Harmonic reducer automatic assembly machine and assembly process thereof

Abstract

The application discloses a kind of harmonic reducer automatic assembly machine and its assembly process, including feeding arm, first platform, steel wheel assembly manipulator, shooting correction mechanism, carrying and fixing mechanism, second platform, wave generator assembly manipulator and unloading arm, first platform and second platform are arranged in the two sides of the table top of machine table in parallel interval;Feeding arm is arranged in the side of first platform;Steel wheel assembly manipulator is arranged in the side of first platform, and steel wheel is adaptively swung and pressed into the flexible wheel;Shooting correction mechanism is erected above first platform;Carrying and fixing mechanism is erected between first platform and second platform along the direction perpendicular to first platform;Wave generator assembly manipulator is erected above second platform;Unloading arm is arranged in the side of second platform.The application realizes the precise and rapid automatic assembly of steel wheel and flexible wheel with different shapes, different tooth numbers and different characteristics, and realizes the automatic assembly of elliptical wave generator into flexible wheel.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of harmonic reducer automation production, and particularly to a harmonic reducer automatic assembly machine and an assembly process thereof. BACKGROUND

[0002] The harmonic reducer is a high-performance reducer, and has incomparable excellent positioning precision characteristics. The harmonic reducer is composed of three basic parts (wave generator, flexspline and rigid wheel) using metal elasticity, and is widely used in the field of mechanical equipment manufacturing. The wave generator is an elliptical cam outer ring embedded with a thin ball bearing, and the whole is an elliptical part. The inner ring of the bearing is fixed on the elliptical cam, and the outer ring is elastically deformed by the ball. The wave generator is installed on the motor shaft. The flexspline is a thin cup-shaped metal elastic body part. The outer edge of the gear ring part is engraved with small teeth. The flexspline is installed at the output shaft of the reducer. The rigid wheel is a rigid internal gear, and the inner side is engraved with small teeth of the same size as the flexspline, and has 2 more teeth than the flexspline. The outer ring part is fixed on the reducer housing.

[0003] In actual use, the three basic parts are combined. The flexspline deforms with the wave generator into an elliptical shape, and the long axis part of the ellipse is engaged with the small teeth of the rigid wheel, and the short axis part of the teeth is completely separated. The rigid wheel is fixed, and the wave generator (input) is rotated clockwise. At this time, the flexspline will be elastically deformed, and the position of the small teeth engaged with the rigid wheel will move in sequence.

[0004] The wave generator rotates one circle, and the flexspline moves 2 teeth less than the rigid wheel, so it moves in the opposite direction of the wave generator, that is, counterclockwise. The output of this action is decelerated.

[0005] The design process of the harmonic reducer can be known that the wave generator is an elliptical structure, the flexspline gear ring is a deformable elliptical structure, and the steel wheel is a rigid structure with a gear rack in the middle hole. In the harmonic reducer assembly production process, the steel wheel is first sleeved on the flexspline gear ring, so that the gear rack on the inner hole wall of the steel wheel is engaged with the gear rack on the outer wall of the gear ring. Then the seat body outside the steel wheel and the gear ring is fixed. Finally, the wave generator is installed in the inner hole of the flexspline gear ring.

[0006] At present, the harmonic reducer assembly can only be carried out in an artificial way, and no automatic harmonic reducer assembly equipment has appeared on the market. The technical difficulties to be broken through in the harmonic reducer assembly process are as follows: 1. When the rigid steel wheel and the flexible gear ring are assembled, the shapes and the number of the teeth of the two are different, that is, the steel wheel is a circular structure, and the flexible wheel is an elliptical structure. The steel wheel needs to be strongly pressed on the gear ring by interference pressure. This process is prone to tooth collapse; 2. When the wave generator and the flexible wheel are assembled, both of them are elliptical structures. The major axis and the minor axis of the two ellipses cannot be completely aligned every time, so it is easy to appear assembly jamming, which causes the flexible wheel to deform too much and be damaged. SUMMARY

[0007] The technical problem to be solved by the present application is to provide a harmonic reducer automatic assembly machine and an assembly process, which realize the precise and rapid automatic assembly of steel wheels and flexible wheels with different shapes, different tooth numbers and different characteristics, and realize the automatic assembly of the elliptical wave generator into the flexible wheel.

[0008] The technical scheme adopted by the present application is as follows: a harmonic reducer automatic assembly machine, comprising a machine table arranged horizontally and a machine cover arranged above the machine table, an assembly space is formed in the machine cover, further comprising a feeding carrying arm, a first platform, a steel wheel assembly manipulator, a shooting correction mechanism, a carrying and fixing mechanism, a second platform, a wave generator assembly manipulator and a discharging carrying arm, wherein,

[0009] The first platform and the second platform are arranged in parallel and spaced apart on both sides of the table top of the machine table;

[0010] The feeding carrying arm is arranged on one side of the first platform and extends to the outside of the machine table, so as to take out the flexible wheel from the outside and move it to the first platform;

[0011] The steel wheel assembly manipulator is arranged on one side of the first platform and extends to the outside of the machine table, so as to take out the steel wheel from the outside and adaptively swing the steel wheel into the flexible wheel;

[0012] The shooting correction mechanism is arranged above the first platform. The shooting correction mechanism shoots and detects the flexible wheel and / or the steel wheel downward, and inserts into the steel wheel downward, drives the steel wheel to rotate so as to adjust the relative position of the steel wheel and the flexible wheel;

[0013] The carrying and fixing mechanism is arranged between the first platform and the second platform in a direction perpendicular to the first platform. The carrying and fixing mechanism fixes the steel wheel and the flexible wheel on the first platform, and then carries them to the second platform;

[0014] The wave generator assembly manipulator is arranged above the second platform. After the wave generator assembly manipulator carries the wave generator from the outside, the wave generator is assembled into the flexible wheel by using the weight of the wave generator and rotating and pressing downward;

[0015] The unloading carrying arm is arranged on one side of the second platform and extends to the outside of the machine table, so as to unload the product with the wave generator assembled on the second platform.

[0016] Preferably, the harmonic reducer comprises a seat body, a flexspline, a steel wheel and a wave generator, wherein the flexspline comprises a mounting ring part and a gear ring part; the mounting ring part is an annular sheet body provided with an inner hole; the gear ring part is an elliptical ring body structure, which is a flexible structure and deforms under external pressure; the gear ring part is vertically connected to the inner hole of the mounting ring part and extends vertically upward; at least two vertical toothed racks are arranged on the outer side wall of the gear ring part; the inner wall of the gear ring part is a light wall structure; the steel wheel is a ring body structure, which is a rigid structure and is provided with at least two vertical toothed racks on the inner hole wall; the number of toothed racks of the inner ring of the steel wheel is not less than that of the outer wall of the gear ring part; the steel wheel is pressed into and sleeved on the outside of the gear ring part; the wave generator is an elliptical structure and is pressed into the inside of the gear ring part; the seat body is arranged on the mounting ring part and fixedly connected to the mounting ring part.

[0017] Preferably, the unloading carrying arm comprises an unloading linear module, an unloading lifting module, an unloading lifting seat, an unloading translation module and an unloading head, wherein the unloading linear module is arranged on the machine table in the same direction as the first platform; the unloading lifting module is vertically connected to the output end of the unloading linear module; the unloading lifting seat is slidably connected to the output end of the unloading lifting module in the vertical direction; the unloading translation module is arranged on the unloading lifting seat in the direction away from the unloading linear module; and the unloading head is slidably connected to the output end of the unloading translation module.

[0018] Preferably, the first platform comprises a platform support, a platform slide rail, a sliding drive assembly, a sliding seat, an outer clamping assembly and an inner tensioning assembly, wherein the platform support is horizontally arranged on the machine table; the platform slide rail comprises at least two, and the at least two platform slide rails are arranged in parallel and at intervals on the platform support; the sliding drive assembly is arranged on the platform support; the sliding seat is slidably embedded on the platform slide rail and connected to the output end of the sliding drive assembly, and is driven by the sliding drive assembly to move linearly back and forth; the sliding seat is provided with at least two bearing stations; and the outer clamping assembly and the inner tensioning assembly comprise at least two sets, and the at least two sets of clamping assemblies and inner tensioning assemblies are respectively arranged at the bearing stations.

[0019] Preferably, the sliding drive assembly comprises a sliding drive support plate, a sliding drive motor, a sliding drive screw rod and a sliding drive screw rod seat, wherein the sliding drive support plate is vertically connected to one end of the platform support; the sliding drive motor is horizontally arranged on the outer side wall of the sliding drive support plate, and the output end extends above the platform support through the sliding drive support plate; the sliding drive screw rod is arranged along the platform slide rail direction and connected with the output end of the sliding drive motor, and rotates by the driving of the sliding drive motor; the sliding drive screw rod seat is sleeved on the sliding drive screw rod and threadedly connected with the sliding drive screw rod; the bottom of the sliding seat is fixedly connected with the sliding drive screw rod seat.

[0020] Preferably, at least two vertical columns are arranged on the sliding seat, and the top of the at least two vertical columns is horizontally provided with a bearing seat, and a downwardly recessed circular bearing groove is arranged in the bearing seat to bear the harmonic reducer; a through hole is arranged in the middle of the circular bearing groove.

[0021] Preferably, the outer clamping assembly comprises an outer clamping support plate, an outer clamping cylinder, an outer clamping sliding seat and an outer clamping block, wherein the outer clamping support plate is horizontally arranged on the top of the sliding drive support plate; the outer clamping cylinder is horizontally arranged on the outer clamping support plate; the outer clamping sliding seat comprises two parts, and the two parts of the outer clamping sliding seat are respectively and parallelly spaced connected to the output end of the outer clamping cylinder; the outer clamping block comprises two parts, and the two parts of the outer clamping block are respectively arranged on the inner side wall of the two parts of the outer clamping sliding seat, and the outer clamping cylinder drives the two parts of the outer clamping sliding seat to drive the two parts of the outer clamping block to move close to or away from each other above the two sides of the circular bearing groove, so as to clamp or loosen the harmonic reducer from above.

[0022] Preferably, the inner tensioning assembly comprises a tensioning cylinder, a tensioning sliding seat and a tensioning roller, wherein the tensioning cylinder is vertically arranged on the platform support, and the output end is upwardly arranged; the tensioning sliding seat comprises two parts, and the two parts of the tensioning sliding seat are respectively and spaced slidably arranged on the top of the tensioning cylinder and connected with the output end of the tensioning cylinder; the two parts of the tensioning sliding seat extend upwardly through the circular bearing groove; the tensioning roller comprises two parts, and the two parts of the tensioning roller are respectively and rotatably connected to the two parts of the tensioning sliding seat; the tensioning cylinder drives the two parts of the tensioning sliding seat to drive the two parts of the tensioning roller to move close to or away from each other, so that the two parts of the tensioning roller outwardly abut against or loosen the hole wall in the inner hole of the harmonic reducer.

[0023] Preferably, the steel wheel assembling robot comprises a robot base, a robot arm, and a steel wheel assembling head, wherein the robot base is horizontally arranged on a machine table; the robot arm is arranged on the robot base and comprises at least two degrees of freedom; the steel wheel assembling head is connected to the end of the robot arm, and after the robot arm drives the steel wheel assembling head to take out a steel wheel at an external steel wheel feeding station, the robot arm drives the steel wheel assembling head to move above a first platform, and the steel wheel assembling head assembles the steel wheel to a flexible wheel clamped in the first platform.

[0024] Preferably, the steel wheel assembling head comprises a steel wheel assembling support, a steel wheel assembling pressure sensing assembly, a steel wheel assembling support plate, and a steel wheel clamping assembly, wherein the steel wheel assembling support is fixedly arranged on the robot arm; the steel wheel assembling pressure sensing assembly is arranged at the bottom of the steel wheel assembling support and extends downward outside the steel wheel assembling support so as to contact a steel wheel placed downward and detect a reaction force transmitted upward by the steel wheel during assembly; the steel wheel assembling support plate is horizontally arranged at the lower part of the steel wheel assembling pressure sensing assembly; and the steel wheel clamping assembly is arranged at the bottom of the steel wheel assembling support plate and clamps and fixes a steel wheel required to be assembled.

[0025] Preferably, the steel wheel assembling pressure sensing assembly comprises a first pressure sensor and a sensing column, wherein the first pressure sensor is arranged at the bottom of the steel wheel assembling support; the steel wheel assembling support plate is horizontally arranged at the bottom of the first pressure sensor; and the sensing column is vertically arranged on a support part extending outward of the steel wheel assembling support plate and extends downward, the bottom end of the sensing column contacts a steel wheel being installed, and the force transmitted by the steel wheel is transmitted to the first pressure sensor through the steel wheel assembling support plate.

[0026] Preferably, the steel wheel clamping assembly comprises a steel wheel clamping cylinder, a steel wheel clamping sliding seat, and a steel wheel clamping block, wherein the steel wheel clamping cylinder is arranged at the lower part of the steel wheel assembling support plate; the steel wheel clamping sliding seat comprises two steel wheel clamping sliding seats which are respectively and slidably arranged at the bottom of the steel wheel clamping cylinder and are respectively connected to the output end of the steel wheel clamping cylinder; the steel wheel clamping block comprises two steel wheel clamping blocks which are respectively and vertically connected to the bottom of the two steel wheel clamping sliding seats; the inner side of the steel wheel clamping block is provided with a clamping arc surface part so as to be in close contact with the outer wall surface of the steel wheel; and the lower end of the clamping arc surface part is provided with a horizontal inwardly extending step part which holds the lower end surface of the steel wheel.

[0027] Preferably, the shooting correction mechanism comprises a support, a detection shooting assembly and a correction assembly, wherein the support is a U-shaped frame structure, the support is arranged above the first platform, and a support frame body is arranged on the top of the support; the detection shooting assembly is arranged on the support and moves linearly in a direction perpendicular to the first platform, the lens of the detection shooting assembly is arranged downward to shoot the flexible gear and / or the steel gear on the first platform; the correction assembly comprises at least two groups, the correction assemblies are arranged on the support in a spaced manner and move up and down in a vertical direction to be inserted into the steel gear on the first platform and drive the steel gear to rotate to adjust the relative position of the steel gear and the flexible gear.

[0028] Preferably, the detection shooting assembly comprises a detection linear module, a detection sliding seat, a mounting clamp seat, a mounting support rod, a mounting seat, a CCD lens and a light source, wherein the detection linear module is horizontally arranged on the side wall of the support frame body; the detection sliding seat is slidably arranged on the detection linear module and connected with the output end of the detection linear module; the mounting clamp seat is arranged on the side wall of the detection sliding seat, one side of the mounting clamp seat is provided with an axial hole with adjustable aperture; the mounting support rod is vertically inserted into the axial hole of the mounting clamp seat and detachably connected with the axial hole; the mounting seat is connected with the mounting support rod; the CCD lens is arranged on the mounting seat and arranged downward; the bottom end of the mounting support rod is horizontally connected with a light source support plate, the middle part of the light source support plate is provided with a through hole corresponding to the CCD lens; and the light source is connected to the lower part of the light source support plate and is a ring-shaped light source.

[0029] Preferably, the carrying and fixing mechanism comprises a carrying driving assembly, a carrying support, a carrying assembly and a steel gear fixing head, wherein the carrying driving assembly is arranged on the machine table and outputs linear power in a direction perpendicular to the first platform and the second platform and outputs linear power in a vertical direction; the carrying support is arranged on the carrying driving assembly and connected with the output end of the carrying driving assembly; the carrying assembly and the steel gear fixing head are arranged on the carrying support, the carrying assembly takes out the steel gear and the flexible gear after position correction from the first platform and carries them to the second platform; and the steel gear fixing head fixes the steel gear and the flexible gear.

[0030] Preferably, the carrying driving assembly comprises a carrying support, a carrying linear module, a carrying linear sliding seat and a carrying lifting module, wherein the carrying support is arranged between the first platform and the second platform; the carrying linear module is horizontally arranged on the side wall of the carrying support; the carrying linear sliding seat is slidably arranged on the carrying linear module and connected with the output end of the carrying linear module; and the carrying lifting module is vertically arranged on the side wall of the carrying linear sliding seat; the carrying support is slidably connected with the output end of the carrying lifting module in a vertical direction.

[0031] Preferably, the carrying assembly comprises a carrying cylinder, a carrying slide and a carrying clamp block, wherein the carrying cylinder is horizontally connected to the carrying support; the carrying slide comprises two, and the two carrying slides are respectively and slidably connected to the bottom of the carrying cylinder and are respectively connected to the output end of the carrying cylinder; the carrying clamp block comprises two, and the two carrying clamp blocks are respectively arranged at the bottom of the two carrying slides and respectively vertically extend downward, and the inner side of the carrying clamp block is provided with a clamping arc surface to fit the outer wall of the clamping seat body; the lower end of the clamping arc surface is provided with a horizontally inward extending supporting portion; and the supporting portion horizontally extends to the bottom of the flexible gear to carry the flexible gear.

[0032] Preferably, the steel wheel fixing head comprises a lifting cylinder, a lifting slide, a rotating motor, a rotating shaft, a vacuum suction seat and a rotating head, wherein the lifting cylinder is vertically arranged on the side wall of the carrying support, and the output end is arranged downward; the lifting slide is slidably arranged on the vertical slide rail on the side wall of the carrying support in the vertical direction, and is connected to the output end of the lifting cylinder; the rotating motor is arranged on the lifting slide, and the output end vertically extends downward through the lifting slide; the rotating shaft is vertically connected to the output end of the rotating motor; the vacuum suction seat is arranged on the horizontally arranged supporting block of the side wall below the carrying support, and is arranged in the vertical direction corresponding to the rotating shaft, the rotating shaft is inserted into the vacuum suction seat and freely rotates in the vacuum suction seat, and is sealingly connected with the vacuum suction seat; the rotating head is vertically inserted into the vacuum suction seat from below and freely rotates in the vacuum suction seat, and the outer wall of the rotating head is sealingly connected with the vacuum suction seat; the upper end of the rotating head is fixedly connected with the lower end of the rotating shaft, and the rotating shaft drives the rotating head to rotate; and the rotating head is internally provided with an air path which is in communication with an air cavity in the vacuum suction seat, and the air cavity is connected with an external vacuum generating device to generate vacuum negative pressure at the bottom of the rotating head to adsorb and fix the screw, and after the screw is inserted into the screw hole of the steel wheel from top to bottom, the screw is driven to rotate to fix the steel wheel and the flexible gear through the screw.

[0033] Preferably, the wave generator assembly manipulator comprises an assembly support, an assembly seat body, an assembly driving assembly, an assembly weight reduction assembly, a pressure sensing assembly and a rotating assembly assembly, wherein the assembly support is a U-shaped frame structure, the assembly support is arranged above the second platform; the assembly seat body is arranged on the assembly support; the assembly driving assembly is arranged on the side wall of the assembly support, and the output end is arranged in the vertical direction; the weight reduction assembly is arranged on the assembly driving assembly and connected with the output end of the assembly driving assembly; the pressure sensing assembly is arranged at the lower part of the assembly weight reduction assembly and is supported by the assembly weight reduction assembly; and the rotating assembly assembly is arranged below the pressure sensing assembly, the rotating assembly assembly clamps the harmonic reducer to be assembled, and the harmonic reducer is rotated and pressed into the flexible gear by the weight of the harmonic reducer.

[0034] Preferably, the assembling driving assembly comprises a driving linear module and a driving slide, wherein the driving linear module is vertically arranged on the side wall of the assembling seat body; the driving slide is slidably connected to the driving linear module in the vertical direction and connected to the output end of the driving linear module.

[0035] Preferably, the assembling counterweight assembly comprises a counterweight slide rail, a counterweight cylinder and a counterweight slide, wherein the counterweight slide rail is arranged on the side wall of the driving slide in the vertical direction; the counterweight cylinder is fixed on the horizontally arranged support plate at the top of the side wall of the driving slide and the output end of the counterweight cylinder extends vertically downward; the counterweight slide is slidably arranged in the counterweight slide rail and connected to the output end of the counterweight cylinder, and the counterweight cylinder outputs upward power to offset the weight of the counterweight slide and the components arranged thereon.

[0036] Preferably, the pressure sensing assembly comprises a second pressure sensor, a connecting component and a support plate, wherein the second pressure sensor is arranged at the bottom of the counterweight slide; the connecting component comprises at least two connecting components arranged on the counterweight slide; the connecting component comprises a connecting column and a connecting sleeve; the connecting sleeve is fixedly arranged on the counterweight slide; the connecting column is inserted into the connecting sleeve and penetrates the counterweight slide up and down and is freely slidable in the connecting sleeve; the support plate is horizontally arranged at the bottom of the connecting column and connected to the second pressure sensor to transmit the upward force received during the assembling process to the second pressure sensor.

[0037] Preferably, the rotating assembling assembly comprises a rotating assembling motor, a rotating assembling slide and a pushing block, wherein the rotating assembling motor is vertically arranged at the bottom of the support plate and the output end of the rotating assembling motor is arranged downward; the rotating assembling slide comprises two rotating assembling slides which are respectively and spacedly arranged at the bottom of the rotating assembling motor and connected to the output end of the rotating assembling motor; the pushing block comprises two pushing blocks which are half-cylindrical in structure, wherein the middle part is a plane and the outer side is a cylindrical surface, and the two pushing blocks are respectively vertically arranged at the bottom of the two rotating assembling slides; the rotating assembling motor drives the two rotating assembling slides to drive the two pushing blocks to move away from or close to each other, so that the pushing block is inserted into the inner hole of the harmonic reducer and pushes outward from the middle part to the inner hole wall of the fixed wave generator or loosens the inner hole wall of the wave generator.

[0038] Preferably, the discharging arm includes a discharging support, a discharging drive assembly, a discharging sliding base and a material taking head. The discharging support is arranged on one side of the second platform and extends to the outside of the machine. The discharging drive assembly is arranged on the discharging support. The discharging drive assembly outputs linear power and vertical power in the same direction of the second platform. The discharging sliding base is connected to the output end of the discharging drive assembly. The material taking head is arranged on the discharging sliding base. The material taking head is inserted into the assembled harmonic reducer from above to limit the harmonic reducer in the radial direction, clamps the limited harmonic reducer from the outside, and supports the harmonic reducer from below.

[0039] Preferably, the discharging drive assembly includes a discharging linear module and a discharging lifting module. The discharging linear module is arranged on the discharging support in the direction of the second platform. The discharging lifting module is slidably arranged on the discharging linear module and connected to the output end of the discharging linear module. The discharging lifting module is arranged in the vertical direction. The discharging sliding base is slidably connected to the output end of the discharging lifting module in the vertical direction.

[0040] Preferably, the material taking head includes a material taking support plate, a bearing seat, a limiting component and a clamping component. The material taking support plate includes two plates. The two limiting support plates are connected to the two symmetrical side walls of the discharging sliding base and extend vertically downward. The bearing seat is horizontally connected to the bottom of the two material taking support plates. The middle part of the bearing seat is provided with a product slot for embedding the upper part of the harmonic reducer. At least two through holes are formed in the bearing seat in the vertical direction. The limiting component includes two groups. The two groups of limiting components are arranged on the two sides of the material taking support plate and move in the vertical direction to pass through the through holes of the bearing seat and insert into the harmonic reducer downward. The clamping component is arranged between the two groups of limiting components. The clamping component clamps the harmonic reducer from the outside and supports the harmonic reducer from below.

[0041] Preferably, a through slot is formed in the side wall of the material taking support plate. The limiting component includes a limiting cylinder, a limiting sliding base and a limiting column. The limiting cylinder is vertically arranged on the outer side wall of the limiting support plate with the output end downward. The limiting sliding base is horizontally connected to the output end of the limiting cylinder and passes through the through slot. The limiting cylinder drives the limiting sliding base to freely slide in the vertical direction in the through slot. The limiting column includes at least two columns. The at least two limiting columns are vertically and spacedly arranged on the bottom of the limiting sliding base, inserted into the through hole of the bearing seat and freely move up and down in the through hole. The limiting column moves up and down with the limiting sliding base to insert into or pull out of the harmonic reducer.

[0042] Preferably, the material clamping component comprises a material clamping cylinder and a material clamping block, wherein the material clamping cylinder is horizontally arranged at the lower part of the material taking support plate, and the output direction is perpendicular to the arrangement direction of the two sets of limiting components; the material clamping block comprises two blocks, and the two blocks are slidably arranged at the bottom of the material clamping cylinder and connected with the output end of the material clamping cylinder; the material clamping block is in L-shaped structure, the upper part of which is located in the gap between the material clamping cylinder and the bearing seat, the lower part of which vertically extends downward from the side of the bearing seat, and the inner wall is provided with an arc clamping surface to clamp and fix the harmonic reducer, and the inner side wall of the lower part is provided with a horizontally inward extending supporting part to abut against the bottom surface of the harmonic reducer from below.

[0043] An assembling process of a harmonic reducer automatic assembling machine, comprising the following process steps:

[0044] S1, flexspline feeding: the flexspline and seat assembly to be assembled are taken out from the external feeding device by the feeding arm and carried to the first platform;

[0045] S2, flexspline clamping and translation: after the flexspline and seat assembly in step S1 are limited by the first platform, the first platform drives it to move to below the shooting correction mechanism;

[0046] S3, flexspline shooting detection: the shooting correction mechanism shoots downward to detect the flexspline;

[0047] S4, steel wheel feeding: the steel wheel assembly manipulator clamps the steel wheel from the external feeding device, moves the steel wheel to above the CCD mechanism arranged on the machine table, and detects the position of the steel wheel upwardly by the CCD mechanism;

[0048] S5, steel wheel assembly: after the detection of the steel wheel in step S4 is completed, the steel wheel assembly manipulator moves the steel wheel to above the first platform, matches the position of the steel wheel with the flexspline according to the detection result, and gradually sets the inner ring of the steel wheel on the outside of the flexspline gear ring part while swinging and pressing downward, until the steel wheel is completely set on the gear ring part;

[0049] S6, relative position correction of steel wheel and flexspline: after the assembly of the steel wheel in step S5 is completed, the shooting correction mechanism shoots the steel wheel from above and sends the information to the industrial computer, compares the position information of the screw holes on the steel wheel and the flexspline by the industrial computer, drives the steel wheel to rotate relative to the flexspline by inserting downward into the steel wheel, so that the screw holes on the steel wheel and the flexspline are aligned in the vertical direction;

[0050] S7, flexspline and steel wheel moving: after the position adjustment of the steel wheel and the flexspline in step S6 is completed, the moving and fixing mechanism clamps and fixes the flexspline and the steel wheel with the adjusted position, and moves to the second platform, and the second platform clamps and fixes the steel wheel and the flexspline;

[0051] S8, the flexible wheel and the steel wheel are fixed: after the steel wheel and the flexible wheel are fixed in the relative position through the second platform in step S7, the moving and fixing mechanism inserts the screw into the screw hole of the steel wheel and the flexible wheel from the upper side, and rotates the screw, so that the steel wheel and the flexible wheel are fixed to each other;

[0052] S9, the steel wheel and the flexible wheel are translated: after the steel wheel and the flexible wheel are fixed to each other in step S8, the second platform drives the whole to be translated to below the wave generator assembly manipulator;

[0053] S10, the wave generator is assembled: after the translation of the steel wheel and the flexible wheel fixed in step S9 is completed, the wave generator assembly manipulator eliminates the self weight, and the wave generator is assembled into the inside of the flexible wheel gear ring by rotating and descending from top to bottom, so that the harmonic reducer is formed;

[0054] S11, the material is discharged: after the wave generator is assembled in step S10, the second platform drives the assembled harmonic reducer to be translated to below the discharging moving arm, the discharging moving arm clamps the harmonic reducer, and moves the harmonic reducer to be discharged.

[0055] The beneficial effects of the present application are:

[0056] The present application independently researches and develops a harmonic reducer automatic assembly machine and an assembly process for realizing the precise and rapid automatic assembly of steel wheels and flexible wheels with different shapes, different tooth numbers and different characteristics, and the automatic assembly of the elliptical wave generator into the harmonic reducer.

[0057] The present application aims to provide a harmonic reducer full-automatic assembly equipment for improving the assembly efficiency of the harmonic reducer, reducing the damage of parts during the assembly process, and improving the product assembly consistency and precision. The present application takes the machine table as the bearing structure, and the first platform and the second platform are arranged in parallel and at intervals on both sides of the machine table. The structure and function of the first platform and the second platform are consistent. The first platform and the second platform act on the flexible wheel and its seat body with a circular structure outside the bearing limit. In order to ensure the position stability of the flexible wheel and its seat body during the assembly process, the first platform and the second platform use the bottom circular notch to limit the lower part of the flexible wheel seat body; the outer sides are clamped and fixed to each other; the inner part penetrates the middle hole of the flexible wheel and expands outward to tightly push the inner wall of the hole; through the combination of the three, the position limiting and fixing of the circular product are realized, and the assembly precision is effectively ensured.

[0058] The side of the first platform is provided with a loading arm, which moves the flexible gear and the seat body fixedly connected with the flexible gear in an external feeding device to the first platform, and the first platform translates the flexible gear to the position below the shooting and correcting mechanism, and the shooting and correcting mechanism shoots and detects the flexible gear downward to form the outer contour and position information of the flexible gear, and transmits the information to the industrial computer; meanwhile, the steel gear assembling mechanism takes out the steel gear from the outside, moves the steel gear to the position above the CCD mechanism, and the CCD mechanism shoots the outer contour and position information of the steel gear upward, and then transmits the information to the industrial computer; the industrial computer matches the shooting information of the steel gear and the flexible gear, controls the steel gear assembling robot to move the steel gear to the oiling mechanism, and then moves the steel gear to the position above the flexible gear after the oiling mechanism is used to oil the steel gear, and then the steel gear is assembled downward to the flexible gear. The special feature is that the steel gear assembling robot adopts a swing assembling mode, that is, the steel gear is gradually pressed into the flexible gear by rotating and swinging back and forth during the steel gear assembling process, so that the steel gear can be effectively prevented from being stuck and the teeth can be effectively prevented from being broken during the traditional straight pressing assembling process; the steel gear assembling head of the steel gear assembling robot is integrated with a steel gear assembling pressure sensing assembly, the steel gear assembling pressure sensing assembly is located above the steel gear clamping assembly, and when the steel gear clamping assembly clamps the steel gear and assembles the steel gear downward to the flexible gear, the sensing column of the steel gear assembling pressure sensing assembly is pushed against the steel gear, the upward reaction force generated by the steel gear during the assembling process is transmitted to the first pressure sensor in real time through the sensing column, the first pressure sensor detects the force received by the steel gear from the flexible gear in real time, and when the force is suddenly increased, the industrial computer is used to control the steel gear assembling robot to adjust the position or angle of the steel gear in time, so that the steel gear can be effectively prevented from being stuck and the teeth can be effectively prevented from being broken. After the steel gear is assembled, the outer contour and position of the assembled steel gear are shot again from above by the shooting and correcting mechanism, the outer contour of the assembled steel gear is compared, the industrial computer controls the shooting and correcting mechanism to insert into the steel gear downward, and the steel gear is rotated and adjusted in the horizontal plane to make the screw holes on the steel gear and the flexible gear aligned vertically. After the position of the steel gear and the flexible gear is corrected, the moving and fixing mechanism moves the two to the second platform, and then the moving and fixing mechanism moves the screws by vacuum adsorption, and then the screws are moved and inserted into the aligned screw holes of the steel gear and the flexible gear from top to bottom, and the screws are rotated into the screw holes to fix the steel gear and the flexible gear. The second platform moves the fixed steel gear and flexible gear to the position below the wave generator assembling robot, the CCD lens arranged on the wave generator assembling robot shoots the contour and position information of the steel gear and the flexible gear downward, the wave generator assembling robot takes the wave generator from the outside, moves the wave generator to the position above the CCD mechanism, the CCD mechanism shoots the position information of the wave generator upward, the industrial computer matches the information, and controls the wave generator assembling robot to assemble the wave generator downward into the gear ring of the flexible gear.In particular, since the wave generator and the flexible gear ring are both elliptical structures, the long axis and the short axis of the two cannot be aligned with each other in real time during assembly, so it is easy to cause jamming and excessive deformation of the gear ring during assembly. To solve this technical problem, the wave generator of the present application adopts a back-and-forth rotating assembly method, that is, while the wave generator is gradually embedded in the flexible gear ring, the wave generator assembly robot drives the wave generator to move back and forth in the horizontal plane, realizing flexible assembly, correcting errors in time during assembly, avoiding single-point jamming, and improving the assembly yield and assembly efficiency. At the same time, in order to avoid the influence of the self-weight of the wave generator on the downward pressure on the wave generator during assembly, excessive deformation of the gear ring occurs due to excessive pressure. The wave generator assembly robot of the present application provides an upward lifting force through the assembly weight reduction assembly, thereby offsetting the self-weight and completing assembly through the downward pressure (5-10N) formed by the self-weight of the wave generator. In addition, the wave generator assembly robot of the present application integrates a pressure sensing assembly, which realizes real-time detection and monitoring of the assembly pressure during assembly, thereby adjusting the output force of the assembly weight reduction assembly in real time, further reducing assembly jamming, and improving the assembly yield. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 It is one of the schematic diagrams of the three-dimensional structure of the present application.

[0060] Figure 2 It is the second schematic diagram of the three-dimensional structure of the present application.

[0061] Figure 3 It is the third schematic diagram of the three-dimensional structure of the present application.

[0062] Figure 4 It is one of the schematic diagrams of the three-dimensional structure of the present application after hiding the components.

[0063] Figure 5 It is one of the schematic diagrams of the three-dimensional structure of the present application after hiding the components.

[0064] Figure 6 It is the schematic diagram of the three-dimensional structure of the loading arm of the present application.

[0065] Figure 7 It is one of the schematic diagrams of the three-dimensional structure of the first platform of the present application.

[0066] Figure 8 It is the second schematic diagram of the three-dimensional structure of the first platform of the present application.

[0067] Figure 9 It is the third schematic diagram of the three-dimensional structure of the first platform of the present application.

[0068] Figure 10 It is Figure 8 The enlarged structure schematic diagram at I in the middle.

[0069] Figure 11 Figure 1 is a schematic diagram of the assembly structure of the steel wheel and the flexspline of the harmonic reducer of the present application.

[0070] Figure 12 Figure 2 is another schematic diagram of the assembly structure of the steel wheel and the flexspline of the harmonic reducer of the present application.

[0071] Figure 13 Figure 3 is a schematic diagram of the three-dimensional structure of the steel wheel assembly robot of the present application.

[0072] Figure 14 Figure 4 is another schematic diagram of the three-dimensional structure of the steel wheel assembly robot of the present application.

[0073] Figure 15 Figure 5 is a schematic diagram of the three-dimensional structure of the steel wheel assembly robot of the present application.

[0074] Figure 16 Figure 6 is a schematic diagram of the three-dimensional structure of the steel wheel assembly head of the present application.

[0075] Figure 17 Figure 7 is another schematic diagram of the three-dimensional structure of the steel wheel assembly head of the present application.

[0076] Figure 18 Figure 8 is a schematic diagram of the three-dimensional structure of the shooting correction mechanism of the present application.

[0077] Figure 19 Figure 9 is another schematic diagram of the three-dimensional structure of the shooting correction mechanism of the present application.

[0078] Figure 20 Figure 10 is a schematic diagram of the three-dimensional structure of the carrying and fixing mechanism of the present application.

[0079] Figure 21 Figure 11 is a schematic diagram of the three-dimensional structure of the steel wheel fixing head of the present application.

[0080] Figure 22 Figure 12 is another schematic diagram of the three-dimensional structure of the steel wheel fixing head of the present application.

[0081] Figure 23 Figure 13 is a schematic diagram of the three-dimensional structure of the steel wheel fixing head of the present application.

[0082] Figure 24 Figure 14 is a schematic diagram of the three-dimensional structure of the defective product discharging platform of the present application.

[0083] Figure 25 Figure 15 is a schematic diagram of the three-dimensional structure of the wave generator assembly robot of the present application.

[0084] Figure 26 Figure 16 is another schematic diagram of the three-dimensional structure of the wave generator assembly robot of the present application.

[0085] Figure 27This is the third three-dimensional structural schematic diagram of the wave generator assembly robot of the present invention.

[0086] Figure 28 for Figure 25 Enlarged structural diagram at point II.

[0087] Figure 29 This is one of the three-dimensional structural diagrams of the unloading arm of the present invention.

[0088] Figure 30 This is the second three-dimensional structural diagram of the unloading arm of the present invention.

[0089] Figure 31 This is the third three-dimensional structural diagram of the unloading arm of the present invention.

[0090] Figure 32 This is one of the three-dimensional structural diagrams of the material handling head of the present invention.

[0091] Figure 33 This is the second three-dimensional structural diagram of the material handling head of the present invention.

[0092] Figure 34 This is the third three-dimensional structural diagram of the material handling head of the present invention. Detailed Implementation

[0093] The present invention will now be further described with reference to the accompanying drawings:

[0094] like Figures 1 to 34 As shown, the technical solution adopted in this embodiment is as follows: An automatic assembly machine for harmonic reducers includes a horizontally arranged machine base 1 and a machine cover covering the machine base 1, forming an assembly space inside the machine cover. It also includes a loading arm 2, a first platform 3, a steel wheel assembly robot 4, a shooting and correction mechanism 7, a handling and fixing mechanism 8, a second platform 10, a wave generator assembly robot 11, and a unloading arm 12.

[0095] The first platform 3 and the second platform 10 are arranged in parallel on both sides of the table surface of the machine tool 1;

[0096] The loading arm 2 is located on one side of the first platform 10 and extends to the outside of the machine base 1 so as to remove the flexible wheel from the outside and move it onto the first platform 3;

[0097] The steel wheel assembly robot 4 is located on one side of the first platform 3 and extends to the outside of the machine tool 1 so as to remove the steel wheel from the outside and press the steel wheel into the flexible wheel in an adaptive swinging motion.

[0098] The shooting correction mechanism 7 is mounted above the first platform 3. The shooting correction mechanism 7 shoots downward to detect the flexible wheel and / or steel wheel, and inserts downward into the steel wheel to drive the steel wheel to rotate so as to adjust the relative position of the steel wheel and the flexible wheel.

[0099] The carrying and fixing mechanism 8 is arranged between the first platform 3 and the second platform 10 in a direction perpendicular to the first platform 3, and the carrying and fixing mechanism 8 fixes the steel wheel and the flexible wheel on the first platform 3 and carries them to the second platform 10;

[0100] The wave generator assembling manipulator 11 is arranged above the second platform 10, and the wave generator assembling manipulator 11 assembles the wave generator into the flexible wheel by using the weight of the wave generator and rotating and pressing down the wave generator after carrying the wave generator from the outside;

[0101] The unloading carrying arm 12 is arranged on one side of the second platform 10 and extends to the outside of the machine table 1, so as to carry and unload the product with the assembled wave generator on the second platform 10.

[0102] The application designs a kind of precision and fast automatic assembly of steel wheel and flexible wheel with different shapes, different tooth numbers and different characteristics, realizes the automatic assembly of harmonic reducer of the automatic assembly machine of elliptical wave generator into flexible wheel.

[0103] The application aims to provide a kind of full-automatic assembly equipment for harmonic reducer, to improve the assembly efficiency of harmonic reducer, reduce the damage of parts during assembly process, and improve the consistency and precision of product assembly. The machine table is used as the bearing structure, the first platform and the second platform are arranged in parallel and at intervals on both sides of the machine table, the structure and function of the first platform and the second platform are consistent, the first platform and the second platform are used for bearing the flexible wheel and its seat body with a circular structure, in order to ensure the position stability of the flexible wheel and its seat body during assembly process, the first platform and the second platform are used for limiting the lower part of the flexible wheel seat body with a circular groove at the bottom, and the outer sides are clamped and fixed, the inner part is inserted into the middle hole of the flexible wheel and is expanded outward to tightly push the inner wall of the hole, the position limiting and fixing of the circular product is realized by the combination of the three, and the assembly precision is effectively ensured.

[0104] The side of the first platform is provided with a loading arm, which moves the flexible gear and the seat body fixedly connected with the flexible gear in an external feeding device to the first platform, and the first platform translates the flexible gear to the position below the shooting and correcting mechanism, and the shooting and correcting mechanism shoots and detects the flexible gear downward to form the outer contour and position information of the flexible gear, and transmits the information to the industrial computer; meanwhile, the steel gear assembling mechanism takes out the steel gear from the outside, moves the steel gear to the position above the CCD mechanism, and the CCD mechanism shoots the outer contour and position information of the steel gear upward, and then transmits the information to the industrial computer; the industrial computer matches the shooting information of the steel gear and the flexible gear, controls the steel gear assembling robot to move the steel gear to the oiling mechanism, and then moves the steel gear to the position above the flexible gear after the oiling mechanism is used to oil the steel gear, and then the steel gear is assembled downward to the flexible gear. The special feature is that the steel gear assembling robot adopts a swing assembling mode, that is, the steel gear is gradually pressed into the flexible gear by rotating and swinging back and forth during the steel gear assembling process, so that the steel gear can be effectively prevented from being stuck and the teeth can be effectively prevented from being broken during the traditional straight pressing assembling process; the steel gear assembling head of the steel gear assembling robot is integrated with a steel gear assembling pressure sensing assembly, the steel gear assembling pressure sensing assembly is located above the steel gear clamping assembly, and when the steel gear clamping assembly clamps the steel gear and assembles the steel gear downward to the flexible gear, the sensing column of the steel gear assembling pressure sensing assembly is pushed against the steel gear, the upward reaction force generated by the steel gear during the assembling process is transmitted to the first pressure sensor in real time through the sensing column, the first pressure sensor detects the force received by the steel gear from the flexible gear in real time, and when the force is suddenly increased, the industrial computer is used to control the steel gear assembling robot to adjust the position or angle of the steel gear in time, so that the steel gear can be effectively prevented from being stuck and the teeth can be effectively prevented from being broken. After the steel gear is assembled, the outer contour and position of the assembled steel gear are shot again from above by the shooting and correcting mechanism, the outer contour of the assembled steel gear is compared, the industrial computer controls the shooting and correcting mechanism to insert into the steel gear downward, and the steel gear is rotated and adjusted in the horizontal plane to make the screw holes on the steel gear and the flexible gear aligned vertically. After the position of the steel gear and the flexible gear is corrected, the moving and fixing mechanism moves the two to the second platform, and then the moving and fixing mechanism moves the screws by vacuum adsorption, and then the screws are moved and inserted into the aligned screw holes of the steel gear and the flexible gear from top to bottom, and the screws are rotated into the screw holes to fix the steel gear and the flexible gear. The second platform moves the fixed steel gear and flexible gear to the position below the wave generator assembling robot, the CCD lens arranged on the wave generator assembling robot shoots the contour and position information of the steel gear and the flexible gear downward, the wave generator assembling robot takes the wave generator from the outside, moves the wave generator to the position above the CCD mechanism, the CCD mechanism shoots the position information of the wave generator upward, the industrial computer matches the information, and controls the wave generator assembling robot to assemble the wave generator downward into the gear ring of the flexible gear.In particular, since the wave generator and the flexible gear ring are both elliptical structures, the long axis and the short axis of the two cannot be aligned with each other in real time during assembly, and therefore, it is easy to cause jamming and excessive deformation of the gear ring during assembly. To solve the technical problem, the wave generator of the present application adopts a back-and-forth rotating assembly method, that is, while the wave generator is gradually embedded in the flexible gear ring, the wave generator assembly robot drives the wave generator to move back and forth in the horizontal plane, realizing flexible assembly, correcting errors in time during assembly, avoiding single-point jamming, and improving the assembly yield and assembly efficiency. At the same time, in order to avoid the influence of the self-weight of the wave generator on the downward pressure on the wave generator during assembly, excessive deformation of the gear ring caused by excessive pressure, the wave generator assembly robot of the present application provides an upward lifting force through the assembly weight reduction assembly, thereby offsetting the self-weight, and completing the assembly through the downward pressure (5-10N) formed by the self-weight of the wave generator. In addition, the wave generator assembly robot of the present application integrates a pressure sensing assembly, which realizes real-time detection and monitoring of the assembly pressure during assembly, thereby adjusting the output force of the assembly weight reduction assembly in real time, further reducing the assembly jamming, and improving the assembly yield.

[0105] As shown in Figures 11 to 12 The harmonic reducer 0 of the present application includes a seat body 01, a flexible gear 02, a steel gear and a wave generator. The flexible gear 02 includes a mounting ring part 03 and a gear ring part 04. The mounting ring part 03 is an annular sheet body with an inner hole. The gear ring part 04 is an elliptical ring body structure, and is a flexible structure that deforms under external pressure. The gear ring part 04 is vertically connected to the inner hole of the mounting ring part 03 and extends vertically upward. At least two vertical splines are arranged on the outer side wall of the gear ring part 04, and the inner wall of the gear ring part 04 is a light wall structure. The steel gear is a ring body structure, and is a rigid structure with at least two vertical splines on the inner hole wall. The number of splines on the inner ring of the steel gear is not less than the number of splines on the outer wall of the gear ring part 04. The steel gear is pressed into and sleeved on the outside of the gear ring part 04. The wave generator is an elliptical structure, and is pressed into the inside of the gear ring part 04. The seat body 01 is arranged on the mounting ring part 03 and fixedly connected with the mounting ring part 03.

[0106] As shown in Figure 6As shown, the loading arm 2 of the present invention includes a loading linear module 21, a loading lifting module 22, a loading lifting seat 23, a loading translation module 24, and a loading head 25. The loading linear module 21 is arranged on the machine base 1 in the same direction as the first platform 3. The loading lifting module 22 is vertically connected to the loading linear module 21 and connected to the output end of the loading linear module 21. The loading lifting seat 23 is slidably connected to the loading lifting module 22 in the vertical direction and connected to the output end of the loading lifting module 22. The loading translation module 24 is arranged on the loading lifting seat 23 in the direction extending from the loading linear module 21. The loading head 25 is slidably connected to the loading translation module 24 and connected to the output end of the loading translation module 24.

[0107] like Figures 7 to 10 As shown, the first platform 3 of the present invention includes a platform support 31, a platform slide rail 32, a sliding drive assembly, a sliding seat 36, an outer clamping assembly, and an inner tensioning assembly. The platform support 31 is horizontally mounted on the machine base 1. The platform slide rail 32 includes at least two rails, which are parallel and spaced apart on the platform support 31. The sliding drive assembly is mounted on the platform support 31. The sliding seat 36 is slidably embedded in the platform slide rail 32 and connected to the output end of the sliding drive assembly, and is driven by the sliding drive assembly to move back and forth linearly. The sliding seat 36 has at least two bearing positions. The outer clamping assembly and the inner tensioning assembly include at least two sets, which are respectively disposed at the bearing positions.

[0108] The sliding drive assembly includes a sliding drive support plate 33, a sliding drive motor 34, a sliding drive lead screw 35, and a sliding drive lead screw seat. The sliding drive support plate 33 is vertically connected to one end of the platform support 31. The sliding drive motor 34 is horizontally mounted on the outer wall of the sliding drive support plate 33, with its output end extending through the sliding drive support plate 33 to above the platform support 31. The sliding drive lead screw 35 is positioned along the platform slide rail 32 and connected to the output end of the sliding drive motor 34, rotating under the drive of the motor. The sliding drive lead screw seat is sleeved on the sliding drive lead screw 35 and threadedly connected to it. The bottom of the sliding seat 36 is fixedly connected to the sliding drive lead screw seat.

[0109] The sliding seat 36 is provided with at least two columns, which are vertically spaced on the sliding seat 36; the top of the at least two columns is provided with a bearing seat, and the bearing seat is provided with a downwardly recessed circular bearing groove to support the limit harmonic reducer; a through hole is opened in the middle of the circular bearing groove.

[0110] The outer clamping assembly comprises an outer clamping support plate 37, an outer clamping cylinder 38, an outer clamping slide 39 and an outer clamping block 310, wherein the outer clamping support plate 37 is horizontally arranged on the top of the sliding drive support plate 33; the outer clamping cylinder 38 is horizontally arranged on the outer clamping support plate 37; the outer clamping slide 39 comprises two parts, and the two outer clamping slides 39 are respectively and parallelly spaced connected on the output ends of the outer clamping cylinder 38; the outer clamping block 310 comprises two parts, and the two outer clamping blocks 310 are respectively arranged on the inner side walls of the two outer clamping slides 39; the outer clamping cylinder 38 drives the two outer clamping slides 39 to respectively drive the two outer clamping blocks 310 to approach or move away from each other on the two sides above the circular bearing groove, so as to clamp or release the harmonic reducer from above.

[0111] The inner tensioning assembly comprises a tensioning cylinder 311, a tensioning slide 312 and a tensioning roller 313, wherein the tensioning cylinder 311 is vertically arranged on the platform support 31, and the output end is upwardly arranged; the tensioning slide 312 comprises two parts, and the two tensioning slides 312 are respectively and slidably arranged on the top of the tensioning cylinder 311 and are respectively connected with the output ends of the tensioning cylinder 311; the two tensioning slides 312 extend upwardly through the circular bearing groove; the tensioning roller 313 comprises two parts, and the two tensioning rollers 313 are respectively and rotatably connected on the two tensioning slides 312; the tensioning cylinder 311 drives the two tensioning slides 312 to respectively drive the two tensioning rollers 313 to approach or move away from each other, so that the two tensioning rollers 313 outwardly abut against or release the hole wall in the inner hole of the harmonic reducer.

[0112] As shown in Figures 13 to 17 The steel wheel assembly manipulator 4 of the present application comprises a manipulator base 41, a manipulator arm 42 and a steel wheel assembly head 43, wherein the manipulator base 41 is horizontally arranged on the machine table 1; the manipulator arm 42 is arranged on the manipulator base 41, and the manipulator arm 42 comprises at least two degrees of freedom; the steel wheel assembly head 43 is connected on the end of the manipulator arm 42; after the manipulator arm 42 drives the steel wheel assembly head 43 to take out the steel wheel at the external steel wheel feeding station, the manipulator arm 42 drives the steel wheel assembly head 43 to move above the first platform 3, and the steel wheel assembly head 43 assembles the steel wheel to the flexible gear in the first platform 3.

[0113] The steel wheel assembly head 43 comprises a steel wheel assembly support 431, a steel wheel assembly pressure sensing assembly, a steel wheel assembly support plate 433 and a steel wheel clamping assembly, wherein the steel wheel assembly support 431 is fixedly arranged on the mechanical arm 42; the steel wheel assembly pressure sensing assembly is arranged at the bottom of the steel wheel assembly support 431 and extends downward outside the steel wheel assembly support 431 so as to contact the downwardly placed steel wheel and detect the reaction force transmitted upward by the steel wheel during assembly; the steel wheel assembly support plate 433 is horizontally arranged at the lower part of the steel wheel assembly pressure sensing assembly; and the steel wheel clamping assembly is arranged at the bottom of the steel wheel assembly support plate 433 and clamps and fixes the steel wheel required to be assembled.

[0114] The steel wheel assembly pressure sensing assembly comprises a first pressure sensor 432 and a sensing column 434, wherein the first pressure sensor 432 is arranged at the bottom of the steel wheel assembly support 431; the steel wheel assembly support plate 433 is horizontally arranged at the bottom of the first pressure sensor 432; and the sensing column 434 is vertically arranged on the outwardly extended support part of the steel wheel assembly support plate 433 and extends downward, the bottom end of the sensing column 434 contacts the steel wheel during installation and transmits the force transmitted by the steel wheel to the first pressure sensor 432 through the steel wheel assembly support plate 433.

[0115] The steel wheel clamping assembly comprises a steel wheel clamping cylinder 435, a steel wheel clamping sliding seat 436 and a steel wheel clamping block 437, wherein the steel wheel clamping cylinder 435 is arranged at the lower part of the steel wheel assembly support plate 433; the steel wheel clamping sliding seat 436 comprises two steel wheel clamping sliding seats 436 which are respectively and slidably arranged at the bottom of the steel wheel clamping cylinder 435 and are respectively connected with the output ends of the steel wheel clamping cylinder 435; the steel wheel clamping block 437 comprises two steel wheel clamping blocks 437 which are respectively and vertically connected at the bottom of the two steel wheel clamping sliding seats 436; the inner side of the steel wheel clamping block 437 is provided with a clamping arc surface part 438 so as to be in close contact with the outer wall surface of the steel wheel; and the lower end of the clamping arc surface part 438 is provided with a horizontally inwardly extending step part 439 which holds the load-bearing steel wheel against the lower end surface of the steel wheel.

[0116] As shown in Figures 18 to 19 The shooting correction mechanism 7 of the present application comprises a support 71, a detection shooting assembly and a correction assembly, wherein the support 71 is a U-shaped frame structure, the support 71 is arranged above the first platform 3, the top plate of the support 71 is provided with a support frame, the detection shooting assembly is arranged on the support 71 and moves linearly in a direction perpendicular to the first platform 3, the lens of the detection shooting assembly is arranged downward so as to shoot the flexible wheel and / or the steel wheel on the first platform 3, and the correction assembly comprises at least two groups, the correction assemblies are arranged on the support 71 in a spaced manner and move in a vertical direction so as to be inserted into the steel wheel on the first platform 3 and drive the steel wheel to rotate so as to adjust the relative position of the steel wheel and the flexible wheel.

[0117] The detection shooting assembly comprises a detection linear module 72, a detection sliding seat 73, a mounting clamping seat 74, a mounting support rod 75, a mounting seat 76, a CCD lens 77 and a light source 79, wherein the detection linear module 72 is horizontally arranged on the side wall of the support frame body; the detection sliding seat 73 is slidably arranged on the detection linear module 72 and connected with the output end of the detection linear module 72; the mounting clamping seat 74 is arranged on the side wall of the detection sliding seat 73, and one side of the mounting clamping seat 74 is provided with an axial hole with adjustable aperture; the mounting support rod 75 is vertically inserted into the axial hole of the mounting clamping seat 74 and detachably connected with the axial hole; the mounting seat 76 is connected with the mounting support rod 75; the CCD lens 77 is arranged on the mounting seat 76 and arranged in a downward direction; the bottom end of the mounting support rod 75 is horizontally connected with a light source support plate 78, the middle part of the light source support plate 78 is provided with a through hole corresponding to the CCD lens 77; the light source 79 is connected to the lower part of the light source support plate 78, and the light source 79 is a ring-shaped light source.

[0118] As shown in Figures 20 to 23 The carrying and fixing mechanism 8 of the present application comprises a carrying driving assembly, a carrying support 85, a carrying assembly and a steel wheel fixing head, wherein the carrying driving assembly is arranged on the machine table 1 and outputs linear power in the direction perpendicular to the first platform 3 and the second platform 10 and outputs linear power in the vertical direction; the carrying support 85 is arranged on the carrying driving assembly and connected with the output end of the carrying driving assembly; the carrying assembly and the steel wheel fixing head are arranged on the carrying support 85, the carrying assembly takes out the position-corrected steel wheel and the flexible wheel from the first platform 3 and carries them to the second platform 10; and the steel wheel fixing head fixes the steel wheel and the flexible wheel.

[0119] The carrying driving assembly comprises a carrying support 81, a carrying linear module 82, a carrying linear sliding seat 83 and a carrying lifting module 84, wherein the carrying support 81 is arranged between the first platform 3 and the second platform 10; the carrying linear module 82 is horizontally arranged on the side wall of the carrying support 81; the carrying linear sliding seat 83 is slidably arranged on the carrying linear module 82 and connected with the output end of the carrying linear module 82; the carrying lifting module 84 is vertically arranged on the side wall of the carrying linear sliding seat 83; and the carrying support 85 is slidably connected with the output end of the carrying lifting module 84 in the vertical direction.

[0120] The carrying assembly comprises a carrying cylinder 812, carrying sliding seats 813 and carrying clamping blocks 814. The carrying cylinder 812 is horizontally connected to the carrying support 85. The two carrying sliding seats 813 are respectively slidably connected to the bottom of the carrying cylinder 812 and are respectively connected to the output end of the carrying cylinder 812. The two carrying clamping blocks 814 are respectively arranged at the bottom of the two carrying sliding seats 813 and respectively vertically extend downward. The inner side of the carrying clamping block 814 is provided with a clamping arc surface to fit the outer wall of the clamping seat body 01. The lower end of the clamping arc surface is provided with a horizontally inward extending supporting portion. The supporting portion horizontally extends to the bottom of the flexible gear to support the flexible gear.

[0121] The steel wheel fixing head comprises a lifting cylinder 86, a lifting sliding seat 87, a rotating motor 88, a rotating shaft 89, a vacuum suction seat 810 and a rotating head 811. The lifting cylinder 86 is vertically arranged on the side wall of the carrying support 85 and the output end is downwardly arranged. The lifting sliding seat 87 is slidably arranged on the vertical sliding rail on the side wall of the carrying support 85 in the vertical direction and is connected to the output end of the lifting cylinder 86. The rotating motor 88 is arranged on the lifting sliding seat 87 and the output end vertically extends downward through the lifting sliding seat 87. The rotating shaft 89 is vertically connected to the output end of the rotating motor 88. The vacuum suction seat 810 is arranged on the horizontal supporting block on the lower side wall of the carrying support 85 and is arranged in the vertical direction corresponding to the rotating shaft 89. The rotating shaft 89 is inserted into the vacuum suction seat 810 and freely rotates in the vacuum suction seat 810 and is sealingly connected to the vacuum suction seat 810. The rotating head 811 is vertically inserted into the vacuum suction seat 810 from below and freely rotates in the vacuum suction seat 810. The outer wall of the rotating head 811 is sealingly connected to the vacuum suction seat 810. The upper end of the rotating head 811 is fixedly connected to the lower end of the rotating shaft 89. The rotating shaft 89 drives the rotating movement of the rotating head 811. The rotating head 811 is internally provided with an air path which is in communication with the air cavity in the vacuum suction seat 810. The air cavity is connected to the external vacuum generating device to generate vacuum negative pressure at the bottom of the rotating head 811 to adsorb the fixing screw. After the screw is inserted into the screw hole of the steel wheel from top to bottom, the screw is driven to rotate to fix the steel wheel and the flexible gear through the screw.

[0122] As Figures 25 to 28As shown, the wave generator assembly manipulator 11 of the present application comprises an assembly support 111, an assembly seat 112, an assembly drive assembly, an assembly counterweight assembly, a pressure sensing assembly and a rotary assembly assembly, wherein the assembly support 111 is a U-shaped bracket structure, and the assembly support 111 is erected above the second platform 10; the assembly seat 112 is arranged on the assembly support 111; the assembly drive assembly is arranged on the side wall of the assembly support 111, and the output end is arranged in the vertical direction; the counterweight assembly is arranged on the assembly drive assembly and connected with the output end of the assembly drive assembly; the pressure sensing assembly is arranged at the lower part of the assembly counterweight assembly and is supported by the assembly counterweight assembly; the rotary assembly assembly is arranged below the pressure sensing assembly, the rotary assembly assembly clamps the harmonic reducer to be assembled, and the harmonic reducer is rotated and pressed into the flexspline by the weight of the harmonic reducer.

[0123] The assembly drive assembly comprises a drive linear module 113 and a drive sliding seat 114, wherein the drive linear module 113 is vertically arranged on the side wall of the assembly seat 112; the drive sliding seat 114 is slidably connected to the drive linear module 113 in the vertical direction and connected with the output end of the drive linear module 113.

[0124] The assembly counterweight assembly comprises a counterweight sliding rail 115, a counterweight cylinder 116 and a counterweight sliding seat 117, wherein the counterweight sliding rail 115 is arranged on the side wall of the drive sliding seat 114 in the vertical direction; the counterweight cylinder 116 is fixed on the horizontally arranged support plate at the top of the side wall of the drive sliding seat 114, and the output end extends vertically downward; the counterweight sliding seat 117 is slidably embedded in the counterweight sliding rail 115 and connected with the output end of the counterweight cylinder 116, and the counterweight cylinder 116 outputs upward power to offset the weight of the counterweight sliding seat 117 and the components arranged thereon.

[0125] The pressure sensing assembly comprises a second pressure sensor 118, a connecting component 119 and a support plate 1110, wherein the second pressure sensor 118 is arranged at the bottom of the counterweight sliding seat 117; the connecting component 119 comprises at least two connecting components 119 arranged on the counterweight sliding seat 117; the connecting component 119 comprises a connecting column and a connecting sleeve; the connecting sleeve is fixedly arranged on the counterweight sliding seat 117; the connecting column is inserted into the connecting sleeve and penetrates through the counterweight sliding seat 117 up and down, and freely slides in the connecting sleeve; the support plate 1110 is horizontally arranged at the bottom of the connecting column and connected with the second pressure sensor 118 to transmit the upward force received during assembly to the second pressure sensor 18.

[0126] The rotating assembly assembly comprises a rotating assembly motor 1111, rotating assembly sliding seats 1112 and pushing blocks 1113. The rotating assembly motor 1111 is vertically arranged at the bottom of the support plate 1110, and the output end is arranged downward. The rotating assembly sliding seats 1112 are two, and are respectively and separately arranged at the bottom of the rotating assembly motor 1111 in a slidable manner, and are respectively connected with the output end of the rotating assembly motor 1111. The pushing blocks 1113 are two, and are half-cylindrical structures, wherein the middle part is a plane, and the outer side is a cylindrical surface. The two pushing blocks 1113 are respectively and vertically arranged at the bottom of the two rotating assembly sliding seats 1112. The rotating assembly motor 111 drives the two rotating assembly sliding seats 1112 to drive the two pushing blocks 1113 to move away from or close to each other, so that the pushing blocks 1113 are inserted into the inner hole of the harmonic reducer, and are abutted against or loosened from the inner hole wall of the fixed wave generator.

[0127] As shown in Figures 29 to 34 The downfeed supporting frame 121 is arranged on one side of the second platform 10 and extends to the outside of the machine table 1. The downfeed driving assembly is arranged on the downfeed supporting frame 121, and the output of the downfeed driving assembly provides linear power and vertical power in the same direction of the second platform 10. The downfeed sliding seat 124 is connected to the output end of the downfeed driving assembly. The material taking head 125 is arranged on the downfeed sliding seat 124, and is inserted into the assembled harmonic reducer from above, so as to limit the radial harmonic reducer, clamp the limited harmonic reducer from the outside, and support the harmonic reducer from below.

[0128] The downfeed driving assembly comprises a downfeed linear module 122 and a downfeed lifting module 123. The downfeed linear module 122 is arranged on the downfeed supporting frame 121 in the direction of the second platform 10. The downfeed lifting module 123 is slidably arranged on the downfeed linear module 122 and connected with the output end of the downfeed linear module 122. The downfeed lifting module 123 is arranged in the vertical direction. The downfeed sliding seat 124 is slidably connected to the output end of the downfeed lifting module 123 in the vertical direction.

[0129] The material taking head 125 comprises a material taking support plate 1252, a bearing seat 1256, a limiting component and a material clamping component, wherein the material taking support plate 1252 comprises two plates, the two limiting support plates 1252 are connected to the symmetrical two side walls of the blanking slide 124 and vertically downwardly extend; the bearing seat 1256 is horizontally connected to the bottom of the two material taking support plates 1252, the middle part of the bearing seat 1256 is provided with a product slot for embedding the upper part of the harmonic reducer, at least two through holes are formed in the bearing seat 1256 in the vertical direction; the limiting component comprises two groups, the two groups of limiting components are arranged at intervals on the two sides of the material taking support plate 1252 and move in the vertical direction so as to pass through the through holes of the bearing seat 1256 and downwardly insert into the harmonic reducer; the material clamping component is arranged between the two groups of limiting components, the material clamping component clamps the harmonic reducer from the outside and supports the harmonic reducer from below.

[0130] A through groove 1253 is formed in the side wall of the material taking support plate 1252; the limiting component comprises a limiting air cylinder 1254, a limiting slide 1255 and a limiting column 1257, wherein the limiting air cylinder 1254 is vertically arranged on the outer side wall of the limiting support plate 1252 and the output end is downwardly arranged; the limiting slide 1255 is horizontally connected to the output end of the limiting air cylinder 1254 and passes through the through groove 1253, the limiting air cylinder 1254 drives the limiting slide 1255 to freely slide in the vertical direction in the through groove 1253; the limiting column 1257 comprises at least two, the at least two limiting columns 1257 are vertically arranged at intervals on the bottom of the limiting slide 1255, are inserted into the through holes of the bearing seat 1256 and freely move up and down in the through holes, and the limiting column 1257 moves up and down with the limiting slide 1255 so as to be inserted into or pulled out of the harmonic reducer.

[0131] The material clamping component comprises a material clamping air cylinder 1258 and a material clamping block 1259, wherein the material clamping air cylinder 1258 is horizontally arranged on the lower part of the material taking support plate 1252 and the output direction is perpendicular to the arrangement direction of the two groups of limiting components; the material clamping block 1259 comprises two blocks, the two material clamping blocks 1259 are respectively slidably arranged on the bottom of the material clamping air cylinder 1258 and are connected with the output end of the material clamping air cylinder 1258, the material clamping block 1259 is in L-shaped structure, the upper part of the material clamping block 1259 is located in the gap between the material clamping air cylinder 1258 and the bearing seat 1256, the lower part of the material clamping block 1259 vertically extends from the side of the bearing seat 1256 and the inner wall is provided with an arc-shaped clamping surface for clamping and fixing the harmonic reducer, and the inner side wall of the lower part is provided with a horizontally inwardly extending supporting part for supporting the bottom surface of the harmonic reducer from below.

[0132] An assembling process of the automatic harmonic reducer assembling machine comprises the following process steps:

[0133] S1, flexspline feeding: the flexspline and seat body assembly to be assembled are taken out from the external feeding device by the feeding arm and are transported to the first platform;

[0134] S2, flexible gear clamping and translation: after the flexible gear and the seat body assembly in step S1 are limited by the first platform, the first platform drives the flexible gear to move to below the shooting correction mechanism;

[0135] S3, flexible gear shooting detection: the shooting correction mechanism shoots downward to detect the flexible gear;

[0136] S4, steel wheel feeding: after the steel wheel assembly manipulator clamps the steel wheel from the external feeding device, the steel wheel is moved to above the CCD mechanism arranged on the machine table, and the CCD mechanism shoots upward to detect the position of the steel wheel;

[0137] S5, steel wheel assembly: after the steel wheel detection in step S4 is completed, the steel wheel assembly manipulator moves the steel wheel to above the first platform, and matches the steel wheel position according to the detection result, and then swings and presses the steel wheel downward, so that the inner ring of the steel wheel is gradually sleeved on the outside of the gear ring part of the flexible gear, until the steel wheel is completely sleeved on the gear ring part;

[0138] S6, relative position correction of steel wheel and flexible gear: after the steel wheel assembly in step S5 is completed, the shooting correction mechanism shoots the steel wheel from above, and sends the information to the industrial computer, and after the industrial computer compares the position information of the screw holes on the steel wheel and the flexible gear, the shooting correction mechanism is controlled to insert into the steel wheel, and the steel wheel is driven to rotate relative to the flexible gear, so that the screw holes on the steel wheel and the flexible gear are aligned in the vertical direction;

[0139] S7, steel wheel and flexible gear moving: after the position adjustment of the steel wheel and the flexible gear in step S6 is completed, the moving and fixing mechanism clamps and fixes the steel wheel and the flexible gear with the adjusted position, and then moves to the second platform, and the second platform clamps and fixes the steel wheel and the flexible gear;

[0140] S8, steel wheel and flexible gear fixing: after the relative position of the steel wheel and the flexible gear is fixed by the second platform in step S7, the moving and fixing mechanism inserts the screw into the screw hole of the steel wheel and the flexible gear from above, and rotates the screw to fix the steel wheel and the flexible gear relative to each other;

[0141] S9, steel wheel and flexible gear translation: after the steel wheel and the flexible gear are fixed relative to each other in step S8, the second platform drives the steel wheel and the flexible gear to translate as a whole to below the wave generator assembly manipulator;

[0142] S10, wave generator assembly: after the steel wheel and the flexible gear are translated in step S9, the wave generator assembly manipulator eliminates the weight of the mechanism, and then uses the weight of the wave generator to assemble the wave generator into the inside of the gear ring of the flexible gear by rotating and descending from top to bottom, to form a harmonic reducer;

[0143] S11, discharging: after the wave generator assembly in step S10 is completed, the second platform drives the assembled harmonic reducer to translate to below the discharging manipulator, the discharging manipulator clamps the harmonic reducer, and then moves the harmonic reducer to discharge.

[0144] As Figures 2 to 5 shown, the application also includes a CCD mechanism 5 and an oiling mechanism 6, which are arranged between the first platform 3 and the second platform 10, and the steel wheel assembly manipulator 4 moves above the CCD mechanism 5 after picking up the steel wheel, so as to take pictures from bottom to top to detect the position information of the steel wheel, facilitating the industrial computer to control the steel wheel assembly manipulator 4 to accurately assemble the steel wheel to the gear ring of the flexible gear.

[0145] As Figure 4 , Figure 5 and Figure 24 shown, the application also includes a defective product table 9, which is arranged between the first platform 3 and the second platform 10, and has the same arrangement direction as the first platform 3 and the second platform 10, and functions to carry the defective products generated in the assembly process. The defective product table 9 includes a defective product linear module 91, a table slide 92, a table support 93 and a product slot 94. The defective product linear module 91 is arranged on the machine table 1 and located between the first platform 3 and the second platform 10. The table slide 92 is slidably connected to the defective product linear module 91 and connected to the output end of the defective product linear module 91. The table support 93 is horizontally arranged on the table slide 92 through at least two support columns. The table support 93 is provided with at least two downwardly recessed circular product slots 94 for embedding the defective products in the assembly process.

[0146] The embodiments of the application are only used to introduce the specific implementation, and are not intended to limit the protection scope. Those skilled in the art can make certain modifications under the inspiration of the embodiments, and any equivalent changes or modifications made according to the patent scope of the application shall be within the scope of the patent claims.

Claims

1. A harmonic reducer automatic assembly machine, comprising a horizontal machine table (1) and a machine cover arranged above the machine table (1), and an assembly space is formed in the machine cover, characterized in that: It also includes a feeding arm (2), a first platform (3), a steel wheel assembly robot (4), a shooting correction mechanism (7), a carrying and fixing mechanism (8), a second platform (10), a wave generator assembly robot (11) and a discharging arm (12), wherein, The first platform (3) and the second platform (10) are arranged in parallel and spaced apart on both sides of the table surface of the machine table (1); The feeding arm (2) is arranged on one side of the first platform (3) and extends to the outside of the machine table (1) so as to take out the flexible wheel from the outside and move to the first platform (3); The steel wheel assembly robot (4) is arranged on one side of the first platform (3) and extends to the outside of the machine table (1) so as to take out the steel wheel from the outside and adaptively swing the steel wheel into the flexible wheel; The shooting correction mechanism (7) is arranged above the first platform (3), which detects the flexible wheel and / or the steel wheel by shooting downward, and inserts into the steel wheel downward to drive the steel wheel to rotate so as to adjust the relative position of the steel wheel and the flexible wheel; The carrying and fixing mechanism (8) is arranged between the first platform (3) and the second platform (10) in a direction perpendicular to the first platform (3), which fixes the steel wheel and the flexible wheel on the first platform (3) and then carries them to the second platform (10); The wave generator assembly robot (11) is arranged above the second platform (10), which carries the wave generator from the outside, uses the weight of the wave generator, and rotates and presses downward to assemble the wave generator into the flexible wheel; The discharging arm (12) is arranged on one side of the second platform (10) and extends to the outside of the machine table (1) so as to carry the product with the assembled wave generator on the second platform (10) to the outside.

2. The automatic assembly machine of a harmonic reducer according to claim 1, characterized in that: The harmonic reducer (0) comprises a seat body (01), a flexible wheel (02), a steel wheel and a wave generator, wherein the flexible wheel (02) comprises a mounting ring part (03) and a gear ring part (04); the mounting ring part (03) is an annular sheet body with an inner hole; the gear ring part (04) is an elliptical ring body structure, which is a flexible structure and deforms under external pressure; the gear ring part (04) is vertically connected to the inner hole of the mounting ring part (03) and extends vertically upward; at least two vertical splines are arranged on the outer side wall of the gear ring part (04); the inner wall of the gear ring part (04) is a light wall structure; the steel wheel is a ring body structure and is a rigid structure; at least two vertical splines are arranged on the inner hole wall of the steel wheel; the number of splines of the inner ring of the steel wheel is not less than the number of splines of the outer wall of the gear ring part (04); the steel wheel is pressed into and sleeved on the outside of the gear ring part (04); the wave generator is an elliptical structure and is pressed into the inside of the gear ring part (04); the seat body (01) is arranged on the mounting ring part (03) and is fixedly connected with the mounting ring part (03).

3. The automatic assembly machine of a harmonic reducer according to claim 1, characterized in that: The feeding lifting arm (2) comprises a feeding linear module (21), a feeding lifting module (22), a feeding lifting seat (23), a feeding translation module (24) and a feeding head (25), wherein the feeding linear module (21) is arranged on the machine table (1) in the same direction as the first platform (3); the feeding lifting module (22) is vertically connected to the feeding linear module (21) and connected to the output end of the feeding linear module (21); the feeding lifting seat (23) is slidably connected to the feeding lifting module (22) in the vertical direction and connected to the output end of the feeding lifting module (22); the feeding translation module (24) is arranged on the feeding lifting seat (23) in the direction of the feeding linear module (21); the feeding head (25) is slidably connected to the feeding translation module (24) and connected to the output end of the feeding translation module (24).

4. The automatic assembly machine of a harmonic reducer according to claim 1, characterized in that: The first platform (3) comprises a platform support (31), a platform slide rail (32), a sliding drive assembly, a sliding seat (36), an outer clamping assembly and an inner tensioning assembly, wherein the platform support (31) is horizontally arranged on the machine table (1); the platform slide rail (32) comprises at least two, and the at least two platform slide rails (32) are arranged in parallel and spaced apart on the platform support (31); the sliding drive assembly is arranged on the platform support (31); the sliding seat (36) is slidably embedded in the platform slide rail (32) and connected to the output end of the sliding drive assembly, and is driven by the sliding drive assembly to move linearly back and forth; the sliding seat (36) is provided with at least two bearing stations; the outer clamping assembly and the inner tensioning assembly comprise at least two sets, and the at least two sets of clamping assemblies and inner tensioning assemblies are respectively arranged at the bearing stations.

5. A machine for automatically assembling a harmonic reducer according to claim 4, characterized in that: The sliding drive assembly comprises a sliding drive support plate (33), a sliding drive motor (34), a sliding drive screw (35) and a sliding drive screw seat, wherein the sliding drive support plate (33) is vertically connected to one end of the platform support (31); the sliding drive motor (34) is horizontally arranged on the outer side wall of the sliding drive support plate (33), and the output end extends above the platform support (31) through the sliding drive support plate (33); the sliding drive screw (35) is arranged in the direction of the platform slide rail (32) and connected to the output end of the sliding drive motor (34), and is driven by the sliding drive motor (34) to rotate; the sliding drive screw seat is sleeved on the sliding drive screw (35) and threadedly connected with the sliding drive screw (35); the bottom of the sliding seat (36) is fixedly connected with the sliding drive screw seat; the sliding seat (36) is provided with at least two vertical columns, and the at least two vertical columns are vertically and spaced apart arranged on the sliding seat (36); the top of the at least two vertical columns is provided with a bearing seat, and the bearing seat is provided with a downwardly recessed circular bearing groove for bearing and limiting the harmonic reducer; a through hole is formed in the middle of the circular bearing groove.

6. A machine for automatically assembling a harmonic reducer according to claim 1, characterized in that: The steel wheel assembly robot (4) comprises a robot base (41), a robot arm (42), and a steel wheel assembly head (43), wherein the robot base (41) is horizontally arranged on the machine table (1); the robot arm (42) is arranged on the robot base (41), and the robot arm (42) comprises at least two degrees of freedom; the steel wheel assembly head (43) is connected to the end of the robot arm (42), and after the robot arm (42) drives the steel wheel assembly head (43) to take out the steel wheel at the external steel wheel feeding station, the robot arm (42) drives the steel wheel assembly head (43) to move above the first platform (3), and the steel wheel assembly head (43) assembles the steel wheel to the flexible gear clamped in the first platform (3).

7. A machine for automatically assembling a harmonic reducer according to claim 6, characterized in that: The steel wheel assembly head (43) comprises a steel wheel assembly support (431), a steel wheel assembly pressure sensing assembly, a steel wheel assembly support plate (433), and a steel wheel clamping assembly, wherein the steel wheel assembly support (431) is fixedly arranged on the robot arm (42); the steel wheel assembly pressure sensing assembly is arranged at the bottom of the steel wheel assembly support (431) and extends downward outside the steel wheel assembly support (431) so as to contact the steel wheel placed below and detect the reaction force transmitted upward by the steel wheel during assembly; the steel wheel assembly support plate (433) is horizontally arranged at the lower part of the steel wheel assembly pressure sensing assembly; and the steel wheel clamping assembly is arranged at the bottom of the steel wheel assembly support plate (433), and the steel wheel clamping assembly clamps and fixes the steel wheel required to be assembled.

8. The automatic assembly machine of a harmonic reducer according to claim 1, characterized in that: The shooting correction mechanism (7) comprises a bracket (71), a detection shooting assembly, and a correction assembly, wherein the bracket (71) is a U-shaped frame structure, the bracket (71) is arranged above the first platform (3), and a support frame body is arranged at the upper part of the top plate of the bracket (71); the detection shooting assembly is arranged on the bracket (71) and moves linearly in a direction perpendicular to the first platform (3), and the lens of the detection shooting assembly is arranged downward so as to shoot the flexible gear and / or the steel wheel on the first platform (3); the correction assembly comprises at least two groups, the correction assemblies are arranged on the bracket (71) in a spaced manner and move up and down in a vertical direction so as to be inserted into the steel wheel on the first platform (3) and drive the steel wheel to rotate so as to adjust the relative position of the steel wheel and the flexible gear.

9. A machine for automatically assembling a harmonic reducer according to claim 2, characterized in that: The carrying and fixing mechanism (8) comprises a carrying driving assembly, a carrying support (85), a carrying assembly, and a steel wheel fixing head, wherein the carrying driving assembly is arranged on the machine table (1) and outputs linear power in a direction perpendicular to the first platform (3) and the second platform (10) and in a vertical direction; the carrying support (85) is arranged on the carrying driving assembly and connected to the output end of the carrying driving assembly; the carrying assembly and the steel wheel fixing head are arranged on the carrying support (85), the carrying assembly takes out the steel wheel and the flexible gear after position correction from the first platform (3) and carries them to the second platform (10); and the steel wheel fixing head fixes the steel wheel and the flexible gear to each other.

10. The automatic assembly machine of a harmonic reducer according to claim 1, characterized in that: The wave generator assembly manipulator (11) comprises an assembly support (111), an assembly seat body (112), an assembly drive assembly, an assembly counterweight assembly, a pressure sensing assembly and a rotary assembly assembly, wherein the assembly support (111) is a U-shaped frame structure, and the assembly support (111) is erected above the second platform (10); the assembly seat body (112) is arranged on the assembly support (111); the assembly drive assembly is arranged on the side wall of the assembly support (111), and the output end is arranged in the vertical direction; the counterweight assembly is arranged on the assembly drive assembly and connected with the output end of the assembly drive assembly; the pressure sensing assembly is arranged at the lower part of the assembly counterweight assembly and is supported by the assembly counterweight assembly; the rotary assembly assembly is arranged below the pressure sensing assembly, the rotary assembly assembly clamps the harmonic reducer to be assembled, and the harmonic reducer is rotated and pressed downward by the weight of the harmonic reducer to be assembled, and the harmonic reducer is assembled into the flexspline.

11. A machine for automatically assembling a harmonic reducer according to claim 2, characterized in that: The unloading manipulator (12) comprises an unloading support (121), an unloading drive assembly, an unloading sliding seat (124) and a material taking head (125), wherein the unloading support (121) is erected on one side of the second platform (10) and extends to the outside of the machine table (1); the unloading drive assembly is arranged on the unloading support (121), and the output of the unloading drive assembly outputs linear power in the same direction of the second platform (10) and vertical direction power; the unloading sliding seat (124) is connected to the output end of the unloading drive assembly; the material taking head (125) is arranged on the unloading sliding seat (124), the material taking head (125) is inserted into the assembled harmonic reducer from above, so as to limit the harmonic reducer in the radial direction, clamp the limited harmonic reducer from the outside, and support the harmonic reducer from below.

12. A process for assembling a harmonic reducer automatic assembly machine according to any one of claims 1 to 11, characterized in that, The process comprises the following steps: S1, flexspline feeding: the flexspline and seat body assembly to be assembled are taken out from the external feeding device by the feeding manipulator and transported to the first platform; S2, flexspline clamping and translation: after the flexspline and seat body assembly in step S1 are limited and supported by the first platform, the first platform drives the flexspline and seat body assembly to move to below the shooting correction mechanism; S3, flexspline shooting detection: the shooting correction mechanism shoots and detects the flexspline downward; S4, steel wheel feeding: the steel wheel assembly manipulator clamps the steel wheel from the external feeding device, moves the steel wheel to above the CCD mechanism arranged on the machine table, and detects the position of the steel wheel upward by the CCD mechanism; S5, steel wheel assembly: after the detection of the steel wheel in step S4 is completed, the steel wheel assembly manipulator moves the steel wheel to above the first platform, matches the position of the steel wheel with the position of the flexspline according to the detection result, swings and presses the steel wheel downward, so that the inner ring of the steel wheel is gradually sleeved on the outside of the tooth ring part of the flexspline, and the steel wheel is completely sleeved on the tooth ring part; S6, relative position correction of steel wheel and flexspline: after the assembly of the steel wheel in step S5 is completed, the shooting correction mechanism shoots the steel wheel from above and sends information to the industrial computer, compares the position information of the screw holes on the steel wheel and the flexspline by the industrial computer, controls the shooting correction mechanism to insert into the steel wheel downward, and drives the steel wheel to rotate relative to the flexspline, so that the screw holes on the steel wheel and the flexspline are aligned in the vertical direction. S7, flexible gear and steel wheel moving: after the position of the steel wheel and the flexible gear in step S6 is adjusted, the moving and fixing mechanism clamps and fixes the steel wheel and the flexible gear in the adjusted position as a whole, and then moves them to the second platform, and the second platform clamps and fixes the steel wheel and the flexible gear; S8, flexible gear and steel wheel fixing: after the relative position of the steel wheel and the flexible gear is fixed by the second platform in step S7, the moving and fixing mechanism inserts screws into screw holes of the steel wheel and the flexible gear from above, and rotates the screws to fix the steel wheel and the flexible gear to each other; S9, steel wheel and flexible gear translation: after the steel wheel and the flexible gear are fixed to each other in step S8, the second platform drives the steel wheel and the flexible gear to translate as a whole to below the wave generator assembling robot; S10, wave generator assembling: after the translation of the fixed steel wheel and the flexible gear in step S9 is completed, the wave generator assembling robot eliminates the gravity of the mechanism, and then uses the gravity of the wave generator to rotate and descend from top to bottom to assemble the wave generator into the inside of the flexible gear ring, and form a harmonic reducer; S11, discharging: after the assembling of the wave generator in step S10 is completed, the second platform drives the assembled harmonic reducer to translate to below the discharging arm, the discharging arm clamps the harmonic reducer, and then moves the harmonic reducer to discharge.

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