A fixture for machining the flexspline of a harmonic reducer

Abstract

The present invention relates to the technical field of harmonic reducer processing, and specifically to a fixture for processing a flexible wheel of a harmonic reducer, comprising an adaptive assembly fixture installed on a mobile device, an adaptive positioning fixture installed below the adaptive assembly fixture, the adaptive positioning fixture is connected to the discharge end of a feeding device, the adaptive assembly fixture comprises an expansion clamping device installed on the mobile device, a plurality of baffle storage seats are symmetrically installed on the expansion end of the expansion clamping device, a plurality of arc baffles of different sizes are installed on the baffle storage seats, the plurality of arc baffles are coaxially arranged so that the plurality of arc baffles form a multi-layer stacking state, a mobile switching pushing device is installed on the top of the baffle storage seat, the pushing end of the mobile switching pushing device is provided with a plurality of abutting ends, the abutting end of the mobile switching pushing device abuts against the top of the arc baffle, the present application can effectively improve the adaptability and work efficiency of clamping, and at the same time can reduce the processing cost.

Description

Technical Field

[0001] The invention relates to the technical field of harmonic reducer processing, and in particular to a clamp for processing a flexible wheel of a harmonic reducer. Background Art

[0002] The harmonic reducer is a reduction device, which consists of three basic components: a fixed internal gear wheel, a flexible wheel, and a wave generator that causes the flexible wheel to deform radially. The harmonic reducer is a new transmission structure in the gear reducer. It uses flexible gears to generate controllable elastic deformation waves, causing the teeth of the rigid wheel and the flexible wheel to be staggered relative to each other to transmit power and motion.

[0003] During the assembly and processing of the existing harmonic reducer, although the internal gear rigid wheel, the flexible wheel and the wave generator can be automatically assembled by automatic assembly equipment, the existing assembly equipment has a single fixture structure when assembling the flexible wheel, and can only fix one type of flexible wheel through a single clamping port for assembly and processing, resulting in low adaptability. Each time a flexible wheel of different sizes and models is assembled, it is necessary to replace the limit fixture of different sizes, which wastes time and affects work efficiency. At the same time, spare multiple fixtures of different models will increase the cost of assembly and processing. Summary of the invention

[0004] In view of the problems existing in the prior art, a clamp for processing a flexible wheel of a harmonic reducer is provided, which can effectively improve the adaptability and work efficiency of clamping through an adaptive assembly clamp, and can also reduce the processing cost.

[0005] In order to solve the problems of the prior art, the present invention provides a fixture for processing a flexible wheel of a harmonic reducer, including an adaptive assembly fixture installed on a mobile device, an adaptive positioning fixture is installed below the adaptive assembly fixture, the adaptive positioning fixture is connected to the discharge end of a feeding device, the adaptive assembly fixture includes an expansion clamping device installed on the mobile device, a plurality of baffle storage seats are symmetrically installed on the expansion end of the expansion clamping device, a plurality of arc baffles of different sizes are installed on the baffle storage seats, the plurality of arc baffles are coaxially arranged so that the plurality of arc baffles form a multi-layer stacked state, a movable switching pushing device is installed on the top of the baffle storage seat, the pushing end of the movable switching pushing device is provided with a plurality of abutting ends, and the abutting end of the movable switching pushing device abuts against the top of the arc baffle.

[0006] Preferably, the expansion clamping device includes a limit mounting frame installed on the mobile device, limit guide frames are installed on both sides of the limit mounting frame, the limit guide frames are connected to the baffle storage seat, and a first linear drive is also installed on the limit mounting frame, a connecting block is installed at the output end of the first linear drive, connecting rods are installed on both sides of the connecting block, and the end of the connecting rod away from the connecting block is connected to the baffle storage seat.

[0007] Preferably, a plurality of semi-circular slots are provided on the baffle storage seat. First limiting grooves are provided at the tops of the semi-circular slots, reset springs are installed inside the first limiting grooves, several second limiting grooves are installed at the tops of the semi-circular slots, and docking bumps and docking grooves are symmetrically provided on the side wall of the baffle storage seat.

[0008] Preferably, the arc-shaped baffle is installed inside the semi-circular slot. A limiting block is provided on the side wall at the top of the arc-shaped baffle, a positioning docking groove is further provided on the limiting block, and several stable pressing blocks are provided on the outer wall at the bottom of the arc-shaped baffle.

[0009] Preferably, the moving and switching pressing device includes a mounting bracket installed on the top of the baffle storage seat. A first ball screw slide is installed on the mounting bracket, a second linear driver is further installed on the first ball screw slide, the output end of the second linear driver is arranged vertically downward, and a multi-section linkage pressing rod is further installed on the output end of the second linear driver. The multi-section linkage pressing rod abuts against the positioning docking groove of the limiting block.

[0010] Preferably, the multi-section linkage pressing rod includes a limiting pressing rod installed on the second linear driver. A movable pressing rod is installed on the limiting pressing rod. A positioning pressing spring is installed between the limiting pressing rod and the movable pressing rod. Contact heads are provided at the bottoms of the limiting pressing rod and the movable pressing rod.

[0011] Preferably, the adaptive positioning fixture includes a limiting guide seat installed below the adaptive assembly clamping tool. A lubricating spraying device is installed at the bottom of the limiting guide seat. The spraying end of the lubricating spraying device is arranged in the feeding area of the limiting guide seat. An expanding positioning device is further installed at the bottom of the limiting guide seat. The abutting end of the expanding positioning device is arranged in the feeding area of the guide seat.

[0012] Preferably, the limiting guide seat includes a horizontally arranged mounting plate. A conical guide groove is provided on the mounting plate. Several guide sliding rails are provided inside the conical guide groove. A two-way ball screw slide is installed on one side of the conical guide groove. Guide blocks are installed on the contracting ends of the two-way ball screw slide. A second ball screw slide is further provided at the end of the conical guide groove far away from the two-way ball screw slide. A limiting baffle is further installed on the second ball screw slide.

[0013] Preferably, the lubricating spraying device includes a rotating spray head installed inside the conical guide groove. The rotating spray head is connected to an oil spraying device. The lubricating spraying device further includes a waste liquid recovery hopper installed at the bottom of the mounting plate.

[0014] Preferably, the expansion positioning device includes a three-jaw chuck installed inside the waste liquid recovery hopper. Vertical mounting rods are installed on the contraction ends of the three-jaw chuck. One end of the vertical mounting rod away from the three-jaw chuck extends upward through the guiding slide rail. Several connecting shafts are provided on the side of the vertical mounting rod. A pressing slider is installed on the connecting shaft, and a pressing spring is also installed between the pressing slider and the vertical mounting rod.

[0015] The beneficial effects of this application compared with the prior art are as follows:

[0016] By moving the switching push-pressing device to push a curved baffle of a suitable size for downward pressing, when the curved baffle is pushed, it will extend downward through the baffle storage seat. The pushed curved baffle forms a clamping end. After the adjustment of the curved baffle, the expansion clamping device drives the baffle storage seat to perform a synchronous expansion movement. When the baffle storage seat expands and moves horizontally, it will also drive the curved baffle to expand synchronously. After the curved baffle expands, the moving device drives the expansion clamping device to move to the positioned and fixed flexspline. The expanded curved baffle moves to the outside of the flexspline. The synchronous contraction of the expansion clamping device drives the curved baffle to contract and clamp synchronously. When the curved baffle clamps synchronously, it will clamp and fix the flexspline. When the curved baffle clamps and fixes the flexspline, the flexspline will be extruded into an oval shape. The oval flexspline matches the shape of the wave generator. The moving device then moves the clamped flexspline to directly above the wave generator. The moving switching push-pressing device then pushes a curved baffle with a smaller shaft diameter than the clamped curved baffle to descend. When the curved baffle with a smaller shaft diameter descends, it will extrude the clamped flexspline. When the flexspline is extruded, it will be sleeved on the wave generator. By automatically switching the curved baffle for clamping use, the clamping adaptability and working efficiency can be effectively improved. At the same time, the curved baffle cooperating with the baffle storage seat can reduce the number of molds and effectively reduce the processing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional schematic diagram of the flexspline.

[0018] Figure 2 is a three-dimensional schematic diagram of a fixture for machining the flexspline of a harmonic reducer.

[0019] Figure 3 is a three-dimensional schematic diagram of an adaptive assembly clamping tool in a fixture for machining the flexspline of a harmonic reducer.

[0020] Figure 4 is an exploded view of an adaptive assembly clamping tool in a fixture for machining the flexspline of a harmonic reducer.

[0021] Figure 5 is a three-dimensional schematic diagram of a moving switching push-pressing device, a baffle storage seat, and a curved baffle in a fixture for machining the flexspline of a harmonic reducer.

[0022] Figure 6It is a three-dimensional schematic diagram of a multi-section linkage push rod in a fixture for machining the flexspline of a harmonic reducer.

[0023] Figure 7 It is a top view of a baffle storage seat in a fixture for machining the flexspline of a harmonic reducer.

[0024] Figure 8 It is a three-dimensional schematic diagram of a baffle storage seat in a fixture for machining the flexspline of a harmonic reducer.

[0025] Figure 9 It is a three-dimensional schematic diagram of an arc-shaped baffle in a fixture for machining the flexspline of a harmonic reducer.

[0026] Figure 10 It is a three-dimensional schematic diagram of an adaptive positioning fixture in a fixture for machining the flexspline of a harmonic reducer.

[0027] Figure 11 It is a three-dimensional sectional view of an adaptive positioning fixture in a fixture for machining the flexspline of a harmonic reducer.

[0028] Figure 12 It is a three-dimensional schematic diagram of an expansion positioning device in a fixture for machining the flexspline of a harmonic reducer.

[0029] The reference numerals in the figure are:

[0030] A1 - Flexspline; 1 - Adaptive assembly clamping tool; 11 - Expansion clamping device; 111 - Limit mounting frame; 112 - Limit guiding frame; 113 - First linear driver; 114 - Connecting block; 115 - Connecting rod; 12 - Baffle storage seat; 121 - Semi-circular slot; 122 - First limit slot; 123 - Second limit slot; 124 - Return spring; 125 - Docking convex block; 126 - Docking groove; 13 - Arc-shaped baffle; 131 - Limit stop block; 132 - Positioning docking groove; 133 - Stable push block; 14 - Moving and switching push device; 141 - Mounting bracket; 142 - First ball screw slide; 143 - Second linear driver; 144 - Multi-section linkage push rod; 1441 - Limit push rod; 1442 - Movable push rod; 1443 - Positioning pressure spring; 2 - Adaptive positioning fixture; 21 - Limit guiding seat; 211 - Mounting plate; 212 - Conical guiding groove; 213 - Guiding slide rail; 214 - Bidirectional ball screw slide; 215 - Guiding block; 216 - Second ball screw slide; 217 - Limit baffle; 22 - Lubrication spraying device; 221 - Rotating nozzle; 223 - Waste liquid recovery hopper; 23 - Expansion positioning device; 231 - Three-jaw chuck; 232 - Vertical mounting rod; 2321 - Connecting shaft; 233 - Pressing slider; 234 - Pressing spring, Specific embodiments

[0031] To further understand the features, technical means, specific purposes, and functions achieved by the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] As Figures 1 to 12 shown:

[0033] A fixture for machining the flexspline of a harmonic reducer, comprising an adaptive assembly clamping tool 1 mounted on a mobile device. An adaptive positioning fixture 2 is mounted below the adaptive assembly clamping tool 1. The adaptive positioning fixture 2 is connected to the discharge end of a feeding device. The adaptive assembly clamping tool 1 includes an expansion clamping device 11 mounted on the mobile device. A plurality of baffle storage seats 12 are symmetrically mounted on the expansion end of the expansion clamping device 11. A plurality of arc-shaped baffles 13 of different sizes are mounted on each baffle storage seat 12. The plurality of arc-shaped baffles 13 are coaxially arranged, so that the plurality of arc-shaped baffles 13 form a multi-layer stacked state. Mobile switching push devices 14 are mounted on the tops of the baffle storage seats 12. The push ends of the mobile switching push devices 14 are provided with a plurality of abutting ends. The abutting ends of the mobile switching push devices 14 abut against the tops of the arc-shaped baffles 13.

[0034] The output end of the wave generator is elliptical. When the flexspline needs to be automatically installed on the wave generator, the wave generator is conveyed to the area to be assembled through a conveyor, and then the machined flexspline is positioned and conveyed to the adaptive positioning fixture 2 through a feeding device. The adaptive positioning fixture 2 positions and fixes the placed flexspline. After the flexspline is positioned and fixed, the adaptive assembly clamping tool presses down by pushing the arc-shaped baffle 13 of a suitable size through the mobile switching push device 14, so that the arc-shaped baffle 13 extends downward through the baffle storage seat 12 when being pushed. The pushed arc-shaped baffle 13 becomes a clamping end. After the arc-shaped baffle 13 is adjusted, the expansion clamping device 11 drives the baffle storage seat 12 to perform a synchronous expansion movement. When the baffle storage seat 12 expands and moves horizontally, it also drives the arc-shaped baffle 13 to expand synchronously. After the arc-shaped baffle 13 expands, the mobile device drives the expansion clamping device 11 to move to the positioned and fixed flexspline, so that the expanded arc-shaped baffle 13 moves to the outside of the flexspline. The expansion clamping device 11 contracts synchronously to drive the arc-shaped baffle 13 to contract and clamp synchronously. When the arc-shaped baffle 13 clamps synchronously, it will clamp and fix the flexspline. When the arc-shaped baffle 13 clamps and fixes the flexspline, the flexspline will be squeezed into an ellipse. The elliptical flexspline matches the shape of the wave generator. The mobile device then moves the clamped flexspline to directly above the wave generator, and the mobile switching push device 14 pushes the arc-shaped baffle 13 with a smaller shaft diameter than the clamped arc-shaped baffle 13 to descend. When the arc-shaped baffle 13 with a smaller shaft diameter descends, it will squeeze out the clamped flexspline. When the flexspline is squeezed out, it will be sleeved on the wave generator.

[0035] As Figure 3 and Figure 4 shown:

[0036] The expansion clamping device 11 includes a limit mounting frame 111 mounted on the mobile device. Limit guiding frames 112 are mounted on both sides of the limit mounting frame 111. The limit guiding frames 112 are connected to the baffle storage seat 12. A first linear driver 113 is also mounted on the limit mounting frame 111. A connecting block 114 is mounted at the output end of the first linear driver 113. Connecting rods 115 are mounted on both sides of the connecting block 114. The ends of the connecting rods 115 far from the connecting block 114 are connected to the baffle storage seat 12.

[0037] The first linear driver 113 is preferably an electric push rod. By automatically adapting to the assembly and clamping, the push-press device 14 is used to push and press the arc-shaped baffle 13 of a suitable size for downward pressing. When the arc-shaped baffle 13 is pushed and pressed, it will extend downward through the baffle storage seat 12. The pushed-out arc-shaped baffle 13 becomes the clamping end. After the arc-shaped baffle 13 is adjusted, the electric push rod is used to drive the connecting block 114 to move. When the connecting block 114 moves, it will drive the connecting rod 115 to move. When the connecting rod 115 moves, it will drive the baffle storage seat 12 connected to it to perform synchronous contraction movement. The movement of the baffle storage seat 12 limits the guiding frame 112 to guide the baffle storage seat 12 to perform horizontal expansion movement. When the baffle storage seat 12 expands horizontally, it will also drive the arc-shaped baffle 13 to expand synchronously, so that the arc-shaped baffle 13 remains in a clamping state. When the electric push rod drives the connection to contract and move, it will drive the arc-shaped baffle 13 to perform a clamping movement, effectively controlling the arc-shaped baffle 13 to perform a stable contraction movement.

[0038] As Figures 5 to 8 shown:

[0039] A plurality of semi-circular slots 121 are provided on the baffle storage seat 12. First limit slots 122 are provided at the tops of the semi-circular slots 121. Return springs 124 are mounted inside the first limit slots 122. Several second limit slots 123 are mounted at the tops of the semi-circular slots 121. Docking convex blocks 125 and docking grooves 126 are symmetrically provided on the side wall of the baffle storage seat 12.

[0040] The plurality of semi-circular slots 121 on the baffle storage seat 12 are used to store arc-shaped baffles 13 of different models. The first limit slots 122 and the second limit slots 123 are used for limiting and matching the arc-shaped baffle 13 to perform lifting movement in the semi-circular slots 121. When the moving switching push-press device 14 pushes the arc-shaped baffle 13 to move up and down in the semi-circular slots 121, it will also squeeze the return spring 124 inside the first limit slot 122. When the moving switching push-press device 14 stops squeezing, the return spring 124 will drive the arc-shaped baffle 13 to automatically rise and reset. The docking convex blocks 125 and docking grooves 126 on the side wall of the baffle storage seat 12 are used to cooperate with a plurality of baffle storage seats 12 for mutual docking, which can effectively maintain the accuracy and stability of the docking and clamping.

[0041] As Figures 5 to 9 shown:

[0042] The arc-shaped baffle 13 is installed inside the semi-arc-shaped slot 121. A limit stop 131 is provided on the side wall at the top of the arc-shaped baffle 13. A positioning docking groove 132 is also provided on the limit stop 131. Several stable pressing blocks 133 are provided on the outer wall at the bottom of the arc-shaped baffle 13.

[0043] When the symmetric arc-shaped baffles 13 are docked with each other, an ellipse will be formed. When the symmetric arc-shaped baffles 13 clamp the flexspline, the clamped flexspline will form a corresponding ellipse to facilitate corresponding clamping onto the wave generator. The limit stop 131 at the top of the arc-shaped baffle 13 is used to cooperate with the first limit groove 122 of the semi-arc-shaped slot 121 for limit sliding. When the limit stop 131 moves in the first limit groove 122, it will compress the return spring 124. The positioning docking groove 132 on the limit stop 131 facilitates the movement and switching of the pushing device 14 for precise docking and pushing. The stable pressing blocks 133 on the outer wall of the arc-shaped baffle 13 can increase the area of pushing against the flexspline and improve the stability of pushing.

[0044] As Figure 3 and Figure 5 shown:

[0045] The movement and switching pushing device 14 includes a mounting bracket 141 installed on the top of the baffle storage seat 12. A first ball screw slide 142 is installed on the mounting bracket 141. A second linear driver 143 is also installed on the first ball screw slide 142. The output end of the second linear driver 143 is arranged vertically downward. A multi-section linkage pushing rod 144 is also installed on the output end of the second linear driver 143. The multi-section linkage pushing rod 144 abuts against the positioning docking groove 132 of the limit stop 131.

[0046] The second linear drive 143 is preferably an electric push rod. When it is necessary to switch the position of the arc baffle 13 of different sizes, the electric push rod drives the multi-stage linked pushing rod 144 to move upward, so that the multi-stage linked pushing rod 144 is separated from the arc baffle 13. The arc baffle 13 loses the resistance force. The reset spring 124 on the baffle storage seat 12 will drive the arc baffle 13 to shrink and reset. The first ball screw slide 142 will drive the electric push rod to move horizontally and adjust. When the electric push rod moves, it will drive the multi-stage linked pushing rod 144 to move horizontally. The first ball screw slide 142 moves the multi-stage linked pushing rod 144 to the appropriate position When the multi-stage linked pushing rod 144 is in the state of being set, the electric push rod pushes the multi-stage linked pushing rod 144 to descend, and the multi-stage linked pushing rod 144 will push the corresponding arc baffle 13 to descend to the appropriate position and the switching is completed. When the arc baffle 13 moves the flexible wheel clamp to the top of the wave generator, it is necessary to push the clamped flexible wheel to be installed on the wave generator, and the electric push rod will push the multi-stage linked pushing rod 144 for the second time, and the multi-stage linked pushing rod 144 will continue to press down. When the multi-stage linked pushing rod 144 continues to press down, it will push the arc baffle 13 with a smaller shaft diameter than the arc baffle 13 in the clamped state to descend, and the arc baffle 13 with a smaller shaft diameter will push the clamped flexible wheel when it descends.

[0047] like Figure 5 and Figure 6 As shown:

[0048] The multi-stage linked pushing rod 144 includes a limiting pushing rod 1441 installed on the second linear drive 143, a movable pushing rod 1442 is installed on the limiting pushing rod 1441, a positioning pressure spring 1443 is installed between the limiting pushing rod 1441 and the movable pushing rod 1442, and a contact head is provided at the bottom of the limiting pushing rod 1441 and the movable pushing rod 1442.

[0049] The second linear drive 143 is preferably an electric push rod. When it is necessary to push the arc baffle 13 on the baffle storage seat 12 to descend in multiple stages, the first ball screw slide 142 pushes the electric push rod to move and adjust it to a suitable position, and the electric push rod will push the limit push rod 1441 to descend. When the limit push rod 1441 descends, the positioning pressure spring 1443 will push the movable push rod 1442 to descend first. When the movable push rod 1442 descends, it pushes the arc baffle 13 to descend synchronously. When the arc baffle 13 is pushed to a suitable position, the bottom of the limit push rod 1441 is simultaneously aligned with the arc baffle 13 on the side. The top of the arc baffle 13 that contacts with the limiting pushing rod 1441 has a smaller axial diameter than the arc baffle 13 pushed by the movable pushing rod 1442. When the arc baffle 13 pushed by the movable pushing rod 1442 clamps the fixed flexible wheel, it is necessary to push the clamped flexible wheel to be installed on the wave generator, and the electric push rod will push the limiting pushing rod 1441 for the second time. When the limiting pushing rod 1441 continues to push, it will squeeze the positioning pressure spring 1443 and push the arc baffle 13 to descend. When the arc baffle 13 pushed by the limiting pushing rod 1441 descends, the clamped flexible wheel will be squeezed out and installed on the wave generator.

[0050] like Figure 2 and Figure 10 As shown:

[0051] The adaptive positioning fixture 2 includes a limiting guide seat 21 installed below the adaptive assembly fixture 1, a lubricating spray device 22 is installed at the bottom of the limiting guide seat 21, and the spraying end of the lubricating spray device 22 is arranged in the discharge area of ​​the limiting guide seat 21. An expansion positioning device 23 is also installed at the bottom of the limiting guide seat 21, and the resistance end of the expansion positioning device 23 is arranged in the discharge area of ​​the guide seat.

[0052] When the automatic adaptive assembly fixture 1 clamps the flexible wheel, it is necessary to locate the position of the flexible wheel to ensure its stability. The flexible wheel is pushed to the limiting guide seat 21 through the feeding equipment. The limiting guide seat 21 limits the position of the flexible wheel and guides it to the area to be processed, so that the flexible wheel falls on the expansion positioning device 23. The expansion positioning device 23 expands synchronously. The contact end of the expansion positioning device 23 contacts the inner wall of the flexible wheel during synchronous expansion to position and fix the flexible wheel. At the same time, the lubricating spraying device 22 sprays lubricating oil onto the inner wall of the flexible wheel. The lubricating oil can improve the stability during installation.

[0053] like Figure 10 and Figure 11 As shown:

[0054] The limit guide seat 21 includes a horizontally arranged mounting plate 211, on which a conical guide groove 212 is provided, and a plurality of guide rails 213 are provided inside the conical guide groove 212. A bidirectional ball screw slide 214 is installed on one side of the conical guide groove 212, and a guide block 215 is installed on the contraction end of the bidirectional ball screw slide 214. A second ball screw slide 216 is also provided at the end of the conical guide groove 212 away from the bidirectional ball screw slide 214, and a limit baffle 217 is also installed on the second ball screw slide 216.

[0055] The tapered guide groove 212 on the mounting plate 211 facilitates guiding the flexible wheel to fall into the corresponding area. The guide rail 213 is installed at the position of the limit expansion positioning device 23 to ensure the stability of the expansion. The bidirectional ball screw slide 214 beside the mounting plate 211 is used to adjust the position of the guide block 215 to improve the adaptability of the guide block 215. The guide block 215 is used to guide and push the flexible wheel sent into the axis direction of the tapered guide groove 212. The second ball screw slide 216 is used to limit and adjust the position of the limit baffle 217. The limit baffle 217 is used to block the entering flexible wheel so that the flexible wheel falls into the axis of the dynamic tapered guide groove 212.

[0056] like Figure 10 and Figure 11 As shown:

[0057] The lubricating spray device 22 includes a rotating spray head 221 installed inside the conical guide groove 212 , the rotating spray head 221 is connected to the oil spraying equipment, and the lubricating spray device 22 also includes a waste liquid recovery bucket 223 installed at the bottom of the mounting plate 211 .

[0058] When the flexible wheel falls into the axial position of the conical guide groove 212, the expansion positioning device 23 expands synchronously, and the contact end of the expansion positioning device 23 contacts the inner wall of the flexible wheel to position and fix the flexible wheel. At the same time, the oil spraying equipment evenly spreads the lubricating oil on the inner wall of the flexible wheel by rotating the nozzle 221, which can effectively improve the stability of the flexible wheel installation. Part of the sprayed lubricating oil will fall on the expansion positioning device 23 and the conical guide groove 212. The lubricating oil adhered to the conical guide groove 212 will be gathered and transported to the waste liquid recovery bucket 223, and the waste liquid recovery bucket 223 will then transport the collected lubricating oil to the area to be processed.

[0059] like Figure 11 and Figure 12 As shown:

[0060] The expansion positioning device 23 includes a three-jaw chuck 231 installed inside the waste liquid recovery hopper 223. Vertical mounting rods 232 are installed on the contraction ends of the three-jaw chuck 231. One end of the vertical mounting rod 232 far from the three-jaw chuck 231 extends upward through the guiding slide rail 213. Several connecting shafts 2321 are provided on the side of the vertical mounting rod 232, and a pressing slider 233 is installed on the connecting shaft 2321. A pressing spring 234 is also installed between the pressing slider 233 and the vertical mounting rod 232.

[0061] When the flexspline falls into the conical guiding groove 212, the three-jaw chuck 231 will drive multiple vertical mounting rods 232 to perform synchronous expansion movement. When the vertical mounting rod 232 expands, it drives the pressing slider 233 to contact the inner wall of the flexspline, and the pressing spring 234 is compressed, so that the flexspline is tensioned and positioned. After the flexspline is tensioned and positioned, it is convenient to automatically adapt to the assembly clamping tool 1 for stable and accurate clamping.

[0062] Specific working principle:

[0063] The output end of the wave generator is elliptical. When the flexspline needs to be automatically installed on the wave generator, the wave generator is conveyed to the area to be assembled by a conveyor, and then the processed flexspline is positioned and conveyed to the adaptive positioning fixture 2 by a feeding device. The adaptive positioning fixture 2 positions and fixes the placed flexspline. After the flexspline is positioned and fixed, the automatic adaptation assembly clamping passes through the moving and switching pressing device 14 to push a curved baffle 13 of a suitable size for downward pressing, so that when the curved baffle 13 is pushed, it will extend downward through the baffle storage seat 12. The pushed curved baffle 13 becomes a clamping end. After the adjustment of the curved baffle 13, the expansion clamping device 11 drives the baffle storage seat 12 to perform synchronous expansion movement. When the baffle storage seat 12 expands and moves horizontally, it will also drive the curved baffle 13 to perform synchronous expansion. After the curved baffle 13 expands, the moving device drives the expansion clamping device 11 to move to the positioned and fixed flexspline, so that the expanded curved baffle 13 moves to the outside of the flexspline. The expansion clamping device 11 synchronously contracts to drive the curved baffle 13 to perform synchronous contraction clamping. When the curved baffle 13 synchronously clamps, it will clamp and fix the flexspline. When the curved baffle 13 clamps and fixes the flexspline, it will squeeze the flexspline into an ellipse. The elliptical flexspline matches the shape of the wave generator. The moving device then moves the clamped flexspline to directly above the wave generator, and the moving and switching pressing device 14 then pushes a curved baffle 13 with a smaller shaft diameter than the clamped curved baffle 13 to descend. When the curved baffle 13 with a smaller shaft diameter descends, it will squeeze out the clamped flexspline. When the flexspline is squeezed out, it will be sleeved on the wave generator. The adaptive assembly clamping tool 1 can effectively improve the clamping adaptability and working efficiency, and at the same time reduce the processing cost.

[0064] The above embodiments merely represent one or several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the appended claims.

Claims

1. A fixture for processing a flexible wheel of a harmonic reducer, comprising an adaptive assembly fixture (1) mounted on a mobile device, an adaptive positioning fixture (2) mounted below the adaptive assembly fixture (1), and the adaptive positioning fixture (2) connected to a discharge end of a feeding device, It is characterized in that The adaptive assembly clamp (1) comprises an expansion clamping device (11) installed on a mobile device, a plurality of baffle storage seats (12) are symmetrically installed on the expansion end of the expansion clamping device (11), a plurality of arc-shaped baffles (13) of different sizes are installed on the baffle storage seats (12), the plurality of arc-shaped baffles (13) are coaxially arranged so that the plurality of arc-shaped baffles (13) form a multi-layer stacked state, a movable switching pushing device (14) is installed on the top of the baffle storage seat (12), the pushing end of the movable switching pushing device (14) is provided with a plurality of abutting ends, and the abutting end of the movable switching pushing device (14) abuts against the top of the arc-shaped baffle (13); The expansion clamping device (11) comprises a limit mounting frame (111) mounted on the mobile device, and limit guide frames (112) are mounted on both sides of the limit mounting frame (111), and the limit guide frames (112) are connected to the baffle storage seat (12); The mobile switching pushing device (14) comprises a mounting bracket (141) mounted on the top of the baffle storage seat (12), a first ball screw slide (142) being mounted on the mounting bracket (141), a second linear drive (143) being mounted on the first ball screw slide (142), an output end of the second linear drive (143) being arranged vertically downward, and a plurality of linked pushing rods (144) being mounted on the output end of the second linear drive (143).

2. A fixture for processing a flexible wheel of a harmonic reducer according to claim 1, It is characterized in that A first linear drive (113) is also mounted on the position limiting mounting frame (111), a connecting block (114) is mounted on the output end of the first linear drive (113), connecting rods (115) are mounted on both sides of the connecting block (114), and one end of the connecting rod (115) away from the connecting block (114) is connected to the baffle storage seat (12).

3. A fixture for processing a flexible wheel of a harmonic reducer according to claim 2, It is characterized in that A plurality of semi-arc slots (121) are provided on the baffle storage seat (12); a first limiting slot (122) is provided at the top of each of the semi-arc slots (121); a return spring (124) is installed inside each of the first limiting slots (122); a plurality of second limiting slots (123) are installed at the top of each of the semi-arc slots (121); and a docking protrusion (125) and a docking groove (126) are symmetrically provided on the side wall of the baffle storage seat (12).

4. A fixture for processing a flexible wheel of a harmonic reducer according to claim 3, It is characterized in that The arc-shaped baffle (13) is installed inside the semi-arc-shaped slot (121), a side wall at the top of the arc-shaped baffle (13) is provided with a limit block (131), a positioning docking groove (132) is also provided on the limit block (131), and a plurality of stabilizing push blocks (133) are provided on the bottom outer wall of the arc-shaped baffle (13).

5. A fixture for processing a flexible wheel of a harmonic reducer according to claim 4, It is characterized in that The multi-stage linked push rod (144) abuts against the positioning docking groove (132) of the limit stopper (131).

6. A fixture for processing a flexible wheel of a harmonic reducer according to claim 5, It is characterized in that The multi-stage linked push rod (144) comprises a limit push rod (1441) mounted on the second linear drive (143); a movable push rod (1442) is mounted on the limit push rod (1441); a positioning pressure spring (1443) is mounted between the limit push rod (1441) and the movable push rod (1442); and a contact head is provided at the bottom of the limit push rod (1441) and the movable push rod (1442).

7. A fixture for processing a flexible wheel of a harmonic reducer according to claim 4, It is characterized in that The adaptive positioning fixture (2) comprises a limiting guide seat (21) installed below the adaptive assembly fixture (1); a lubricating spray device (22) is installed at the bottom of the limiting guide seat (21); a spraying end of the lubricating spray device (22) is arranged in a material discharge area of ​​the limiting guide seat (21); an expansion positioning device (23) is also installed at the bottom of the limiting guide seat (21); and a contact end of the expansion positioning device (23) is arranged in the material discharge area of ​​the guide seat.

8. A fixture for processing a flexible wheel of a harmonic reducer according to claim 7, It is characterized in that The position-limiting guide seat (21) comprises a horizontally arranged mounting plate (211), the mounting plate (211) being provided with a conical guide groove (212), a plurality of guide rails (213) being provided inside the conical guide groove (212), a bidirectional ball screw slide (214) being installed on one side of the conical guide groove (212), a guide block (215) being installed on the contraction end of the bidirectional ball screw slide (214), a second ball screw slide (216) being further provided at one end of the conical guide groove (212) away from the bidirectional ball screw slide (214), and a position-limiting baffle (217) being further installed on the second ball screw slide (216).

9. A fixture for processing a flexible wheel of a harmonic reducer according to claim 8, It is characterized in that The lubricating spray device (22) comprises a rotating spray head (221) installed inside the conical guide groove (212), the rotating spray head (221) being connected to the oil spraying device, and the lubricating spray device (22) further comprises a waste liquid recovery bucket (223) installed at the bottom of the mounting plate (211).

10. A fixture for processing a flexible wheel of a harmonic reducer according to claim 9, It is characterized in that The expansion positioning device (23) includes a three-jaw chuck (231) installed inside the waste liquid recovery hopper (223). Vertical mounting rods (232) are installed on the contraction ends of the three-jaw chuck (231). One end of the vertical mounting rod (232) far away from the three-jaw chuck (231) extends upward through the guiding slide rail (213). Several connecting shafts (2321) are provided on the side of the vertical mounting rod (232). A pressing slider (233) is installed on the connecting shaft (2321). A pressing spring (234) is also installed between the pressing slider (233) and the vertical mounting rod (232).

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