Harmonic reducer whole machine batch automatic assembly device and assembly method thereof

Abstract

The application relates to the technical field of harmonic reducer manufacturing, and discloses a harmonic reducer complete machine batch automatic assembly device and an assembly method thereof, which comprises a mounting base, the middle part of the upper surface of the mounting base is provided with a self-centering flexible automatic clamping mechanism of a flexible gear, a first lead screw is threadedly connected in the self-centering flexible automatic clamping mechanism of the flexible gear, one side of the upper surface of the mounting base is fixedly connected with a first linear guide rail, the upper surface of the first linear guide rail is slidably connected with a flexible gear pushing table lead screw mounting base, and the middle part of the flexible gear pushing table lead screw mounting base is threadedly connected with a second lead screw. Through the self-centering automatic clamping mechanism with an oval shape, accurate oval cam shapes and controllable pre-deformation forces are generated on flexible bearings and flexible gears, through a synchronous pushing mechanism of the oval cam and the flexible gear, synchronous automatic assembly is realized, two sets of harmonic reducer complete machine products are simultaneously assembled, and assembly precision and assembly efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of harmonic reducer manufacturing technology, specifically to an automated batch assembly device and assembly method for harmonic reducers. Background Technology

[0002] Harmonic reducers consist of components such as a wave generator, a flexible gear, and a rigid gear. The meshing principle of harmonic transmission involves the wave generator forcing the flexible gear to produce harmonic elastic deformation along a circumference and a large-range rotating multi-tooth meshing motion, achieving high-precision motion or high-torque power transmission. Due to their advantages such as high transmission accuracy, small size, light weight, and large reduction ratio, harmonic reducers are widely used in industrial robot joints, aerospace, and military equipment. The meshing performance and transmission accuracy of harmonic reducers determine the dynamic performance of high-end equipment systems.

[0003] Most existing harmonic reducer products are assembled manually or semi-mechanized. Currently, the assembly process for harmonic reducers largely relies on manual assistance with a single hand-held fixture to achieve the elliptical pre-deformation of thin-walled flexible bearings and flexure wheels, sequentially assembling them with the elliptical cam wave generator. Existing harmonic reducer assembly processes typically face challenges such as low automation, difficulty in controlling the force and deformation shape during the elliptical pre-deformation of thin-walled flexible bearings and flexure wheels, easy damage to components, low assembly accuracy, and low assembly efficiency. These issues make it difficult to meet the requirements of high-efficiency mass production and precision assembly processes. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automated batch assembly device and method for harmonic reducers, which solves the assembly quality problems of harmonic reducers, such as difficulty in controlling the force and deformation shape during the pre-deformation process, easy damage to parts, low assembly accuracy, and low assembly efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a batch automated assembly device for harmonic reducers, comprising a mounting base, a self-centering flexible wheel automatic clamping mechanism disposed at the center of the upper surface of the mounting base, a first lead screw internally threaded to the self-centering flexible wheel automatic clamping mechanism, a first linear guide rail fixedly connected to one side of the upper surface of the mounting base, a flexible wheel push table lead screw mounting base slidably connected to the upper surface of the first linear guide rail, a second lead screw threaded to the center of the flexible wheel push table lead screw mounting base, a first bearing seat disposed on the outer surface of the second lead screw, and a second bearing seat disposed at one end of the second lead screw, the mounting base... A second linear guide rail is fixedly connected to the other side of the upper surface. An elliptical cam mounting base is slidably connected to the upper surface of the second linear guide rail. A flexible wheel push table screw is provided on one side of the elliptical cam mounting base. An elliptical cam mounting shaft is fixedly connected to the other side of the elliptical cam mounting base. A self-centering flexible bearing automatic clamping mechanism is fixedly connected to one side of the middle of the upper surface of the mounting base via a bracket. A rigid wheel positioning bracket is fixedly connected to the other side of the middle of the upper surface of the mounting base. A synchronous propulsion servo motor is fixedly connected to one side of the lower surface of the mounting base. A second servo motor is fixedly connected to the middle of the lower surface of the mounting base. A first servo motor is fixedly connected to the other end of the mounting base.

[0006] Preferably, the self-centering flexible bearing automatic clamping mechanism includes a lower left circular clamp and a lower right circular clamp. A fourth bearing seat is rotatably connected to the adjacent sides of the lower left and lower right circular clamps. A third lead screw is threaded to the middle of the upper surface of the fourth bearing seat. A second synchronous pulley is fixedly connected to one end of the third lead screw. The lower end of the fourth bearing seat is fixedly connected to the upper surface of the mounting base. A left upper circular clamp and a right upper circular clamp are respectively provided on the upper surfaces of the lower left and lower right circular clamps.

[0007] Preferably, the self-centering flexible wheel automatic clamping mechanism includes a lower left circular clamp and an upper left circular clamp, which are rotatably connected. The lower left and upper left circular clamps are respectively provided with an upper right circular clamp and a self-centering flexible wheel clamping mechanism on their lower surfaces. The lower right circular clamp, the lower left circular clamp of the self-centering flexible wheel clamping mechanism and the lower right circular clamp of the self-centering flexible wheel clamping mechanism are respectively fixedly connected to the lower left conjugate tooth profile and the lower right conjugate tooth profile of the self-centering flexible wheel clamping mechanism on their adjacent sides, and the upper left circular clamp of the self-centering flexible wheel clamping mechanism and the upper right circular clamp of the self-centering flexible wheel clamping mechanism are respectively fixedly connected to the upper right conjugate tooth profile and the upper left conjugate tooth profile of the self-centering flexible wheel clamping mechanism on their adjacent sides.

[0008] Preferably, one end of the lead screw of the flexible wheel push table is rotatably connected to a lead screw base, and the lower end of the lead screw base is fixedly connected to the upper surface of the mounting base.

[0009] Preferably, the upper surface of the flexible wheel propulsion table screw mounting base is fixedly connected to a flexible wheel mounting positioning shaft, and the first bearing seat and the second bearing seat are both fixedly connected to the upper surface of the mounting base.

[0010] Preferably, the other end of the second lead screw is fixedly connected to a first synchronous pulley, the outer surface of the first synchronous pulley is provided with a transmission belt, the outer surface of the synchronous propulsion servo motor is fixedly connected to one side of the lower surface of the mounting base through a first motor mounting seat, the output end of the synchronous propulsion servo motor is fixedly connected to a coupling, one end of the coupling is fixedly connected to a drive shaft, one side of the outer surface of the drive shaft is fixedly connected to a transmission pulley, and the inner side of the transmission belt is attached to the outer surface of the transmission pulley.

[0011] Preferably, a second pulley is fixedly connected to the other side of the outer surface of the drive shaft, a third synchronous belt is provided on the outer surface of the second pulley, a first pulley is provided on the other side of the inner surface of the third synchronous belt, one end of the first pulley is fixedly connected to one end of the flexible wheel push table screw, an elliptical cam push table screw mounting seat is rotatably connected to one side of the outer surface of the flexible wheel push table screw, the lower end of the elliptical cam push table screw mounting seat is fixedly connected to the upper surface of the mounting base, and a fifth bearing seat is rotatably connected to the outer surface of the drive shaft, the upper end of the fifth bearing seat is fixedly connected to the lower surface of the mounting base.

[0012] Preferably, the outer surface of the first servo motor is fixedly connected to the lower surface of the mounting base via a second motor mounting bracket, a reducer is fixedly connected to the output end of the first servo motor, the outer surface of the reducer is fixedly connected to the lower surface of the mounting base via a reducer mounting bracket, a first synchronous belt is provided on the outer surface of the output end of the reducer, and the inner side of the first synchronous belt is attached to the outer surface of the second synchronous pulley.

[0013] Preferably, the outer surface of the second servo motor is fixedly connected to the lower surface of the mounting base via a third motor mounting bracket. A synchronous drive belt is provided on the outer surface of the output end of the second servo motor. A first synchronous wheel is provided inside the synchronous drive belt. One end of the first synchronous wheel is fixedly connected to one end of a first lead screw. Multiple rolling bearings are fixedly connected to the outer surface of the first lead screw. A third bearing seat is rotatably connected to the outer surface of the first lead screw via rolling bearings. The lower end of the third bearing seat is fixedly connected to the upper surface of the mounting base.

[0014] An assembly method for the above-mentioned automated batch assembly device for harmonic reducers includes the following steps: Step 1: Install the elliptical cams of the two sets of harmonic reducers to be installed on the elliptical cam mounting shaft, and install the flexible bearings on the self-centering flexible bearing automatic clamping mechanism; install the rigid wheel on the rigid wheel positioning bracket, which is positioned through the mounting positioning hole of the rigid wheel; install the flexible wheel on the flexible wheel mounting positioning shaft through the flange mounting hole at the bottom of the flexible wheel. Step 2: The servo motor controller controls the first and second servo motors to make the flexible bearing and flexure achieve a precise elliptical shape. Step 3: The servo motor controller controls the synchronous propulsion servo motor to drive the second lead screw and the flexible wheel propulsion table lead screw, so that the elliptical cam and the flexible wheel are pushed towards the rigid wheel. During the process of the elliptical cam pushing towards the rigid wheel, the flexible bearing is assembled first. After the flexible bearing is assembled, the self-centering flexible bearing automatic clamping mechanism is released, and the cam and the flexible wheel are synchronously pushed forward a predetermined distance, completing the synchronous and rapid automatic assembly of the flexible bearing inner ring with the elliptical cam wave generator, the flexible bearing outer ring with the flexible wheel, and the flexible wheel with the rigid wheel, achieving horizontal coaxial alignment. Step 4: Take out the two assembled harmonic reducers and complete the batch automated assembly of the two harmonic reducers.

[0015] Working Principle: Using the automated batch assembly device for harmonic reducers provided by this invention, the first and second servo motors are first started. The first servo motor drives the upper right and upper left circular clamps to open via the first and second synchronous belt pulleys. The second servo motor opens the upper right and upper left circular clamps of the self-centering flexible wheel clamping mechanism via the synchronous propulsion belt and the first synchronous pulley. Then, the elliptical cam is installed on the elliptical cam mounting shaft, the flexible bearing is installed on the self-centering flexible bearing automatic clamping mechanism, and the rigid wheel is installed on the rigid wheel positioning bracket. Then, the synchronous propulsion servo motor is started, and the transmission belt and the third synchronous belt can be controlled to rotate simultaneously via the transmission shaft. This allows the elliptical cam mounting base and the flexible wheel propulsion table screw mounting base to move simultaneously, enabling the simultaneous assembly of two sets of harmonic reducer products. This solves the problem of component damage or defects during the harmonic reducer assembly process and improves assembly accuracy and efficiency.

[0016] This invention provides an automated batch assembly device and method for harmonic reducers, which has the following advantages: 1. This invention designs an elliptical automatic clamping mechanism with self-centering function to achieve a precise elliptical cam shape and controllable pre-deformation force for flexible bearings and flexures. By designing a synchronous propulsion mechanism for the elliptical cam and flexures, it realizes the precise synchronous automatic assembly of components such as elliptical cam wave generators, thin-walled flexible bearings, thin-walled flexures, and rigid wheels. It can assemble two sets of harmonic reducer products at the same time, solving the problem of component damage or defects during the assembly of harmonic reducers, and improving assembly accuracy and efficiency.

[0017] 2. The present invention can improve the stability of the device during installation by setting up a self-centering flexible bearing automatic clamping mechanism and a self-centering flexible wheel flexible automatic clamping mechanism, and can reduce the damage to the flexible wheel tooth profile by using the lower left conjugate tooth profile of the self-centering flexible wheel clamping mechanism and the lower right conjugate tooth profile of the centering flexible wheel clamping mechanism.

[0018] 3. This invention controls the synchronous propulsion of the elliptical cam and the flexible wheel at different speeds by designing two sets of synchronous belt drives with different transmission ratios. With the cooperation of multiple motors and lead screws, the opening and closing of the self-centering flexible wheel clamp can be controlled, and precise transmission can be achieved. Attached Figure Description

[0019] Figure 1 This is a top view of the overall assembly structure of the present invention; Figure 2 This is a front view of the overall assembly structure of the present invention; Figure 3 This is a schematic diagram of the self-centering flexible bearing automatic clamping mechanism in this invention; Figure 4 This is a schematic diagram of the self-centering flexible wheel flexible automatic clamping mechanism in this invention; Figure 5 This is a schematic diagram of the rigid wheel positioning bracket in the present invention; Figure 6 This is a general mechanical structure diagram of the present invention.

[0020] The components include: 1. Mounting base; 2. Self-centering flexible wheel automatic clamping mechanism; 3. First lead screw; 4. Rolling bearing; 5. Second lead screw; 6. Flexible wheel push table lead screw mounting base; 7. Elliptical cam push table lead screw mounting seat; 8. Synchronous propulsion servo motor; 9. Rigid wheel positioning bracket; 10. Self-centering flexible bearing automatic clamping mechanism; 11. First motor mounting seat; 12. First linear guide rail; 13. Flexible wheel push table lead screw; 14. Synchronous propulsion belt; 15. First synchronous pulley; 16. Drive shaft; 17. Drive pulley; 18. Drive belt; 19. Reducer; 20. Coupling; 21. First bearing seat; 22. Flexible wheel mounting and positioning shaft; 23. Second bearing seat; 24. Third bearing seat; 25. First synchronous pulley; 26. Fourth bearing seat; 27. First synchronous belt; 28. Second synchronous pulley; 29. ​​Third lead screw; 30. Elliptical cam mounting base; 31. Second linear guide rail; 32. Guide rail; 33. Elliptical cam mounting shaft; 34. Third synchronous belt; 35. First pulley; 36. Second pulley; 37. First servo motor; 38. Second motor mounting base; 39. Reducer mounting base; 40. Fifth bearing housing; 41. Third motor mounting base; 42. Second servo motor; 43. Lower left circular clamp; 44. Lower right circular clamp; 45. Upper right circular clamp; 46. Upper left circular clamp; 47. Lead screw base; 48. 7. Lower left circular clamp of the self-centering flexible gear clamping mechanism; 48. Lower right circular clamp of the self-centering flexible gear clamping mechanism; 49. Upper right circular clamp of the self-centering flexible gear clamping mechanism; 50. Upper left circular clamp of the self-centering flexible gear clamping mechanism; 51. Lower left conjugate tooth profile of the self-centering flexible gear clamping mechanism; 52. Lower right conjugate tooth profile of the self-centering flexible gear clamping mechanism; 53. Upper right conjugate tooth profile of the self-centering flexible gear clamping mechanism; 54. Upper left conjugate tooth profile of the self-centering flexible gear clamping mechanism. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: Please refer to the appendix Figure 1 - Appendix Figure 6This invention provides an automated batch assembly device for harmonic reducers, comprising a mounting base 1, a self-centering flexible wheel automatic clamping mechanism 2 disposed at the center of the upper surface of the mounting base 1, a first lead screw 3 internally threadedly connected to the self-centering flexible wheel automatic clamping mechanism 2, a first linear guide rail 12 fixedly connected to one side of the upper surface of the mounting base 1, a flexible wheel push table lead screw mounting base 6 slidably connected to the upper surface of the first linear guide rail 12, a second lead screw 5 threadedly connected to the center of the flexible wheel push table lead screw mounting base 6, a first bearing seat 21 disposed on the outer surface of the second lead screw 5, a second bearing seat 23 disposed at one end of the second lead screw 5, and a first bearing seat 21 fixedly connected to the other side of the upper surface of the mounting base 1. The second linear guide rail 31 has an elliptical cam mounting base 30 slidably connected to its upper surface. A flexible wheel push table screw 13 is provided on one side of the elliptical cam mounting base 30, and an elliptical cam mounting shaft 32 is fixedly connected to the other side of the elliptical cam mounting base 30. A self-centering flexible bearing automatic clamping mechanism 10 is fixedly connected to one side of the middle of the upper surface of the mounting base 1 via a bracket. A rigid wheel positioning bracket 9 is fixedly connected to the other side of the middle of the upper surface of the mounting base 1. A synchronous propulsion servo motor 8 is fixedly connected to one side of the lower surface of the mounting base 1. A second servo motor 41 is fixedly connected to the middle of the lower surface of the mounting base 1. A first servo motor 36 is fixedly connected to the other end of the mounting base 1. Specifically, it improves the efficiency and precision of automated assembly of the harmonic reducer. It can perform batch automated assembly operations, reducing the need for manual intervention and improving assembly accuracy and consistency. By introducing multiple servo motors and a self-centering flexible bearing automatic clamping mechanism 10, the device possesses better power and stability, making the assembly process more reliable and efficient.

[0023] Please see the appendix Figure 3 The self-centering flexible bearing automatic clamping mechanism 10 includes a lower left circular clamp 42 and a lower right circular clamp 43. A fourth bearing seat 26 is rotatably connected to the adjacent sides of the lower left circular clamp 42 and the lower right circular clamp 43. A third lead screw 29 is threadedly connected to the middle of the upper surface of the fourth bearing seat 26. A second synchronous pulley 28 is fixedly connected to one end of the third lead screw 29. The lower end of the fourth bearing seat 26 is fixedly connected to the upper surface of the mounting base 1. A left upper circular clamp 45 and a right upper circular clamp 44 are respectively provided on the upper surfaces of the lower left circular clamp 42 and the lower right circular clamp 43. Specifically, the four semi-circular clamps are symmetrical. When the upper and lower clamps are closed, the arc-shaped hole in the middle is the outline of the outer ring of the flexible bearing. The rotation direction of the threads in the threaded holes of the upper right circular clamp 44 and the lower left circular clamp 42 is opposite to the rotation direction of the threads in the threaded holes of the upper left circular clamp 45 and the lower right circular clamp 43. During operation, it is only necessary to place the bearing on the clamp, which improves the convenience of operation.

[0024] Please see the appendix Figure 4 The self-centering flexible wheel automatic clamping mechanism 2 includes a lower left circular clamp 47 and an upper left circular clamp 50. The lower left circular clamp 47 and the upper left circular clamp 50 are rotatably connected. The lower surfaces of the lower left circular clamp 47 and the upper left circular clamp 50 are respectively provided with an upper right circular clamp 49 and an upper right circular clamp 49. The adjacent sides of the lower left circular clamp 47 and the lower right circular clamp 48 of the self-centering flexible wheel clamping mechanism are respectively fixedly connected with the lower left conjugate tooth profile 51 and the lower right conjugate tooth profile 52 of the self-centering flexible wheel clamping mechanism; the adjacent sides of the upper left circular clamp 50 and the upper right circular clamp 49 of the self-centering flexible wheel clamping mechanism are respectively fixedly connected with the upper right conjugate tooth profile 53 and the upper left conjugate tooth profile 54 of the self-centering flexible wheel clamping mechanism. Specifically, when the tooth profile clamp closes, it is conjugate with the tooth profile of the flexible wheel under the action of the wave generator. The tooth profile clamp is made of a material with low hardness, which can ensure that the tooth profile of the flexible wheel is not damaged when pressing the flexible wheel. Different tooth profile clamps can be installed on the semi-circular clamp according to different models or different harmonic deformation amounts.

[0025] Please see the appendix Figure 1 -Appendix Figure 2 One end of the lead screw 13 of the flexible wheel push table is rotatably connected to the lead screw base 46, and the lower end of the lead screw base 46 is fixedly connected to the upper surface of the mounting base 1. Specifically, the screw base 46 facilitates the rotation of the screw 13 of the flexible wheel push table, and facilitates the movement of the elliptical cam mounting base 30, thereby improving automated operation.

[0026] Please see the appendix Figure 1 -Appendix Figure 2 The upper surface of the flexible wheel propulsion table screw mounting base 6 is fixedly connected to the flexible wheel mounting positioning shaft 22, and the first bearing seat 21 and the second bearing seat 23 are both fixedly connected to the upper surface of the mounting base 1. Specifically, the first bearing seat 21 and the second bearing seat 23 can maintain the stability of the second lead screw 5, making it convenient to drive the flexible wheel push table lead screw mounting base 6 to move.

[0027] Please see the appendix Figure 1 -Appendix Figure 2The other end of the second lead screw 5 is fixedly connected to the first synchronous pulley 25. The outer surface of the first synchronous pulley 25 is provided with a transmission belt 18. The outer surface of the synchronous propulsion servo motor 8 is fixedly connected to one side of the lower surface of the mounting base 1 through the first motor mounting seat 11. The output end of the synchronous propulsion servo motor 8 is fixedly connected to the coupling 20. One end of the coupling 20 is fixedly connected to the drive shaft 16. One side of the outer surface of the drive shaft 16 is fixedly connected to the transmission pulley 17. The inner side of the transmission belt 18 is attached to the outer surface of the transmission pulley 17. Specifically, the rotation of the transmission shaft 16 can be controlled by the first synchronous pulley 25 and the transmission belt 18, which in turn drives the flexible wheels on both sides to rotate the lead screw 13 and the second lead screw 5, thereby improving the automation of the processing equipment and increasing the processing efficiency and accuracy.

[0028] Please see the appendix Figure 2 A second pulley 35 is fixedly connected to the other side of the outer surface of the drive shaft 16. A third synchronous belt 33 is provided on the outer surface of the second pulley 35. A first pulley 34 is provided on the other side of the inner side of the third synchronous belt 33. One end of the first pulley 34 is fixedly connected to one end of the flexible wheel push table screw 13. An elliptical cam push table screw mounting seat 7 is rotatably connected to one side of the outer surface of the flexible wheel push table screw 13. The lower end of the elliptical cam push table screw mounting seat 7 is fixedly connected to the upper surface of the mounting base 1. A fifth bearing seat 39 is rotatably connected to the outer surface of the drive shaft 16. The upper end of the fifth bearing seat 39 is fixedly connected to the lower surface of the mounting base 1. Specifically, the first pulley 34 and the flexible wheel push table screw 13 can be driven to rotate by the second pulley 35 and the third synchronous belt 33 through the transmission shaft 16. In turn, the elliptical cam mounting base 30 can be moved by the threaded setting, thereby controlling the elliptical cam to be adjusted, which can improve the machining accuracy.

[0029] Please see the appendix Figure 2 The outer surface of the first servo motor 36 is fixedly connected to the lower surface of the mounting base 1 through the second motor mounting seat 37. The output end of the first servo motor 36 is fixedly connected to the reducer 19. The outer surface of the reducer 19 is fixedly connected to the lower surface of the mounting base 1 through the reducer mounting seat 38. The outer surface of the output end of the reducer 19 is provided with a first synchronous belt 27. The inner side of the first synchronous belt 27 is attached to the outer surface of the second synchronous belt pulley 28. Specifically, starting the first servo motor 36, in turn, through the cooperation of the first synchronous belt 27 and the second synchronous pulley 28, can drive the upper left circular clamp 45 and the upper right circular clamp 44 to rotate, thereby facilitating clamping, reducing the difficulty of operation, and improving the use effect.

[0030] Please see the appendix Figure 2The outer surface of the second servo motor 41 is fixedly connected to the lower surface of the mounting base 1 through the third motor mounting seat 40. The outer surface of the output end of the second servo motor 41 is provided with a synchronous propulsion belt 14. The inside of the synchronous propulsion belt 14 is provided with a first synchronous wheel 15. One end of the first synchronous wheel 15 is fixedly connected to one end of the first lead screw 3. Multiple rolling bearings 4 are fixedly connected to the outer surface of the first lead screw 3. The outer surface of the first lead screw 3 is rotatably connected to a third bearing seat 24 through the rolling bearings 4. The lower end of the third bearing seat 24 is fixedly connected to the upper surface of the mounting base 1. Specifically, starting the second servo motor 41 can drive the first lead screw 3 to rotate through the synchronous propulsion belt 14 and the first synchronous wheel 15, thereby controlling the rotation and opening of the lower left circular clamp 47 and the upper left circular clamp 50 of the self-centering flexible wheel clamping mechanism, which in turn facilitates the use of the device and improves its ease of use.

[0031] Please see the appendix Figure 1 -Appendix Figure 6 An assembly method for a batch automated assembly device for the above-mentioned harmonic reducer includes the following steps: Step 1: Install the elliptical cams of the two sets of harmonic reducers to be installed on the elliptical cam mounting shaft 32, and install the flexible bearings on the self-centering flexible bearing automatic clamping mechanism 10; install the rigid wheel on the rigid wheel positioning bracket 9, which is positioned through the mounting positioning hole of the rigid wheel; install the flexible wheel on the flexible wheel mounting positioning shaft 22 through the flange mounting hole at the bottom of the flexible wheel. Step 2: The servo motor controller controls the first servo motor 36 and the second servo motor 41 to make the flexible bearing and flexure achieve a precise elliptical shape. Step 3: The servo motor controller controls the synchronous propulsion servo motor 8 to drive the second lead screw 5 and the flexible wheel propulsion table lead screw 13 to push the elliptical cam and flexible wheel towards the rigid wheel. During the process of the elliptical cam pushing towards the rigid wheel, the flexible bearing is assembled first. After the flexible bearing is assembled, the self-centering flexible bearing automatic clamping mechanism 10 is released, and the cam and flexible wheel advance synchronously a predetermined distance to complete the synchronous and rapid automatic assembly of the flexible bearing inner ring with the elliptical cam wave generator, the flexible bearing outer ring with the flexible wheel, and the flexible wheel with the rigid wheel, achieving horizontal coaxial alignment. Step 4: Take out the two assembled harmonic reducers and complete the batch automated assembly of the two harmonic reducers. Specifically, the above steps can solve the problem of component damage or defects that occur during the assembly of harmonic reducers, and improve assembly accuracy and efficiency.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A batch automated assembly device for harmonic reducers, comprising a mounting base (1), characterized in that, A self-centering flexible wheel automatic clamping mechanism (2) is provided in the middle of the upper surface of the mounting base (1). The self-centering flexible wheel automatic clamping mechanism (2) is internally threaded with a first lead screw (3). A first linear guide rail (12) is fixedly connected to one side of the upper surface of the mounting base (1). A flexible wheel push table lead screw mounting base (6) is slidably connected to the upper surface of the first linear guide rail (12). A second lead screw (5) is threadedly connected to the middle of the flexible wheel push table lead screw mounting base (6). A first bearing seat (21) is provided on the outer surface of the second lead screw (5). A second bearing seat (23) is provided at one end of the second lead screw (5). A second linear guide rail (31) is fixedly connected to the other side of the upper surface of the mounting base (1). An elliptical cam mounting base (30) is slidably connected to the upper surface of the mounting base (1). A flexible wheel push table screw (13) is provided on one side of the elliptical cam mounting base (30). An elliptical cam mounting shaft (32) is fixedly connected to the other side of the elliptical cam mounting base (30). A self-centering flexible bearing automatic clamping mechanism (10) is fixedly connected to one side of the middle part of the upper surface of the mounting base (1) through a bracket. A rigid wheel positioning bracket (9) is fixedly connected to the other side of the middle part of the upper surface of the mounting base (1). A synchronous propulsion servo motor (8) is fixedly connected to one side of the lower surface of the mounting base (1). A second servo motor (41) is fixedly connected to the middle part of the lower surface of the mounting base (1). A first servo motor (36) is fixedly connected to the other end of the mounting base (1). The self-centering flexible bearing automatic clamping mechanism (10) includes a lower left circular clamp (42) and a lower right circular clamp (43). The lower left circular clamp (42) and the lower right circular clamp (43) are rotatably connected to a fourth bearing seat (26). The upper surface of the fourth bearing seat (26) is threaded with a third lead screw (29). One end of the third lead screw (29) is fixedly connected to a second synchronous pulley (28). The lower end of the fourth bearing seat (26) is fixedly connected to the upper surface of the mounting base (1). The upper surfaces of the lower left circular clamp (42) and the lower right circular clamp (43) are respectively provided with an upper left circular clamp (45) and an upper right circular clamp (44). The self-centering flexible wheel automatic clamping mechanism (2) includes a lower left circular clamp (47) and an upper left circular clamp (50). The lower left circular clamp (47) and the upper left circular clamp (50) are rotatably connected. The lower left circular clamp (47) and the upper left circular clamp (50) are respectively provided with an upper right circular clamp (49) and a lower right circular clamp on the lower surface of the lower left circular clamp (47) and the upper left circular clamp (50). The lower left circular clamp (47) and the lower right circular clamp (48) of the self-centering flexible wheel clamping mechanism are respectively fixedly connected to the lower left conjugate tooth profile (51) and the lower right conjugate tooth profile (52) of the self-centering flexible wheel clamping mechanism. The upper left circular clamp (50) and the upper right circular clamp (49) of the self-centering flexible wheel clamping mechanism are respectively fixedly connected to the upper right conjugate tooth profile (53) and the upper left conjugate tooth profile (54) of the self-centering flexible wheel clamping mechanism.

2. The automated batch assembly device for harmonic reducers according to claim 1, characterized in that, One end of the flexible wheel propulsion table lead screw (13) is rotatably connected to a lead screw base (46), and the lower end of the lead screw base (46) is fixedly connected to the upper surface of the mounting base (1).

3. The automated batch assembly device for harmonic reducers according to claim 1, characterized in that, The upper surface of the flexible wheel propulsion table screw mounting base (6) is fixedly connected to the flexible wheel mounting positioning shaft (22), and the first bearing seat (21) and the second bearing seat (23) are both fixedly connected to the upper surface of the mounting base (1).

4. The automated batch assembly device for harmonic reducers according to claim 1, characterized in that, The other end of the second lead screw (5) is fixedly connected to the first synchronous pulley (25). The outer surface of the first synchronous pulley (25) is provided with a transmission belt (18). The outer surface of the synchronous propulsion servo motor (8) is fixedly connected to one side of the lower surface of the mounting base (1) through the first motor mounting seat (11). The output end of the synchronous propulsion servo motor (8) is fixedly connected to the coupling (20). One end of the coupling (20) is fixedly connected to the transmission shaft (16). One side of the outer surface of the transmission shaft (16) is fixedly connected to the transmission pulley (17). The inner side of the transmission belt (18) is attached to the outer surface of the transmission pulley (17).

5. The automated batch assembly device for harmonic reducers according to claim 4, characterized in that, A second pulley (35) is fixedly connected to the other side of the outer surface of the drive shaft (16). A third synchronous belt (33) is provided on the outer surface of the second pulley (35). A first pulley (34) is provided on the other side of the inner surface of the third synchronous belt (33). One end of the first pulley (34) is fixedly connected to one end of the flexible wheel push table screw (13). An elliptical cam push table screw mounting seat (7) is rotatably connected to one side of the outer surface of the flexible wheel push table screw (13). The lower end of the elliptical cam push table screw mounting seat (7) is fixedly connected to the upper surface of the mounting base (1). A fifth bearing seat (39) is rotatably connected to the outer surface of the drive shaft (16). The upper end of the fifth bearing seat (39) is fixedly connected to the lower surface of the mounting base (1).

6. The automated batch assembly device for harmonic reducers according to claim 1, characterized in that, The outer surface of the first servo motor (36) is fixedly connected to the lower surface of the mounting base (1) via the second motor mounting seat (37). The output end of the first servo motor (36) is fixedly connected to a reducer (19). The outer surface of the reducer (19) is fixedly connected to the lower surface of the mounting base (1) via the reducer mounting seat (38). The outer surface of the output end of the reducer (19) is provided with a first synchronous belt (27). The inner side of the first synchronous belt (27) is attached to the outer surface of the second synchronous pulley (28).

7. The automated batch assembly device for harmonic reducers according to claim 1, characterized in that, The outer surface of the second servo motor (41) is fixedly connected to the lower surface of the mounting base (1) via the third motor mounting seat (40). The outer surface of the output end of the second servo motor (41) is provided with a synchronous propulsion belt (14). The inside of the synchronous propulsion belt (14) is provided with a first synchronous wheel (15). One end of the first synchronous wheel (15) is fixedly connected to one end of the first lead screw (3). The outer surface of the first lead screw (3) is fixedly connected with multiple rolling bearings (4). The outer surface of the first lead screw (3) is rotatably connected to a third bearing seat (24) via the rolling bearings (4). The lower end of the third bearing seat (24) is fixedly connected to the upper surface of the mounting base (1).

8. An assembly method for a batch automated assembly device for harmonic reducers, characterized in that, The automated batch assembly device for harmonic reducers according to any one of claims 1-7 includes the following steps: Step 1: Install the elliptical cams of the two sets of harmonic reducers to be installed on the elliptical cam mounting shaft (32), and install the flexible bearings on the self-centering flexible bearing automatic clamping mechanism (10); install the rigid wheel on the rigid wheel positioning bracket (9), and the rigid wheel positioning bracket (9) is positioned through the mounting positioning hole of the rigid wheel; install the flexible wheel on the flexible wheel mounting positioning shaft (22) through the flange mounting hole at the bottom of the flexible wheel; Step 2: The servo motor controller controls the first servo motor (36) and the second servo motor (41) to make the flexible bearing and the flexible wheel reach a precise elliptical shape; Step 3: The servo motor controller controls the synchronous propulsion servo motor (8) to drive the second lead screw (5) and the flexible wheel propulsion table lead screw (13) to push the elliptical cam and the flexible wheel towards the rigid wheel. During the process of the elliptical cam pushing towards the rigid wheel, the flexible bearing is first assembled. After the flexible bearing is assembled, the self-centering flexible bearing automatic clamping mechanism (10) is released. The cam and the flexible wheel are synchronously pushed a predetermined distance to complete the synchronous and rapid automatic assembly of the flexible bearing inner ring with the elliptical cam wave generator, the flexible bearing outer ring with the flexible wheel, and the flexible wheel with the rigid wheel, achieving horizontal coaxial alignment. Step 4: Take out the two assembled harmonic reducers and complete the batch automated assembly of the two harmonic reducers.

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