Harmonic reducer flexspline assembly device

Abstract

The present application relates to the technical field of harmonic reducer production, and particularly relates to a flexible gear assembly device of a harmonic reducer, which comprises a bearing bearing seat, a plurality of position sensor assemblies and a plurality of clamping assemblies. The plurality of position sensor assemblies are uniformly distributed along the circumference of the bearing bearing seat and can move towards each other to measure the positional deviation of the flexible gear in multiple directions with the crossed roller bearing. The plurality of clamping assemblies are uniformly distributed along the circumference of the bearing bearing seat and can move towards each other to clamp the flexible gear. The plurality of clamping assemblies can move to drive the flexible gear to move, so that the axis of the flexible gear is coaxial with the axis of the crossed roller bearing. Overall, the flexible gear and the crossed roller bearing can be assembled with the assistance or complete replacement of manual operation, reducing the requirement for the operation skills of the operator, improving the low assembly efficiency of the flexible gear and the crossed roller bearing, and ensuring the yield of the product.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harmonic reducer production, and particularly relates to a flexible gear assembly device of a harmonic reducer. BACKGROUND

[0002] In the early assembly stage of the harmonic reducer, the flexible gear and the crossed roller bearing need to be assembled together in a concentric manner. The concentricity of the flexible gear and the crossed roller bearing during assembly has a great influence on the performance of the product. At present, manual assembly is adopted, and the operator stacks the flexible gear and the crossed roller bearing in a concentric manner, touches the outer circumferential surface of the flexible gear and the crossed roller bearing by hand feeling, and then locks the flexible gear and the crossed roller bearing by using a bolt. In this assembly stage, the operation skill requirement of the operator is high, which leads to low assembly efficiency of the flexible gear and the crossed roller bearing and low product yield. SUMMARY

[0003] The present application provides a flexible gear assembly device of a harmonic reducer, which is used to solve the problems of low assembly efficiency and low product yield when the flexible gear and the crossed roller bearing are assembled manually.

[0004] The present application provides a flexible gear assembly device of a harmonic reducer, which comprises:

[0005] A bearing carrier seat, the top surface of which carries a crossed roller bearing; the top surface of the crossed roller bearing carries a flexible gear;

[0006] A plurality of position sensor assemblies are uniformly distributed along the circumference of the bearing carrier seat and can move towards each other to measure the positional deviation of the flexible gear in multiple directions with respect to the crossed roller bearing;

[0007] A plurality of clamping assemblies are uniformly distributed along the circumference of the bearing carrier seat and can move towards each other to clamp the flexible gear; the plurality of clamping assemblies can move to drive the flexible gear to move, so that the axis of the flexible gear is coaxial with the axis of the crossed roller bearing.

[0008] In some embodiments, the device further comprises:

[0009] A first support seat;

[0010] A first driving mechanism is installed on the first support seat and connected to each position sensor assembly respectively, and can drive the plurality of position sensor assemblies to move synchronously.

[0011] In some embodiments, the first driving mechanism comprises:

[0012] A first gear is rotatably installed on the top of the first support seat;

[0013] The first linear driver has a fixed end mounted on the first support base and an output end connected with the first gear through a first crank connecting rod, and is capable of driving the first gear to rotate.

[0014] The first moving bases are multiple and are respectively slidably mounted on the top of the first support base. Each first moving base has a position sensor assembly mounted on the top thereof. Each first moving base is provided with a first rack engaged with the first gear.

[0015] In some embodiments, the apparatus further comprises:

[0016] The second support base is mounted on the top of the first support base and has a bearing support seat carried on the top surface thereof.

[0017] In some embodiments, the apparatus further comprises:

[0018] The third support base;

[0019] The second driving mechanism is mounted on the third support base and is connected with each clamping assembly respectively, and is capable of driving the multiple clamping assemblies to move synchronously.

[0020] In some embodiments, the second driving mechanism comprises:

[0021] The second gear is rotatably mounted on the top of the third support base.

[0022] The second linear driver has a fixed end mounted on the third support base and an output end connected with the second gear through a second crank connecting rod, and is capable of driving the second gear to rotate.

[0023] The second moving bases are multiple and are respectively slidably mounted on the top of the third support base. Each second moving base has a clamping assembly mounted on the top thereof. Each second moving base is provided with a second rack engaged with the second gear.

[0024] In some embodiments, the apparatus further comprises:

[0025] The centering mechanism has the third support base mounted on the top thereof.

[0026] In some embodiments, the centering mechanism comprises:

[0027] The base;

[0028] The first adjusting base is slidably mounted on the base along the X axis.

[0029] The second adjusting base is slidably mounted on the first adjusting base along the Y axis and has the third support base mounted on the top thereof.

[0030] The first driver has an output end connected with the first adjusting base and is used for driving the first adjusting base to move.

[0031] The second driver, whose output is connected to the second adjusting seat, is used to drive the second adjusting seat to move.

[0032] In some embodiments, each position sensor component includes:

[0033] Follower seat;

[0034] A first position sensor is mounted on a follower seat and is equipped with a first detection telescopic head; the first detection telescopic head can abut against the outer wall of the crossed roller bearing.

[0035] The second position sensor is mounted on the follower seat and is equipped with a second detection telescopic head; the second detection telescopic head can abut against the outer wall of the flexible wheel.

[0036] In some embodiments, it also includes:

[0037] Server rack;

[0038] The controller is installed in the cabinet.

[0039] The beneficial effects of this invention are as follows: The harmonic reducer flexure assembly device of this invention comprises a bearing support, multiple position sensor assemblies, and multiple clamping assemblies. The position sensor assemblies in multiple directions move synchronously towards each other to measure the positional deviation of the flexure from the crossed roller bearing in multiple directions. The clamping assemblies in multiple directions move synchronously towards each other to collaboratively clamp the flexure and drive it to move so that the center of the flexure and the center of the crossed roller bearing are aligned vertically. Overall, it can assist or completely replace manual assembly of the flexure and crossed roller bearing, reducing the skill requirements for operators, improving the assembly efficiency of the flexure and crossed roller bearing, and ensuring product yield. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of some specific embodiments of the harmonic reducer flexural gear assembly device of the present invention;

[0041] Figure 2 yes Figure 1 The front view of the harmonic reducer flexure assembly shown;

[0042] Figure 3 yes Figure 1 A magnified view of a portion of region A in the middle;

[0043] Figure 4 yes Figure 3 A schematic diagram of the combined structure of the first support base, the second support base, the first drive mechanism, and multiple position sensor components;

[0044] Figure 5 yes Figure 3A schematic diagram of the combined structure of the third support base, the second drive mechanism, the clamping assembly, and the centering mechanism.

[0045] In the attached figures, 110 is a bearing support; 120 is a position sensor assembly; 121 is a follower seat; 122 is a first position sensor; 123 is a second position sensor; 130 is a clamping assembly; 141 is a first support seat; 1411 is a first support leg; 142 is a second support seat; 143 is a third support seat; 1431 is a third support leg; 150 is a first drive mechanism; 151 is a first gear; 152 is a first linear actuator; and 153 is a... First movable seat; 1531, first rack; 160, second drive mechanism; 161, second gear; 162, second linear actuator; 163, second movable seat; 1631, second rack; 170, centering mechanism; 171, base; 172, first adjusting seat; 173, second adjusting seat; 180, cabinet; 181, fourth support leg; 182, traveling wheel; 190, controller; 200, crossed roller bearing; 300, flexible wheel. Detailed Implementation

[0046] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] As described in the background section, currently, manual assembly is used. Operators concentrically stack the flexure and crossed roller bearing together, aligning them by touch along their outer circumferences, and then tighten them with bolts. This assembly stage requires a high level of operator skill, resulting in low assembly efficiency and low product yield.

[0048] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5This invention provides a flexure assembly device for a harmonic reducer, including a bearing support 110, multiple position sensor assemblies 120, and multiple clamping assemblies 130. A crossed roller bearing 200 is supported on the top surface of the bearing support 110. A flexure 300 is supported on the top surface of the crossed roller bearing 200. The multiple position sensor assemblies 120 are evenly distributed circumferentially along the bearing support 110 and are movable towards each other to measure the positional deviation of the flexure 300 from the crossed roller bearing 200 in multiple orientations. The multiple clamping assemblies 130 are evenly distributed circumferentially along the bearing support 110 and are movable towards each other to clamp the flexure 300. The multiple clamping assemblies 130 are movable to drive the flexure 300 to move, thereby aligning the axis of the flexure 300 with the axis of the crossed roller bearing 200 on the same straight line.

[0049] The working process and principle of the flexspline assembly device for the harmonic reducer are as follows:

[0050] First, the operator places the crossed roller bearing 200 on top of the bearing housing 110. Next, the operator places the flexure 300 on top of the crossed roller bearing 200. Then, multiple position sensor assemblies 120 in various orientations move synchronously towards each other to measure the positional deviation of the flexure 300 from the crossed roller bearing 200 in multiple orientations. Afterward, multiple clamping assemblies 130 in various orientations move synchronously towards each other to collaboratively clamp the flexure 300. Finally, the multiple clamping assemblies 130 move the flexure 300 so that the center of the flexure 300 is aligned with the center of the crossed roller bearing 200 in the same vertical line. Overall, this method can assist or completely replace manual assembly of the flexure 300 and the crossed roller bearing 200, reducing the skill requirements for operators, improving the assembly efficiency of the flexure 300 and the crossed roller bearing 200, and ensuring product yield.

[0051] Specifically, in the demonstration example, refer to Figure 1 , Figure 3 , Figure 4 and Figure 5The harmonic reducer flexspline assembly device also includes a cabinet 180, a first support base 141, a first drive mechanism 150, a second support base 142, a centering mechanism 170, a third support base 143, and a second drive mechanism 160. The first support base 141 is fixedly mounted on the top of the cabinet 180. The first drive mechanism 150 is mounted on the first support base 141 and connected to each position sensor assembly 120, enabling synchronous movement of multiple position sensor assemblies 120. The second support base 142 is mounted on top of the first support base 141, with a bearing support 110 supported on its top surface. The centering mechanism 170 is located below the first support base 141, with its bottom fixedly mounted on the top of the cabinet 180 and the third support base 143 mounted on its top. The second drive mechanism 160 is mounted on the third support base 143 and connected to each clamping assembly 130, enabling synchronous movement of multiple clamping assemblies 130. The centering mechanism 170 drives the third moving seat and multiple clamping components 130 to move, thereby moving the flexible wheel 300 so that the center of the flexible wheel 300 and the center of the crossed roller bearing 200 are aligned vertically. Overall, this mechanism can assist or completely replace manual assembly of the flexible wheel 300 and the crossed roller bearing 200, reducing the skill requirements for operators, improving the assembly efficiency of the flexible wheel 300 and the crossed roller bearing 200, and ensuring product yield.

[0052] Preferably, such as Figure 2 As shown, a fourth support leg 181 is provided at each of the four corners of the bottom of the cabinet 180. The axial length of each fourth support leg 181 is adjustable so that the top surface of the cabinet 180 is in a horizontal plane. A caster wheel 182 is provided at each of the four corners of the bottom of the cabinet 180 to facilitate the repositioning of the cabinet 180.

[0053] Preferably, such as Figure 4 As shown, three first support legs 1411 are provided at the bottom of the first support base 141. The bottom of each first support leg 1411 is mounted on the top surface of the cabinet 180. The axial length of each first support leg 1411 is adjustable. By means of the three first support legs 1411, the vertical height of the first support base 141 can be adjusted, thereby adjusting the vertical height of each position sensor assembly 120. At the same time, it can ensure that the top surface of the first support base 141 is in a horizontal plane and does not tilt.

[0054] Preferably, each first support leg 1411 includes an adjusting nut and an adjusting screw.

[0055] Preferably, such as Figure 3 and Figure 4As shown, the first drive mechanism 150 includes a first gear 151, a first linear actuator 152, and a plurality of first movable seats 153. The first gear 151 is rotatably mounted in the middle of the top of the first support base 141. The fixed end of the first linear actuator 152 is mounted on the first support base 141, and its output end is connected to the first gear 151 via a first crank connecting rod, enabling the first gear 151 to rotate via the first crank connecting rod. The plurality of first movable seats 153 are slidably mounted on the top of the first support base 141. A position sensor assembly 120 is mounted on the top of each first movable seat 153. Each first movable seat 153 is provided with a first rack 1531 that meshes with the first gear 151. When the first linear actuator 152 drives the first gear 151 to rotate via the first crank connecting rod, the first gear 151 drives multiple first racks 1531 to move towards each other or away from each other, thereby causing multiple first moving seats 153 to move towards each other or away from each other, thereby driving multiple position sensor assemblies 120 to move towards each other or away from each other.

[0056] Preferably, the bottom of each first movable seat 153 and the top of the first support seat 141 are slidably connected to the slide rail via corresponding sliders to ensure the smooth movement of each first movable seat 153.

[0057] Preferably, the first linear actuator 152 is an electric actuator, a hydraulic cylinder, or a pneumatic cylinder, etc.

[0058] Preferably, there are three of each of the first movable seat 153 and the position sensor assembly 120, arranged in a one-to-one correspondence.

[0059] Preferably, such as Figure 3 and Figure 4 As shown, each position sensor assembly 120 includes a follower seat 121, a first position sensor 122, and a second position sensor 123. The follower seat 121 of each position sensor assembly 120 is fixedly mounted on a first movable seat 153 and can move with the corresponding first movable seat 153. The first position sensor 122 is fixedly mounted on the follower seat 121 and is provided with a first detection telescopic head. The first detection telescopic head can abut against the outer wall of the crossed roller bearing 200. The second position sensor 123 is fixedly mounted on the follower seat 121 and is located above the first position sensor 122. The second position sensor 123 is provided with a second detection telescopic head. The second detection telescopic head can abut against the outer wall of the flexure 300. The first position sensor 122 and the second position sensor 123 move with the follower seat 121. When the first detection telescopic head abuts against the outer wall of the crossed roller bearing 200 and the second detection telescopic head abuts against the outer wall of the flexure 300, the position deviation can be calculated using the telescopic difference.

[0060] Preferably, three second support legs are provided at the bottom of the second support base 142. The bottom of each second support leg is mounted on the top surface of the first support base 141. The axial length of each second support leg is adjustable. By means of the three second support legs, the vertical height of the second support base 142 can be adjusted, thereby adjusting the vertical height of the bearing carrier 110, the crossed roller bearing 200, and the flexure 300. At the same time, it ensures that the top surface of the second support base 142 is in a horizontal plane and does not tilt.

[0061] Preferably, each second support leg includes an adjusting nut and an adjusting screw.

[0062] Preferably, such as Figure 5 As shown, three third support legs 1431 are provided at the bottom of the third support base 143. The bottom of each third support leg 1431 is mounted on the top surface of the centering mechanism 170.

[0063] Preferably, such as Figure 3 and Figure 5 As shown, the second drive mechanism 160 includes a second gear 161, a second linear actuator 162, and a plurality of second movable seats 163. The second gear 161 is rotatably mounted in the middle of the top of the third support base 143. The fixed end of the second linear actuator 162 is mounted on the third support base 143, and its output end is connected to the second gear 161 via a second crank connecting rod, enabling the second gear 161 to rotate via the second crank connecting rod. The plurality of second movable seats 163 are slidably mounted on the top of the third support base 143. A clamping assembly 130 is mounted on the top of each second movable seat 163. Each second movable seat 163 is provided with a second rack 1631 that meshes with the second gear 161. When the second linear actuator 162 drives the second gear 161 to rotate via the second crank connecting rod, the second gear 161 drives multiple second racks 1631 to move towards each other or away from each other, thereby causing multiple second moving seats 163 to move towards each other or away from each other, thus driving multiple clamping assemblies 130 to move towards each other or away from each other.

[0064] Preferably, the bottom of each second movable seat 163 and the top of the third support seat 143 are slidably connected to the slide rail via corresponding sliders to ensure the smooth movement of each second movable seat 163.

[0065] Preferably, the second linear actuator 162 is an electric actuator, a hydraulic cylinder, or a pneumatic cylinder, etc.

[0066] Preferably, there are three second movable seats 163 and three clamping components 130, which are arranged in a one-to-one correspondence.

[0067] Preferably, each clamping assembly 130 includes a clamping block. The clamping block is mounted on the second movable seat 163. A clamping rod is formed on the top of the clamping block. Weight-reducing holes are formed on the clamping block to facilitate precise control of the clamping block's position.

[0068] In some practical applications, the centering mechanism 170 includes a base 171, a first adjusting seat 172, a second adjusting seat 173, a first driver, and a second driver. The base 171 is fixedly mounted on the top surface of the cabinet 180. The first adjusting seat 172 is movably mounted on the base 171 along the X-axis. The second adjusting seat 173 is movably mounted on the first adjusting seat 172 along the Y-axis, and a third support seat 143 is mounted on top of it. The output of the first driver is connected to the first adjusting seat 172, driving the first adjusting seat 172 to move along the X-axis, thereby causing the second adjusting seat 173, the third support seat 143, multiple clamping components 130, and the flexible wheel 300 to move along the X-axis. The output of the second driver is connected to the second adjusting seat 173, driving the second adjusting seat 173 to move along the Y-axis, thereby causing the third support seat 143, multiple clamping components 130, and the flexible wheel 300 to move along the Y-axis. This allows for quick and efficient adjustment of the position of the flexible wheel 300. The first and second drivers can be linear drivers such as electric push rods, hydraulic cylinders or pneumatic cylinders, or rotary drivers such as servo motors or stepper motors, and are connected to the first adjustment seat 172 / second adjustment seat 173 through a rotary-to-linear mechanism.

[0069] In other practical applications, the centering mechanism 170 includes a base 171, a translation seat, four third linear actuators, a rotating seat, two fourth linear actuators, and multiple ball bearings. The base 171 is fixedly mounted on the top surface of the frame. The translation seat is movably mounted on the top surface of the base 171 in a horizontal plane. The fixed ends of the four third linear actuators are hinged to the four corners of the base 171, and their output ends are hinged to the four corners of the translation seat, enabling the translation seat to achieve more degrees of freedom of movement. The rotating seat is rotatably mounted on the top surface of the translation seat via a rotating shaft. A third support 143 is mounted on the top of the rotating seat, enabling the third support 143, multiple clamping assemblies 130, and flexible wheels 300 to rotate. The fixed ends of the two fourth linear actuators are hinged to adjacent sides of the translation seat, and their output ends are hinged to the side walls of the rotating shaft. The axes of the two fourth linear actuators form a 90° angle, allowing the rotating shaft to achieve different rotational amplitudes. The multiple ball bearings are distributed in a rectangular array. Multiple ball bearings are rotatably mounted on the top surface of the base 171 and abut against the bottom surface of the translation seat to reduce the resistance encountered by the translation seat during translation, thereby reducing kinetic energy loss and improving motion control precision. This results in more degrees of freedom of motion, making the position adjustment process of the flexible wheel 300 more flexible and efficient. Each third and fourth linear actuator is an electric actuator, hydraulic cylinder, or pneumatic cylinder, etc.

[0070] Preferably, the harmonic reducer flexure assembly device further includes a controller 190. The controller 190 is mounted on the top surface of the cabinet 180 and is electrically connected to the first linear driver 152, the second linear driver 162, each first position sensor 122, each second position sensor 123, the first driver / third linear driver, and the second driver / fourth linear driver. When the first detection telescopic head abuts against the outer wall of the crossed roller bearing 200, and the second detection telescopic head abuts against the outer wall of the flexure 300, the controller 190 can calculate the position deviation using the telescopic difference and can control whether the first linear driver 152, the second linear driver 162, the first driver / third linear driver, and the second driver / fourth linear driver are operating.

[0071] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0073] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0074] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0075] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A flexural gear assembly device for a harmonic reducer, characterized in that, The utility model relates to a bearing carrier seat, and the top surface bears the crossed roller bearing, and the top surface of crossed roller bearing bears the flexible gear, and the utility model relates to a position sensor component is for a plurality of, and the uniform distribution along the circumferential direction of bearing carrier seat can move to each other to measure the position deviation of flexible gear in a plurality of directions with crossed roller bearing, and the utility model relates to a clamping assembly is for a plurality of, and the uniform distribution along the circumferential direction of bearing carrier seat can move to each other to clamp flexible gear, and a plurality of clamping assemblies can move to drive flexible gear to move, and the axis of flexible gear is in the same straight line with the axis of crossed roller bearing. Further comprising: A first support seat; A first driving mechanism is installed on the first support seat and connected with each position sensor component to drive the position sensor components to move synchronously; The first driving mechanism comprises: A first gear is rotatably installed on the top of the first support seat; A first linear driver is fixedly installed on the first support seat and connected with the first gear through a first crank connecting rod to drive the first gear to rotate; A plurality of first moving seats are slidably installed on the top of the first support seat, and each first moving seat is provided with a first rack engaged with the first gear; A second support seat is installed on the top of the first support seat and bears the bearing carrier seat; A third support seat; A second driving mechanism is installed on the third support seat and connected with each clamping assembly to drive the clamping assemblies to move synchronously; The second driving mechanism comprises: A second gear is rotatably installed on the top of the third support seat; A second linear driver is fixedly installed on the third support seat and connected with the second gear through a second crank connecting rod to drive the second gear to rotate; A plurality of second moving seats are slidably installed on the top of the third support seat, and each second moving seat is provided with a second rack engaged with the second gear. Further comprising: A centering mechanism is installed on the top of the third support seat. The centering mechanism comprises:

2. The harmonic reducer flexspline assembly of claim 1, wherein, A base; A first adjusting seat is movably installed on the base along the X-axis; 3. The harmonic reducer flexspline assembly of claim 2, wherein, A second adjusting seat is movably installed on the first adjusting seat along the Y-axis and bears the third support seat on the top; A first driver is connected with the first adjusting seat to drive the first adjusting seat to move; A second driver is connected with the second adjusting seat to drive the second adjusting seat to move. Each position sensor component comprises: A follower seat; A first position sensor is installed on the follower seat and provided with a first detection telescopic head abutting against the outer wall of the crossed roller bearing; 4. The harmonic reducer flexspline assembly of claim 1, wherein, A second position sensor is installed on the follower seat and provided with a second detection telescopic head abutting against the outer wall of the flexible gear. Further comprising: A cabinet; ​ 5. The harmonic reducer flexspline assembly of claim 1, wherein, ​ ​ A controller is mounted on the cabinet.

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