Double-rigid-gear harmonic speed reducer with flexible gear provided with groove

The invention discloses a double-rigid-gear harmonic speed reducer with a flexible gear provided with a groove, the double-rigid-gear harmonic speed reducer comprises a wave generator, a flexible bearing is arranged on the wave generator, the flexible gear is arranged on the outer ring of the flexible bearing, the flexible gear is in a straight cylinder shape, a first rigid gear and a second rigid gear are arranged outside the flexible gear, the tooth number of one rigid gear is the same as the tooth number of the flexible gear in the rigid gear meshing area, and the tooth number of the other rigid gear is larger than the tooth number of the flexible gear in the rigid gear meshing area. A groove is formed in the outer wall of the flexible gear and divides flexible gear teeth on the flexible gear into first meshing area flexible gear teeth and second meshing area flexible gear teeth in the axial direction, the first rigid gear is correspondingly meshed with the first meshing area flexible gear teeth, and the s