support frame and then covered with the flexible wheel outer gear ring, so that the flexible wheel has the toughness of a fully plastic structure. At the same time, the axial length of the cylindrical main body is greater than the axial length of the flexible wheel outer gear ring. In this way, the heat generated by the meshing and collision of the flexible wheel outer gear ring during operation will be absorbed by the cylindrical main body and accelerated heat dissipation through the part of the cylindrical main body that is not covered with the flexible wheel outer gear ring, thereby avoiding heat accumulation and increasing the service life of the flexible wheel. In addition, since the rigidity of the cylindrical main body is greater than the rigidity of the flexible wheel outer gear ring, the flexible wheel has greater strength than the plastic ring of the fully plastic structure flexible wheel, so that the flexible wheel can meet large load torque.

[0011] Optionally, the outer peripheral surface of the opening end side of the cylindrical main body has a skeleton outer gear ring, and the flexible spline outer gear ring is engaged with the skeleton outer gear ring.

[0012] By adopting the above technical solution, in order to ensure the normal operation of the flexible wheel, it is necessary to comprehensively consider the tensile stress caused by the load torque and the flexible deformation stress caused by the wave generator, so the thickness of the cylindrical main body cannot be too large. On this basis, the skeleton outer gear ring increases the support of the flexible wheel outer gear ring, which can improve the fatigue strength of the tooth bottom of the flexible wheel outer gear ring. At the same time, the skeleton outer gear ring increases the connection area between the flexible wheel outer gear ring and the cylindrical main body, effectively improving the connection strength of the flexible wheel outer gear ring, especially the circumferential connection strength.

[0013] Optionally, the skeleton outer gear ring includes a plurality of supporting teeth, the flexspline outer gear ring includes a plurality of flexspline teeth, and the supporting teeth correspond to the flexspline teeth one by one and are embedded in the flexspline teeth.

[0014] By adopting the above technical solution, the supporting teeth of the skeleton outer gear ring are embedded one by one into the flexspline teeth of the flexspline outer gear ring, so that the heat generated by the meshing and collision of the flexspline outer gear ring during operation can be absorbed more quickly by the cylindrical main body. At the same time, the gear teeth of the flexspline are actually composed of the supporting teeth of the skeleton outer gear ring and the flexspline teeth of the flexspline outer gear ring. In this way, compared with the gears of the flexspline with a full plastic structure, the tooth bottom strength is significantly increased; in addition, since the supporting teeth of the skeleton outer gear ring are embedded one by one into the flexspline teeth of the flexspline outer gear ring, the wall thickness of the flexspline outer gear ring can be made uniform, and the heat will not gather in a certain place to reduce the strength of the flexspline teeth.

[0015] Optionally, the addendum circle of the skeleton outer gear ring is located between the root circle and the pitch circle of the flexible spline outer gear ring.

[0016] By adopting the above technical solution, the gear teeth of the skeleton outer gear ring are only located at the tooth roots of the flexible wheel outer gear ring. In this way, while increasing the strength of the tooth bottom, the gear strength of the flexible wheel will not be too large, thereby causing impact when meshing with the rigid wheel. In addition, the radial height of the skeleton outer gear ring will not be too large, thereby affecting the flexible deformation of the flexible wheel.

[0017] Optionally, the flexible ply outer gear ring has a uniform wall thickness of 0.1 mm-0.5 mm.

[0018] By adopting the above technical solution, the flexible wheel outer gear ring has a uniform wall thickness of 0.1mm-0.5mm, which is conducive to heat dissipation and does not cause excessive concentration of heat in a certain place to affect the strength of the flexible wheel outer gear ring.

[0019] Optionally, the outer peripheral surface of the opening end side of the cylindrical main body forms an annular boss protruding radially outward, the flexible wheel outer gear ring is engaged to the outer peripheral surface of the annular boss, and the axial ends of the flexible wheel outer gear ring extend radially inward to form a first retaining ring and a second retaining ring; the first retaining ring and the second retaining ring are respectively stopped on both axial sides of the annular boss.

[0020] By adopting the above technical solution, the cooperation of the first retaining ring, the second retaining ring and the annular boss increases the connection area between the flexible wheel outer gear ring and the cylindrical main body. In addition, the first retaining ring and the second retaining ring can withstand axial force, thereby making the connection between the flexible wheel outer gear ring and the cylindrical main body more secure.

[0021] Optionally, an output connecting plate is provided at one end of the cylindrical main body away from the opening end.

[0022] By adopting the above technical solution, the output connecting plate makes the cylindrical main body strong and can meet the use requirements of large load torque.

[0023] Optionally, the cylindrical main body is connected to the wave generator assembly through the inner circumferential surface of the open end side thereof.

[0024] By adopting the above technical solution, the heat generated by the meshing and collision of the flexible wheel outer gear ring during operation can be transferred to the wave generator assembly, further improving the heat dissipation of the flexible wheel outer gear ring.

[0025] A harmonic reducer includes a wave generator assembly and a rigid wheel; the rigid wheel has a rigid inner gear ring; the wave generator assembly includes a wave generator; the wave generator assembly also includes a flexible bearing; the harmonic reducer also includes the above-mentioned flexible wheel; the flexible bearing is installed between the wave generator and the open end of the cylindrical main body; the flexible wheel outer gear ring undergoes radial flexible deformation due to the rotation of the wave generator, thereby forming a partial meshing with the rigid inner gear ring.

[0026] By adopting the above technical solution, the harmonic reducer has high strength, fast heat dissipation, long service life, and can meet large load torque; at the same time, the flexible bearing can adapt to the deformation of the flexible wheel, and also makes the friction between the wave generator and the flexible wheel smaller, the operation is smoother, and the wear is smaller.

[0027] A process for producing a flexible pulley of a harmonic reducer is used to produce the flexible pulley mentioned above, wherein the first material is alloy structural steel and the second material is PEI; specifically, the process comprises the following steps:

[0028] Step S001, manufacturing a cylindrical main body;

[0029] Step S002, by injection molding, the outer gear ring of the flexspline is tightly joined to the outer peripheral surface of the opening end side of the cylindrical main body manufactured in step S001 along the circumferential direction to obtain the flexspline;

[0030] Step S003, placing the flexible wheel obtained in step S002 in a high temperature box for a set time to remove the injection stress.

[0031] By adopting the above technical solution, the processing is carried out by injection molding, and the connection between the flexible wheel outer gear ring and the cylindrical main body is more stable.

[0032] Optionally, the method of manufacturing the cylindrical main body in step S001 can be cold extrusion, machining, stretching or cold forging; the temperature of the high temperature box in step S003 is 110°C-130°C and the setting time is 2-4 hours.

[0033] By adopting the above technical solution, the production methods of the cylindrical main body are diverse and the selection is large. The performance of the flexible wheel is better after being placed in a high temperature box at 110℃-130℃ for 2-4 hours to remove the injection stress. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural diagram of embodiment 1 of the present invention.

[0035] Figure 2 It is a schematic diagram of the explosion structure of the first embodiment of the present invention.

[0036] Figure 3 It is a structural schematic diagram of a flexspline showing a partial cross section of a flexspline outer gear ring according to the first embodiment of the present invention.

[0037] Figure 4 It is a schematic structural diagram of a cross section of a flexible wheel according to the first embodiment of the present invention.

[0038] Figure 5 The present invention Figure 4 A is a schematic diagram of the partially enlarged structure of FIG.

[0039] Figure 6 It is a schematic structural diagram of the flexible spline outer gear ring of the first embodiment of the present invention.

[0040] Figure 7 It is a schematic structural diagram of a cross section of a flexible wheel according to the first embodiment of the present invention.

[0041] Figure 8 The present invention Figure 7 A schematic diagram of the partially enlarged structure of B.

[0042] Description of reference numerals:

[0043] 10. Wave generator; 11. Elliptical portion;

[0044] 20. Flexible bearing; 21. Inner ring; 22. Outer ring;

[0045] 30. Flexspline; 31. Cylindrical main body; 310. Open end; 311. Skeleton outer gear ring; 3111. First tooth bevel; 3112. First tooth top surface; 312. Output connecting plate; 313. Outer peripheral surface; 314. Extension; 315. Inner peripheral surface; 316. Tooth top circle; 32. Flexspline outer gear ring; 321. First retaining ring; 322. Flexspline teeth; 3221. Second tooth bevel; 3222. Second tooth top surface; 323. Second retaining ring; 324. Tooth root circle; 325. Pitch circle; 40. Rigid wheel; 41. Rigid support ring; 42. Rigid inner gear ring. DETAILED DESCRIPTION

[0046] The following is combined with Figure 1-Figure 8 The present invention is described in further detail.

[0047] Embodiment 1: A harmonic reducer is disclosed, referring to Figure 1 and Figure 2 , including a wave generator assembly, a flexible wheel 30 and a rigid wheel 40; the wave generator assembly includes a wave generator 10 and a flexible bearing 20; the flexible bearing 20 is installed between the wave generator 10 and the flexible wheel 30; the inner ring 21 of the flexible bearing 20 is interference fit with the elliptical portion 11 of the wave generator 10, and the outer ring 22 is interference fit with the flexible wheel 30; the rigid wheel 40 includes a rigid support ring 41 and a rigid inner gear ring 42 coaxially fixed in the rigid support ring 41; the outer gear ring 32 of the flexible wheel undergoes radial flexible deformation due to the rotation of the wave generator 10, thereby forming a partial meshing with the rigid inner gear ring 42.

[0048] refer to Figure 1 and Figure 2During the rotation of the wave generator 10, on the long axis of the elliptical portion 11 of the wave generator 10, the gear teeth of the flexspline 30 are completely meshed with the gear teeth of the rigid inner gear ring 42 of the rigid wheel 40; and on the short axis of the elliptical portion 11 of the wave generator 10, the gear teeth of the flexspline 30 are completely disengaged from the gear teeth of the rigid inner gear ring 42 of the rigid wheel 40. As the wave generator 10 rotates, the shape of the flexspline 30 is always close to the elliptical shape, thereby achieving continuous meshing and disengagement of the flexspline 30 and the rigid inner gear ring 42 of the rigid wheel 40. During the rotation of the wave generator 10, when one of the gear teeth of the flexspline 30 meshes with one gear tooth of the rigid inner gear ring 42 of the rigid wheel 40 and meshes with the gear tooth on the rigid inner gear ring 42 of the rigid wheel 40 again, the flexspline 30 rotates exactly one circle, and at this time, the wave generator 10 rotates many circles, thereby playing a deceleration role. The ratio of the number of rotations of the wave generator 10 to the number of rotations of the flexspline 30 is the reduction ratio of the harmonic gear reducer.

[0049] refer to Figure 3-Figure 8 The flexible wheel 30 includes a cylindrical main body 31 formed of a first material and a flexible wheel outer gear ring 32 formed of a second material; for the convenience of subsequent description, the gear teeth of the flexible wheel outer gear ring 32 are called flexible wheel teeth 322; the cylindrical main body 31 is connected to the external transmission component as the output end of the harmonic reducer; the cylindrical main body 31 is cylindrical and has an open end 310 at one axial end thereof for interference fit with the outer ring 22 of the flexible bearing 20, and an output connecting plate 312 connected to the other end; the flexible wheel outer gear ring 32 is engaged with the outer peripheral surface 313 on the open end side of the cylindrical main body 31 along the circumferential direction; the inner peripheral surface 315 on the open end side of the cylindrical main body 31 is connected to the outer peripheral surface 313 of the cylindrical main body 31; The outer ring 22 of the flexible bearing 20 is connected; the rigidity of the cylindrical main body 31 is greater than the rigidity of the flexible wheel outer gear ring 32, and the cylindrical main body 31 supports the flexible wheel outer gear ring 32; the axial length of the cylindrical main body 31 is greater than the axial length of the flexible wheel outer gear ring 32; when working in this way, the heat generated when the flexible wheel outer gear ring 32 and the rigid inner gear ring 42 are meshed and contacted will be absorbed by the cylindrical main body 31 and dissipated in the extension portion 314 of the cylindrical main body 31 that is not engaged with the flexible wheel outer gear ring 32, so that heat accumulation will not occur, causing the temperature of the flexible wheel outer gear ring 32 to increase, thereby greatly reducing the strength of the gear teeth of the flexible wheel 30, thereby increasing the service life of the flexible wheel 30.

[0050] The cylindrical main body 31 may be in the shape of a cup, a hat, or a bell, which is open at one end and closed at the other end. This has greater strength and can meet the use requirements of large load torque.

[0051] refer to Figure 3-Figure 5 and Figure 8In order to improve the tooth bottom strength of the flexspline teeth 322 of the flexspline outer gear ring 32, the outer peripheral surface 313 of the open end side of the cylindrical main body 31 has a skeleton outer gear ring 311, and the flexspline outer gear ring 32 is engaged on the skeleton outer gear ring 311. For the convenience of subsequent description, the gear teeth of the skeleton outer gear ring 311 are called support teeth 317. In order to ensure the normal operation of the flexspline, it is necessary to comprehensively consider the tensile stress caused by the load torque and the flexible deformation stress caused by the wave generator, so the thickness of the cylindrical main body 31 cannot be too large. On this basis, the skeleton outer gear ring 311 increases the support of the flexspline outer gear ring 32, which can improve the tooth bottom fatigue strength of the flexspline outer gear ring 32. At the same time, the skeleton outer gear ring 311 increases the connection area between the flexspline outer gear ring 32 and the cylindrical main body 31, effectively improving the connection strength of the flexspline outer gear ring 32, especially the circumferential connection strength.

[0052] refer to Figure 4 and Figure 5 In order to further improve the tooth bottom strength of the flexspline teeth 322, the supporting teeth 317 correspond to the flexspline teeth 322 one by one and are embedded in the flexspline teeth 322; in this way, the heat generated by the meshing and collision of the flexspline outer gear ring 32 during operation can be absorbed more quickly by the cylindrical body 31. At the same time, the gear teeth of the flexspline are actually composed of the supporting teeth 317 and the flexspline teeth 322. In this way, compared with the gears of the flexspline with a full plastic structure, the tooth bottom strength is significantly increased. In order to further improve the heat dissipation of the flexible wheel outer gear ring 32, the supporting tooth 317 has two first tooth bevels 3111 and a first tooth top surface 3112, and the flexible wheel tooth 322 has two second tooth bevels 3221 and a second tooth top surface 3222; the second tooth top surface 3222 is parallel to the first tooth top surface 3112; the second tooth top surface 3222 is arranged parallel to the first tooth bevel 3111 on the corresponding side; the spacing between the second tooth top surface 3222 and the first tooth top surface 3112 is equal to the spacing between the second tooth top surface 3222 and the first tooth bevel 3111 on the corresponding side, so that the flexible wheel outer gear ring 32 has a uniform wall thickness, thereby improving the heat dissipation of the flexible wheel outer gear ring 32; considering the working scenario of the flexible wheel, the wall thickness of the flexible wheel outer gear ring 32 is optimally 0.1mm-0.5mm.

[0053] refer to Figure 4 and Figure 5 In addition, in order to prevent the thickness of the cylindrical main body 31 from being too large and affecting the operation of the flexible wheel, the tooth top circle 316 of the skeleton outer gear ring 311 is located between the tooth root circle 324 and the pitch circle 325 of the flexible wheel outer gear ring 32, so that the supporting teeth 317 are only located at the tooth roots of the flexible wheel teeth 322. While increasing the tooth bottom strength, the gear tooth strength of the flexible wheel will not be too large, thereby avoiding impact when meshing with the rigid wheel 40. In addition, the radial height of the skeleton outer gear ring 311 will not be too large, thereby affecting the flexible deformation of the flexible wheel.

[0054] refer to Figure 3 , Figure 6 and Figure 7 The axial ends of the flexible wheel outer gear ring 32 extend radially inward to form a first retaining ring 321 and a second retaining ring 323; the first retaining ring 321 and the second retaining ring 323 are respectively stopped at the axial sides of the skeleton outer gear ring 311; in this way, while ensuring the toughness of the flexible wheel 30, the first retaining ring 321 and the second retaining ring 323 increase the connection area with the cylindrical main body 31, thereby increasing the connection strength between the flexible wheel outer gear ring 32 and the cylindrical main body 31. In addition, the existence of the first retaining ring 321 and the second retaining ring 323 enables the flexible wheel outer gear ring 32 to still maintain the connection stability between the flexible wheel outer gear ring 32 and the cylindrical main body 31 when subjected to a certain axial force.

[0055] The first material constituting the cylindrical main body 31 is metal, so that the cylindrical main body 31 is a metal skeleton. Of course, the first material can also be amorphous alloy materials that can withstand high-frequency alternating stress and have high shear fatigue resistance. The second material constituting the flexible wheel outer gear ring 32 is plastic, so that the flexible wheel outer gear ring 32 is a plastic outer gear ring. In actual production, the first material is alloy structural steel and the second material is PEI.

[0056] The cylindrical body 31 is formed by a cold extrusion process, and the process steps are: blanking - normalizing / spheroidizing annealing - multi-stage cold extrusion - heat treatment - finishing. Of course, the cylindrical body 31 can also be manufactured by a die forming process of machining, stretching or cold forging.

[0057] The flexible wheel outer gear ring 32 is formed by injection molding, and the specific process is as follows:

[0058] The first step is raw material pretreatment: the PEI material required for the flexible wheel outer gear ring 32 is sent to the dehumidification dryer for drying, the drying temperature is set at 150°C, the drying time is 4-6 hours, and after heating is completed, it is transferred to the injection molding machine;

[0059] The second step is injection molding: a hot runner mold is used, wherein the temperature of the front section of the hot runner is set to 125°C, the temperature of the rear section is set to 150°C, and the temperature settings from the barrel to the nozzle are 375°C, 380°C, 375°C, 370°C, and 355°C, respectively, to ensure that the fluid plastic still has good fluidity when entering the mold cavity; after the opening end side of the cylindrical main body 31 is placed in the injection mold, the injection mold is closed, the injection molding machine injection pressure is set to 135par, and the injection speed is set to 60mm / s. The fluid plastic enters the mold cavity through the nozzle and wraps the skeleton outer gear ring 311 of the cylindrical main body 31 to form the flexible wheel outer gear ring 32. The pressure is maintained for 20 seconds for one stage, and the pressure is set to 30par. The pressure is maintained for 15 seconds for the second stage, and the pressure is set to 15par. The mold opening speed is controlled at 15mm / s, and the ejection speed is controlled at 15mm / s, and then the flexible wheel 30 is obtained;

[0060] The third step is to remove the injection stress: put the flexible wheel 30 obtained in the second step into a high temperature box at 110°C-130°C for 2-4 hours to obtain the flexible wheel 30 for use. The optimal temperature of the high temperature box is 120°C, and the setting time of the high temperature box is 3 hours.

[0061] Embodiment 2: The difference between Embodiment 2 and Embodiment 1 is that the outer peripheral surface of the opening end side of the cylindrical main body 31 forms an annular boss protruding radially outward, and the flexible ply outer gear ring 32 is engaged to the outer peripheral surface of the annular boss; the annular boss can provide certain support for the flexible ply outer gear ring 32, thereby increasing the tooth bottom strength of the flexible ply outer gear ring 32, but the annular boss is not as strong as the support strength provided by the skeleton outer gear ring 311.

[0062] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible wheel of a harmonic reducer, characterized in that: include: A cylindrical main body formed of a first material, which is radially flexible and deformed by an external force, and has an open end for mounting a wave generator assembly of a harmonic reducer; The flexible outer gear ring formed of the second material is joined to the outer peripheral surface of the opening end side of the cylindrical main body along the circumferential direction, and undergoes radial flexible deformation synchronously with the cylindrical main body; Among them, the axial length of the cylindrical main body is greater than the axial length of the flexible spline outer gear ring, which facilitates heat dissipation through the portion of the cylindrical main body that exceeds the flexible spline outer gear ring; the stiffness of the cylindrical main body is greater than the stiffness of the flexible spline outer gear ring, so that the cylindrical main body supports the flexible spline outer gear ring.

2. The flexible wheel of a harmonic reducer according to claim 1, characterized in that: The outer peripheral surface of the opening end side of the cylindrical body portion has a skeleton outer gear ring, and the flex spline outer gear ring is joined to the skeleton outer gear ring.

3. The flexible wheel of a harmonic reducer according to claim 2, characterized in that: The skeleton outer gear ring includes a plurality of supporting teeth, the flexspline outer gear ring includes a plurality of flexspline teeth, the supporting teeth correspond to the flexspline teeth one by one and are embedded in the flexspline teeth.

4. The flexible wheel of a harmonic reducer according to claim 3, characterized in that: The tooth top circle of the skeleton outer gear ring is located between the tooth root circle and the pitch circle of the flexible wheel outer gear ring.

5. The flexspline of a harmonic reducer according to claim 1, characterized in that: The flexible wheel outer gear ring has a uniform wall thickness of 0.1 mm to 0.5 mm.

6. The flexspline of a harmonic reducer according to claim 1, characterized in that: The outer peripheral surface of the opening end side of the cylindrical main body forms an annular boss protruding radially outward, the flexible spline outer gear ring is engaged to the outer peripheral surface of the annular boss, and the axial ends of the flexible spline outer gear ring extend radially inward to form a first retaining ring and a second retaining ring; the first retaining ring and the second retaining ring are respectively stopped on both axial sides of the annular boss.

7. The flexspline of a harmonic reducer according to claim 1, characterized in that: An output connecting plate is disposed at one end of the cylindrical main body away from the opening end.

8. The flexible wheel of a harmonic reducer according to claim 1, characterized in that: The cylindrical main body is connected to the wave generator assembly via the inner peripheral surface of the opening end side thereof.

9. A harmonic reducer, comprising a wave generator assembly and a rigid wheel; the rigid wheel having a rigid inner gear ring; the wave generator assembly comprising a wave generator; characterized in that: The wave generator assembly also includes a flexible bearing; the harmonic reducer also includes the flexible wheel described in any one of claims 1 to 8; the flexible bearing is installed between the wave generator and the open end of the cylindrical main body; the flexible wheel outer gear ring undergoes radial flexible deformation due to the rotation of the wave generator, thereby forming a partial meshing with the rigid inner gear ring.

10. A process for producing a flexible wheel of a harmonic reducer, characterized in that: Used to produce the flexible wheel according to any one of claims 1 to 8, wherein the first material is alloy structural steel and the second material is PEI; specifically comprising the following steps: Step S001, manufacturing a cylindrical main body; Step S002, by injection molding, the outer gear ring of the flexspline is tightly joined to the outer peripheral surface of the opening end side of the cylindrical main body manufactured in step S001 along the circumferential direction to obtain the flexspline; Step S003, placing the flexible wheel obtained in step S002 in a high temperature box for a set time to remove the injection stress.

11. The process for producing a flexible gear of a harmonic reducer according to claim 10, characterized in that: The method of manufacturing the cylindrical main body in step S001 can be cold extrusion, machining, stretching or cold forging; the temperature of the high temperature box in step S003 is 110° C.-130° C. and the setting time is 2-4 hours.

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