CN210265750U

CN210265750U - Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings

Info

Publication number: CN210265750U
Application number: CN201920849153.1U
Authority: CN
Inventors: 童彤; 张晓慧; 施海健
Original assignee: Nantong Zhenkang Welding Electromachinery Co ltd; NANTONG ZHENKANG MACHINERY CO Ltd
Current assignee: Nantong Zhenkang Welding Electromachinery Co ltd; NANTONG ZHENKANG MACHINERY CO Ltd
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-04-07
Anticipated expiration: 2029-06-05

Abstract

The utility model provides a roller pin type flexible bearing integrated double rigid gear harmonic speed reducer without inner and outer rings, which comprises a novel wave generator, a novel inner ring, a novel outer ring, a novel flexible gear, a roller pin, a rigid gear end cover and a deep groove ball bearing; novel wave generator comprises wave generator and bearing inner race, novel flexbile gear comprises flexbile gear and bearing inner race, novel inner race comprises fixed rigid wheel and cross roller bearing inner race, novel outer lane comprises output rigid wheel and cross roller bearing outer race, just novel wave generator, novel inner race, novel outer lane and novel flexbile gear are whole parts. In the technical field of harmonic speed reducers, the problems of radial gaps of the speed reducers, unstable transmission, poor rigidity and the like exist, and the double-rigid-wheel harmonic speed reducer with small size, light weight, compact structure and high rigidity is provided.

Description

Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings

Technical Field

The utility model relates to a harmonic speed reducer machine technical field especially relates to a two rigid wheel harmonic speed reducer machines of no inner and outer lane roller pin type flexible bearing integral type.

Background

The double-rigid-gear harmonic speed reducer is a speed reducer mainly formed by combining a wave generator, two flexible bearings and two rigid gears, wherein the rigid gear and the flexible gear at the fixed end are meshed with each other by the same number of teeth, the rigid gear and the flexible gear at the output end are meshed with each other by the different number of teeth, and the reduction ratio is obtained by transmission.

Chinese patent CN205877115U discloses a harmonic speed reducer with an improved structure, which comprises a cross roller bearing and an elliptical wave generator, wherein the elliptical wave generator is provided with a flexible bearing, the flexible bearing is provided with an annular flexspline, and a rigid gear is arranged outside the flexspline; the flexible bearing is a cylindrical roller flexible bearing. The utility model discloses rational in infrastructure, can improve two rigid wheel harmonic speed reducer machine output torque, improve the load capacity and the shock resistance of harmonic speed reducer machine greatly, reduce flexible bearing's the processing cost and the harmonic speed reducer machine assembly degree of difficulty by a wide margin.

The double rigid wheel harmonic speed reducer machine has a simple structure, and main parts are as follows: the device comprises a wave generator, a fixed end rigid gear, a flexible gear, a cross roller bearing, a flexible bearing, an output end rigid gear, a rigid gear end cover and a deep groove ball bearing. The fixed end rigid wheel and the output end rigid wheel are provided with a group of internal teeth which are respectively meshed with the external teeth of the flexible wheel to carry out transmission.

The double-rigid-wheel harmonic speed reducer structure has the following defects:

(1) the fixed end rigid wheel and the inner ring of the crossed roller bearing are in transition fit, a gap exists between the fit outer diameter of the fixed end rigid wheel and the inner ring inner hole of the crossed roller bearing, and when the wave generator, the flexible bearing, the flexible wheel and the fixed end rigid wheel are in meshing transmission, the rigidity of the speed reducer can be lost due to the radial gap existing under load.

(2) The output end rigid wheel and the cross roller bearing are fastened together through the screws, and after the screws are locked under high load, the area of the connecting end surface of the output end rigid wheel and the cross roller bearing is small, so that the phenomena of unstable transmission, poor rigidity and the like caused by looseness due to small friction resistance are overcome.

(3) The two rigid wheels are connected by a cross roller bearing, and the speed reducer is thicker in the axial direction.

(4) Two flexible bearings are simultaneously installed on the wave generator, the two flexible bearings are axially installed in parallel, the flexible bearings are parts with weak rigidity of the harmonic speed reducer, the number of the flexible bearings is less than 1/6 steel balls during meshing, and the flexible bearings are parts with weak impact resistance of the double-rigid-wheel harmonic speed reducer.

SUMMERY OF THE UTILITY MODEL

In order to overcome the problems of easy loss of the rigidity of the speed reducer, unstable transmission, large thickness of the speed reducer in the axial direction and weak rigidity of a flexible bearing in the prior art, the utility model provides a roller pin type flexible bearing integrated double rigid wheel harmonic speed reducer without inner and outer rings, which comprises a novel wave generator, a novel inner ring, a novel outer ring, a novel flexible wheel, a roller pin, a rigid wheel end cover and a deep groove ball bearing; the novel wave generator consists of a wave generator and a needle roller flexible bearing inner ring, the novel flexible gear consists of a flexible gear and a needle roller flexible bearing outer ring, the novel inner ring consists of a fixed rigid wheel and a crossed roller bearing inner ring, the novel outer ring consists of an output end rigid wheel and a crossed roller bearing outer ring, the novel wave generator, the novel inner ring, the novel outer ring and the novel flexible gear are all integral parts, the outer wall of the novel wave generator is connected with a deep groove ball bearing and a rolling needle, wherein the outer wall of the deep groove ball bearing at one end is connected with the inner wall of the novel inner ring, the outer wall of the deep groove ball bearing at the other end is connected with the inner wall of the end cover of the rigid wheel, the inner wall of the novel inner ring is also connected with the outer wall of the novel flexible gear, the outer wall of the novel inner ring is connected with the inner wall of the novel outer ring, meanwhile, the inner wall of the novel outer ring is connected with the outer wall of the novel flexible gear, and the rigid gear end cover is fixedly connected with the novel outer ring.

Through adopting above-mentioned technical scheme, for general two rigid wheel oblique wave speed reducers, simplified the structure, increased its rigidity, the size of this two rigid wheel structures diminishes, weight reduction for the clearance between each part reduces through the integration of spare part, has increased the rigidity of speed reducer.

Preferably, the novel wave generator is of an annular oval structure, and the thickness of the outer wall of the novel wave generator is the sum of the thicknesses of the wave generator and the inner ring of the needle roller flexible bearing.

By adopting the technical scheme, the novel wave generator replaces the wave generator and the needle bearing inner ring to serve as an integral part, and the needle bearing inner ring is omitted from the aspect of the number of the parts, so that the cost is reduced. And the assembly clearance between the wave generator and the flexible bearing inner ring is eliminated, the rigidity is improved, and the meshing precision is improved. Meanwhile, the thicknesses of the original wave generator and the needle roller flexible bearing inner ring are kept, and other parameters are kept unchanged.

Preferably, the needle roller flexible bearing outer ring and the needle roller flexible bearing inner ring form a novel flexible bearing.

By adopting the technical scheme, the novel flexible bearing adopts the needle bearing to replace two original flexible ball bearings, and compared with the original bearing, the novel bearing is convenient to assemble and lower in cost.

Preferably, the contact surface of the outer wall of the novel inner ring and the contact surface of the inner wall of the novel outer ring are connected through a cross roller.

Through adopting above-mentioned technical scheme, stiff end rigid wheel, cross roller bearing and output rigid wheel have been replaced to novel inner circle and novel outer lane, are connected novel inner circle and novel outer lane through a cross roller, and can mesh with the flexbile gear.

Preferably, the inner wall of the novel inner ring in contact with the novel flexible gear is provided with inner teeth the same as the fixed end rigid gear, and the outer teeth of the novel inner ring and the outer teeth of the novel flexible gear are meshed with each other by the same number of teeth.

Through adopting above-mentioned technical scheme, novel inner circle and flexbile gear mesh with the number of teeth, guarantee driven stability, have realized the transmission to reduction gears.

Preferably, the section of the novel outer ring is of an L shape, inner teeth which are the same as those of the output end rigid wheel are arranged on the inner wall of the novel outer ring in contact with the novel flexible wheel, and the outer teeth of the novel outer ring and the novel flexible wheel are meshed in a differential tooth number mode.

Through adopting above-mentioned technical scheme, the tangent plane is the novel outer lane of "L" type, the different inner wall in two sides that has, can contact with novel inner circle and flexbile gear respectively, and novel outer lane passes through the cross roller and is connected with novel inner circle, and novel outer lane is the meshing of difference tooth number with the external tooth of flexbile gear to form reduction gears's speed reduction ratio.

Preferably, the thickness of the novel flexible gear and the hardness of the external teeth are consistent with the thickness of the flexible gear, the hardness of the external teeth is 30-50HRC, and the hardness of the inner hole is 58-66 HRC.

Through adopting above-mentioned technical scheme, the external tooth hardness of novel flexbile gear keeps unchangeable, and the internal tooth and the contact operation of kingpin realize the improvement of hole moderate strength through thermal treatment, make it can reach adaptation kingpin intensity.

Preferably, both ends of the roller pin are round-head cylinders, and the thickness of an assembly body formed by the roller pin and the novel flexible gear is the same as that of the flexible gear and the flexible bearing.

Through adopting above-mentioned technical scheme, the thickness grow of kingpin to this keeps invariable of whole assembly body thickness with novel flexbile gear of cooperation.

Preferably, the appearance of the rigid wheel end cover is a circular metal cover body, and a plurality of countersunk holes for mounting screws are formed in the circumferential arrays of the inner ring and the outer ring of the surface of the cover body.

Through adopting above-mentioned technical scheme, the rigid wheel end cover suit is on whole two rigid wheel harmonic speed reducer machines, and a plurality of metal recess that rigid wheel end cover outer lane was equipped with are used for installing the metal bolt for fixed whole harmonic speed reducer machine, and rigid wheel end cover inner circle is equipped with a plurality of metal recesses and can be used for customer's erection equipment.

Preferably, the deep groove ball bearings are installed on two end faces of the harmonic speed reducer, and a metal snap spring is arranged at the joint of the deep groove ball bearings and the novel inner ring.

Through adopting above-mentioned technical scheme, be equipped with the deep groove ball bearing that the diameter is different on two steel wheel harmonic speed reducer's two rigid wheel speed reducer, mainly used bears radial load and axial load in the speed reducer, and the metal jump ring is used for further strengthening the connection of deep groove ball bearing and novel inner circle.

Drawings

FIG. 1 is a schematic structural diagram of a double-rigid-wheel harmonic reducer;

FIG. 2 is an integrated double-rigid-wheel harmonic reducer;

FIG. 3 is a roller pin type flexible bearing integrated double rigid wheel harmonic reducer;

FIG. 4 is an integrated double rigid gear harmonic reducer of a roller pin type flexible bearing without an inner ring;

FIG. 5 is a roller pin type flexible bearing integrated double rigid wheel harmonic reducer without inner and outer rings;

reference numerals: 1. a novel wave generator; 2. a novel inner ring; 3. a novel outer ring; 4. a novel flexible gear; 5. rolling needles; 6. a rigid wheel end cover; 7. a deep groove ball bearing; 11. a wave generator; 21. a rigid wheel is fixed; 31. a flexible gear; 41. a crossed roller bearing; 51. a compliant bearing; 61. an output end rigid wheel; 53. a needle roller flexible bearing outer ring; 63. and the needle roller flexible bearing inner ring.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Example 1

As shown in fig. 5: a roller pin type flexible bearing integrated double rigid gear harmonic speed reducer without an inner ring and an outer ring comprises a novel wave generator 1, a novel inner ring 2, a novel outer ring 3, a novel flexible gear 4, a roller pin 5, a rigid gear end cover 6 and a deep groove ball bearing 7; the novel wave generator 1 is composed of a wave generator 11 and a needle roller flexible bearing inner ring 63, the novel flexible gear 4 is composed of a flexible gear 31 and a needle roller flexible bearing outer ring 53, the novel inner ring 2 is composed of a fixed rigid gear and a cross roller bearing 41 inner ring, the novel outer ring 3 is composed of an output rigid gear 61 and a cross roller bearing 41 outer ring, the novel wave generator 1, the novel inner ring 2, the novel outer ring 3 and the novel flexible gear 4 are all integral parts, the outer wall of the novel wave generator 1 is connected with a deep groove ball bearing 7 and a needle roller 5, wherein the outer wall of the deep groove ball bearing 7 at one end is connected with the inner wall of the novel inner ring 2, the outer wall of the deep groove ball bearing 7 at the other end is connected with the inner wall of a rigid gear end cover 6, the inner wall of the novel inner ring 2 is connected with the outer wall of the novel flexible gear 4, the outer wall of the, the rigid wheel end cover 6 is fixedly connected with the novel outer ring 3. Compared with a common double-rigid-wheel oblique wave speed reducer, the structure is simplified, the rigidity of the double-rigid-wheel oblique wave speed reducer is increased, the size of the double-rigid-wheel structure is reduced, the weight is reduced, gaps among all parts are reduced through integration of the parts, and the rigidity of the speed reducer is increased.

As shown in fig. 5: the novel wave generator 1 is of an annular oval structure, and the thickness of the outer wall of the novel wave generator 1 is the sum of the thicknesses of the wave generator 11 and the needle roller flexible bearing inner ring 63. The novel wave generator 1 replaces the wave generator 11 and the needle roller flexible bearing inner ring 63, and as an integral part, the needle roller flexible bearing inner ring 63 is omitted from the aspect of the number of parts, so that the cost is reduced. And the assembly clearance between the wave generator 11 and the inner ring of the flexible bearing 51 is eliminated, the rigidity is improved, and the meshing precision is improved. Meanwhile, the thicknesses of the original wave generator 11 and the needle roller flexible bearing inner ring 63 are kept, and other parameters are kept unchanged.

As shown in fig. 5: the needle roller 5, the needle roller flexible bearing outer ring 53 and the needle roller flexible bearing inner ring 63 form a novel flexible bearing 51. The novel flexible bearing adopts the needle roller 5 bearing to replace the original two flexible ball bearings, and compared with the original bearing, the novel bearing is convenient to assemble and lower in cost.

As shown in fig. 5: the contact surface of the outer wall of the novel inner ring 2 and the inner wall of the novel outer ring 3 is connected through a cross roller. The fixed end rigid wheel 21, the crossed roller bearing 41 and the output end rigid wheel 61 are replaced by the novel inner ring 2 and the novel outer ring 3, the novel inner ring 2 and the novel outer ring 3 are connected through a crossed roller, and the novel inner ring and the novel outer ring can be meshed with the flexible wheel 31.

As shown in fig. 5: the inner wall of the novel inner ring 2 contacted with the novel flexible gear 4 is provided with inner teeth the same as the fixed end rigid gear 21, and the outer teeth of the novel inner ring 2 and the novel flexible gear 4 are meshed with each other by the same number of teeth. The novel inner ring 2 is meshed with the flexible gear 31 by the same tooth number, so that the stability of transmission is ensured, and the transmission of the speed reducing mechanism is realized.

As shown in fig. 5: the tangent plane of novel outer lane 3 is "L" type, is equipped with the internal tooth the same with output rigid gear 61 on the inner wall that novel outer lane 3 and novel flexible gear 4 contact, and novel outer lane 3 meshes for the difference tooth number with the external tooth of novel flexible gear 4. The tangent plane is the novel outer lane 3 of "L" type, the different inner wall in two sides that has, can contact with novel inner circle 2 and flexbile gear 31 respectively, and novel outer lane 3 is connected with novel inner circle 2 through the cross roller, and novel outer lane 3 meshes for the difference tooth number with the outer tooth of flexbile gear 31 to form reduction gears's speed reduction proportion.

As shown in fig. 5: the thickness of the novel flexible gear 4 and the hardness of the outer teeth are consistent with that of the flexible gear 31, the hardness of the outer teeth is 30-50HRC, and the hardness of the inner holes is 58-66 HRC. The hardness of the outer teeth of the novel flexible gear 4 is kept unchanged, the inner teeth and the roller pins 5 are in contact operation, and the strength in the inner hole is improved through heat treatment, so that the novel flexible gear can meet the strength of the roller pins 5.

As shown in fig. 5: the two ends of the roller pin 5 are round cylinders, and the thickness of an assembly body formed by the roller pin 5 and the novel flexible gear 4 is the same as that of the flexible gear 31 and the flexible bearing 51. The thickness of the needle roller 5 is increased, so that the novel flexible gear 4 is matched to keep the thickness of the whole assembly constant.

As shown in fig. 5: the appearance of the rigid wheel end cover 6 is a circular metal cover body, and a plurality of countersunk holes for mounting screws are arranged on the inner ring and the outer ring of the surface of the cover body in a circumferential array. The rigid wheel end cover 6 is sleeved on the whole double-rigid-wheel harmonic speed reducer, a plurality of metal grooves formed in the outer ring of the rigid wheel end cover 6 are used for mounting metal bolts and used for fixing the whole harmonic speed reducer, and a plurality of metal grooves formed in the inner ring of the rigid wheel end cover 6 can be used for mounting equipment for customers.

As shown in fig. 5: the deep groove ball bearing 7 is installed on two end faces of the harmonic speed reducer, and a metal snap spring is arranged at the joint of the deep groove ball bearing 7 and the novel inner ring 2. The double-steel-wheel harmonic speed reducer is provided with a deep groove ball bearing 7 with different diameters, and is mainly used for bearing radial load and axial load in the speed reducer, and the metal clamp spring is used for further reinforcing the connection between the deep groove ball bearing 7 and the novel inner ring 2.

Comparative example 1

Fig. 1 is a schematic diagram of a double-rigid-wheel harmonic reducer. The main parts are as follows: the generator comprises a wave generator 11, a fixed end rigid gear 21, a flexible gear 31, a cross roller bearing 41, a flexible bearing 51, an output end rigid gear 61, a rigid gear end cover 6 and a deep groove ball bearing 7.

The fixed end rigid gear 21 and the output end rigid gear 61 both have a group of internal teeth which are respectively meshed with the external teeth of the flexible gear 31 to carry out transmission.

Comparative example 2

Fig. 2 is an integrated double-rigid-wheel harmonic reducer. The main parts are as follows: the device comprises a wave generator 11, a novel inner ring 2, a novel outer ring 3, a flexible gear 31, a flexible bearing 51, a rigid gear end cover 6 and a deep groove ball bearing 7.

The novel crossed roller bearing 41 is composed of a novel inner ring 2 and a novel outer ring 3 respectively, and the novel inner ring 2 and the novel outer ring 3 are formed by connecting crossed rollers. Wherein novel inner circle 2 has replaced these two assemblies body of original stiff end rigid wheel 21 and cross roller bearing 41 inner circle, and novel inner circle 2 has original stiff end rigid wheel 21 internal tooth simultaneously as a part of novel cross roller bearing 41 on its internal diameter, with flexbile gear 31 meshing.

The novel outer ring 3 replaces two assembly bodies of the original output end rigid wheel 61 and the original outer ring of the cross roller bearing 41, and the novel outer ring 3 is used as a part of the novel cross roller bearing 41, and the inner diameter of the novel outer ring is simultaneously provided with the inner teeth of the original output end rigid wheel 61 and meshed with the flexible wheel 31.

The novel crossed roller bearing 41 structure is changed into an integral structure from an assembly body, so that the axial thickness is reduced, the weight of a speed reducer is reduced, the key is to eliminate the original assembly gap and the original assembly locking mode, and the rigidity, the meshing precision and the stability are improved.

Comparative example 3

Fig. 3 shows a roller pin type flexible bearing 51 integrated double rigid wheel harmonic reducer. The main parts are as follows: the flexible roller bearing comprises a wave generator 11, a novel inner ring 2, a novel outer ring 3, a flexible roller 31, a roller pin flexible bearing outer ring 53, a roller pin 5, a roller pin flexible bearing inner ring 63, a rigid wheel end cover 6 and a deep groove ball bearing 7.

The novel flexible ball bearing is composed of a roller pin 5, a roller pin flexible bearing outer ring 53 and a roller pin flexible bearing inner ring 63, the novel flexible bearing replaces two original ball bearings by a roller pin 5 bearing, and the novel bearing not only has high rigidity, simple structure and low cost, but also is convenient to assemble.

Comparative example 4

Fig. 4 shows an integrated double rigid gear harmonic reducer of the inner-ring-free roller pin type flexible bearing 51. The main parts are as follows: the novel wave generator comprises a novel wave generator 1, a novel inner ring 2, a novel outer ring 3, a flexible gear 31, a needle roller flexible bearing outer ring 53, a needle roller 5, a rigid wheel end cover 6 and a deep groove ball bearing 7.

The novel wave generator 1 replaces the wave generator 11 and the needle roller flexible bearing inner ring 63 in fig. 3, and as an integral part, from the aspect of the number of parts, the needle roller flexible bearing inner ring 63 is omitted, so that the cost is reduced. And the assembly clearance between the wave generator 11 and the inner ring of the flexible bearing 51 is eliminated, the rigidity is improved, and the meshing precision is improved.

While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims

1. The utility model provides a two rigid wheel harmonic speed reducers of outer lane roller pin type flexible bearing integral type in no, its characterized in that: comprises a novel wave generator (1), a novel inner ring (2), a novel outer ring (3), a novel flexible gear (4), a rolling needle (5), a rigid gear end cover (6) and a deep groove ball bearing (7); the novel wave generator (1) consists of a wave generator (11) and a needle roller flexible bearing inner ring (53), the novel flexible gear (4) consists of a flexible gear (31) and a needle roller flexible bearing outer ring (63), the novel inner ring (2) consists of a fixed rigid gear and a cross roller bearing (41) inner ring, the novel outer ring (3) consists of an output end rigid gear (61) and a cross roller bearing (41) outer ring, the novel wave generator (1), the novel inner ring (2), the novel outer ring (3) and the novel flexible gear (4) are all integral parts, the outer wall of the novel wave generator (1) is connected with a deep groove ball bearing (7) and a needle roller (5), wherein the outer wall of the deep groove ball bearing (7) at one end is connected with the inner wall of the novel wave generator (2), the outer wall of the deep groove ball bearing (7) at the other end is connected with the inner wall of a rigid gear end cover, the novel inner ring (2) inner wall is connected with the outer wall of the novel flexible gear (4), the outer wall of the novel inner ring (2) is connected with the inner wall of the novel outer ring (3), the inner wall of the novel outer ring (3) is connected with the outer wall of the novel flexible gear (4), and the rigid wheel end cover (6) is fixedly connected with the novel outer ring (3).

2. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the novel wave generator (1) is of an annular oval structure, and the thickness of the outer wall of the novel wave generator (1) is the sum of the thicknesses of the wave generator (11) and the needle roller flexible bearing inner ring (53).

3. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the novel flexible bearing is composed of the needle roller (5), a needle roller flexible bearing outer ring (63) and a needle roller flexible bearing inner ring (53).

4. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the outer wall of the novel inner ring (2) is connected with the inner wall contact surface of the novel outer ring (3) through a cross roller.

5. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the inner wall of the novel inner ring (2) in contact with the novel flexible gear (4) is provided with inner teeth the same as the fixed end rigid gear (21), and the outer teeth of the novel inner ring (2) and the novel flexible gear (4) are meshed with each other by the same number of teeth.

6. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the tangent plane of novel outer lane (3) is "L" type, is equipped with the internal tooth the same with output rigid wheel (61) on the inner wall that novel outer lane (3) and novel flexbile gear contact, just novel outer lane (3) are the meshing of difference tooth number with the external tooth of novel flexbile gear (4).

7. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the thickness of the novel flexible gear (4) and the hardness of the outer teeth are consistent with that of the flexible gear (31), the hardness of the outer teeth is 30-50HRC, and the hardness of the inner holes is 58-66 HRC.

8. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the two ends of the roller pin (5) are round-head cylinders, and the thickness of an assembly body formed by the roller pin (5) and the novel flexible gear (4) is the same as that of the flexible gear (31) and the flexible bearing (51).

9. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the appearance of the rigid wheel end cover (6) is a circular metal cover body, and a plurality of countersunk holes for mounting screws are formed in the circumferential arrays of the inner ring and the outer ring of the surface of the cover body.

10. The roller pin type flexible bearing integrated double rigid gear harmonic reducer without the inner ring and the outer ring according to claim 1, characterized in that: the deep groove ball bearing (7) is installed on two end faces of the harmonic speed reducer, and a metal snap spring is arranged at the joint of the deep groove ball bearing (7) and the novel inner ring (2).