Harmonic reducer assembly tool

Abstract

The application provides a harmonic reducer assembly tool, which comprises a base, the base is provided with a containing groove for containing a flexible gear, a plurality of communication holes are formed in the inner wall of the containing groove, the plurality of communication holes are arranged in a circumferential array and have at least two rows of upper and lower rows, a cavity is arranged in the base, and the plurality of communication holes are communicated with the cavity. By adopting the method of adsorbing the outer wall of the flexible gear through negative pressure, the influence on the inner wall of the flexible gear can be reduced, that is, compared with the method of supporting and shaping the inner wall by using a shaping device, the influence on the inner wall of the flexible gear is smaller, so that the assembly precision is avoided from being affected, and the method of adsorbing through negative pressure can be applied to the flexible gears without bottom surfaces and the flexible gears with bottom surfaces, so that the application range of the harmonic reducer assembly tool is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of harmonic reducer assembly technology, and in particular to a harmonic reducer assembly fixture. Background Technology

[0002] Harmonic reducers are high-precision mechanical transmission devices based on the elastic deformation of flexible bodies, widely used in robotics, aerospace, and precision instruments. Their working principle and unique structure give them significant advantages in high-precision, high-efficiency transmission. A harmonic reducer consists of a wave generator, a flexible wheel, and a steel wheel. When the wave generator rotates, the flexible wheel undergoes periodic elliptical deformation under its influence. This deformation causes its external teeth to mesh with the internal teeth of the steel wheel. As the wave generator rotates, the meshing area of ​​the flexible wheel moves circumferentially along the internal teeth of the steel wheel. Because the flexible wheel has fewer teeth than the steel wheel, after one rotation cycle of the wave generator, the flexible wheel rotates one tooth pitch in the opposite direction to the steel wheel. This relative motion produces a speed reduction effect.

[0003] During the assembly of a harmonic reducer, when installing the wave generator into the flex wheel, the wave generator is elliptical in shape while the flex wheel is initially circular, making installation inconvenient. For example, Chinese patent CN114799818B discloses an automated pressing fixture and method for wave generators. This solution uses a shaping device to deform the flex wheel to fit the wave generator, then the wave generator is brought into contact with the shaping device, and the wave generator is pushed so that the wave generator and the shaping device move synchronously to gradually push the shaping device out, thereby allowing the wave generator to gradually enter the flex wheel.

[0004] However, the above solution is only applicable to cases where the flexible wheel does not have a bottom surface. If the flexible wheel has a bottom surface, the bottom surface of the flexible wheel has a pulling effect. When the flexible wheel changes from a circle to an ellipse, the side wall of the flexible wheel is not in a vertical state but has an inclined angle. When installing the wave generator, there will be a large friction with the inner wall of the flexible wheel, which may affect the assembly accuracy. Summary of the Invention

[0005] Therefore, it is necessary to provide a harmonic reducer assembly fixture to address the problem that friction between the wave generator and the inner wall of the flexspline during installation affects the assembly accuracy.

[0006] The above objectives are achieved through the following technical solutions:

[0007] A harmonic reducer assembly fixture, comprising:

[0008] The base has a receiving groove, a flexible wheel is placed in the receiving groove, a cavity is provided inside the base, and a plurality of connecting holes are provided on the inner wall of the receiving groove. The plurality of connecting holes are evenly arranged in a circumferential array and have at least two rows, and the plurality of connecting holes are all connected to the cavity.

[0009] A pressing assembly is used to press the inner wall of the flexible wheel so that the outer wall of the flexible wheel abuts against the inner wall of the receiving groove;

[0010] The top pressure assembly abuts the outer wall of the flexible wheel against the inner wall of the receiving groove, and the cavity negative pressure is used to adsorb the outer wall of the flexible wheel onto the inner wall of the receiving groove. The shape of the inner wall of the flexible wheel is the same as the shape of the inner wall of the receiving groove.

[0011] Furthermore, the top-pressing assembly includes an end cap and a rotating disk. The end cap is detachably disposed above the receiving groove. The rotating disk is rotatably disposed on the lower surface of the end cap. A telescopic rod is fixedly disposed on the outer periphery of the rotating disk. The telescopic rod is radially distributed along the rotating disk. The telescopic end of the telescopic rod is connected to a top-pressing column. The axis of the top-pressing column is parallel to the axis of the flexible wheel. A guide rail is provided on the lower surface of the end cap. One end of the top-pressing column slides along the guide rail. The outer periphery of the top-pressing column rolls in contact with the inner wall of the flexible wheel. The initial position of the top-pressing column is located in the area with the least inclination of the side wall of the flexible wheel.

[0012] Furthermore, the end cap is provided with a driving component, which is used to drive the rotating disk to rotate so as to drive the top pressure column to slide along the guide rail.

[0013] Furthermore, the drive assembly includes a drive motor and a transmission shaft. The drive motor is fixedly mounted on the upper surface of the end cover. One end of the transmission shaft is coaxially and fixedly connected to the rotating shaft of the drive motor, and the other end of the transmission shaft is fixedly connected to the center of the rotating disk.

[0014] Furthermore, there are four telescopic rods and four top pressure columns, which are arranged in a uniform circumferential array.

[0015] Furthermore, the top pressure column includes a roller and a connecting shaft. The connecting shaft is fixedly connected to the telescopic end of the telescopic rod, and the upper end of the connecting shaft is located inside the guide rail. The roller is rotatably sleeved on the outer periphery of the lower part of the connecting shaft, and the outer wall of the roller is in rolling contact with the inner wall of the flexible wheel.

[0016] Furthermore, a rubber pad is provided on the inner wall of the receiving groove. The negative pressure of the cavity increases to squeeze the rubber pad, and the rubber pad deforms to reduce the distance between the outer wall of the flexible wheel and the inner wall of the receiving groove.

[0017] Furthermore, a connecting pipe is provided on the side of the base, one end of the connecting pipe is connected to the cavity, and the other end of the connecting pipe is connected to a vacuum pump, which operates to create negative pressure inside the cavity.

[0018] Furthermore, the base is also provided with a positioning component, which is used to connect the end cap and the base and prevent them from rotating relative to each other.

[0019] Furthermore, the positioning component includes a positioning sleeve and a positioning post, the positioning sleeve and the positioning post are in one-to-one correspondence and are inserted into each other, there are a plurality of positioning sleeves and positioning posts, the plurality of positioning posts are fixedly set and perpendicular to the lower surface of the end cap, and the plurality of positioning sleeves are fixedly set and perpendicular to the upper surface of the base.

[0020] The beneficial effects of this invention are:

[0021] The present invention employs a negative pressure adsorption method on the outer wall of the flexible wheel, which can reduce the impact on the inner wall of the flexible wheel. That is, compared with the method of using a shaping device (the shaping device mentioned in the above-mentioned comparative document) to support and shape the inner wall, the negative pressure adsorption method on the outer wall of the flexible wheel has less impact on the inner wall of the flexible wheel, thereby avoiding affecting the assembly accuracy. Moreover, the negative pressure adsorption method can be applied not only to flexible wheels without a bottom surface, but also to flexible wheels with a bottom surface, which greatly improves the applicability of the harmonic reducer assembly fixture.

[0022] This invention, by setting at least two rows of connecting holes, allows the outer wall of the flexible wheel to be as vertical as possible when the cavity is under negative pressure and the connecting holes adhere to the outer wall of the flexible wheel. Consequently, the inner wall of the flexible wheel also tends to be vertical. Furthermore, the shape of the receiving groove is the same as the shape of the wave generator cam, which facilitates the installation of the wave generator cam. During installation, compared to the inner wall of the flexible wheel being in an inclined state, it avoids generating greater friction and avoids affecting the assembly accuracy.

[0023] This invention improves the adsorption effect of the inner wall of the receiving groove on the outer wall of the flexible wheel by setting a rubber pad. When the negative pressure of the cavity is increased, the rubber pad can be squeezed, making the rubber pad thinner, thereby reducing the distance between the inner wall of the receiving groove and the outer wall of the flexible wheel. This results in an increase in the elliptical size of the inner wall of the flexible wheel. When the wave generator cam is installed, there is still a gap between the inner wall of the flexible wheel and the wave generator cam, so that the wave generator does not rub against the inner wall of the flexible wheel when it is installed, thereby further avoiding affecting the assembly accuracy. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a harmonic reducer assembly fixture provided in an embodiment of the present invention;

[0025] Figure 2 for Figure 1 A front view of a harmonic reducer assembly fixture provided in one embodiment;

[0026] Figure 3 for Figure 2A cross-sectional view along AA is provided in one embodiment of a harmonic reducer assembly fixture;

[0027] Figure 4 for Figure 3 A cross-sectional view along BB of a harmonic reducer assembly fixture provided in one embodiment;

[0028] Figure 5 An exploded view of a harmonic reducer assembly fixture provided in an embodiment of the present invention;

[0029] Figure 6 A bottom view of an end cover of a harmonic reducer assembly fixture provided in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram illustrating the deformation principle of the flexible wheel sidewall of a harmonic reducer assembly fixture according to an embodiment of the present invention.

[0031] in:

[0032] 100. Base; 110. Cavity; 120. Receiving slot; 130. Connecting hole; 140. Connecting pipe; 150. Air passage;

[0033] 200, Top-pressing assembly; 210, End cap; 211, Guide rail; 220, Rotating disc; 230, Telescopic rod; 240, Top-pressing column; 241, Connecting shaft; 242, Roller;

[0034] 300. Drive assembly; 310. Drive motor; 320. Drive shaft;

[0035] 400. Positioning component; 410. Positioning post; 420. Positioning sleeve;

[0036] 500, flexible roller; 510, rubber pad;

[0037] 600. Installation location; 610. First state; 620. Second state. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0039] The serial numbers assigned to components in this document, such as "first," "second," etc., are merely used to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0041] The following reference Figures 1-7 This application describes a harmonic reducer assembly fixture.

[0042] A harmonic reducer assembly fixture is provided, which is suitable for assembling harmonic reducers. It includes a base 100, on which a receiving groove 120 is provided for receiving a flexible wheel 500. The shape of the receiving groove 120 is elliptical, which is the same as the elliptical cam of the wave generator (not shown in the figure), but its size is larger than that of the elliptical cam of the wave generator, so that it is easier to install the flexible wheel 500 into the receiving groove 120. The base 100 has a cavity 110, and the inner wall of the receiving groove 120 has a plurality of connecting holes 130. The plurality of connecting holes 130 are evenly distributed on the inner wall of the receiving groove 120. The plurality of connecting holes 130 are evenly arranged in a circumferential array and have at least two rows. The plurality of connecting holes 130 are all connected to the cavity 110. Specifically, the connecting holes 130 and the cavity 110 are connected through an air passage 150. When the cavity 110 is in a negative pressure state, the plurality of connecting holes 130 are in a suction state and have a strong suction force, which can adsorb the outer wall of the flexible wheel 500 in the receiving groove 120. If the flexible wheel 500 does not have a bottom surface, the outer wall of the flexible wheel 500 is in contact with the inner wall of the receiving groove 120.

[0043] The base 100 is also equipped with a pressing component 200. Since the initial shape of the flexible wheel 500 is circular, while the inner wall of the receiving groove 120 is elliptical, if the flexible wheel 500 has a bottom surface, when the side wall of the flexible wheel 500 changes from circular to elliptical, the pulling effect of the bottom surface causes part of the side wall of the flexible wheel 500 to be in an inclined state (similar to pinching the side wall of a bottle cap and squeezing it from a circle to an ellipse, the side wall of the bottle cap will be partially in an inclined state). Specifically, as shown... Figure 7 As shown, the sidewall of the flexible wheel 500 changes from the first state 610 to the second state 620 (the first state 610 refers to the initial state of the sidewall of the flexible wheel 500, i.e., when it is not installed in the receiving groove 120 on the base 100, it is circular; the second state 620 refers to when the flexible wheel 500 is installed in the receiving groove 120 on the base 100, it forms an ellipse). Therefore, there will be a gap between the outer wall of the flexible wheel 500 and the inner wall of the receiving groove 120, resulting in different adsorption effects of the upper and lower rows of connecting holes 130. Therefore, a gap is set... The pressing assembly 200 rolls on the inner wall of the flexible wheel 500 to abut the outer wall of the flexible wheel 500 against the inner wall of the receiving groove 120, thereby causing the connecting hole 130 to tightly adhere to the outer wall of the flexible wheel 500. This ensures that all positions of the outer wall of the flexible wheel 500 are adhered to the connecting hole 130 on the receiving groove 120 and tightly fit against the inner wall of the receiving groove 120. As a result, the part of the outer wall of the flexible wheel 500 that is adhered to is close to a vertical state, which reduces the friction on the inner wall of the flexible wheel 500 when the cam of the wave generator is installed.

[0044] It is understandable that by using negative pressure to adsorb the outer wall of the flexible wheel 500, the impact on the inner wall of the flexible wheel 500 can be reduced. That is, compared with the method of using a shaping device (the shaping device mentioned in the above comparative document) to support and shape the inner wall, the method of using negative pressure to adsorb the outer wall of the flexible wheel 500 has less impact on the inner wall of the flexible wheel 500, thereby avoiding affecting the assembly accuracy. Moreover, the method of negative pressure adsorption is applicable not only to flexible wheels 500 without a bottom surface, but also to flexible wheels 500 with a bottom surface, which greatly improves the applicability of the harmonic reducer assembly fixture.

[0045] Meanwhile, by providing connecting holes 130 on the inner wall of the receiving groove 120, and having at least two rows of connecting holes 130 arranged, when the cavity 110 is under negative pressure and the connecting holes 130 adsorb the outer wall of the flexible wheel 500, the outer wall of the flexible wheel 500 can be kept as vertical as possible. Thus, the inner wall of the flexible wheel 500 also tends to be vertical. Furthermore, the shape of the receiving groove 120 is the same as the shape of the wave generator cam, which facilitates the installation of the wave generator cam. Moreover, during installation, compared to the inner wall of the flexible wheel 500 which is in an inclined state, it avoids generating greater friction and avoids affecting the assembly accuracy.

[0046] Specifically, the top-pressing assembly 200 includes an end cap 210 and a rotating disk 220. The end cap 210 is located above the receiving groove 120 and is detachable. The rotating disk 220 is rotatably mounted on the lower surface of the end cap 210. A telescopic rod 230 is fixedly connected to the outer periphery of the rotating disk 220. The telescopic rod 230 is distributed radially along the rotating disk 220. The telescopic end of the telescopic rod 230 is fixedly connected to a top-pressing column 240. The axis of the top-pressing column 240 is parallel to the axis of the flexible wheel 500, that is, the top-pressing column 240 is perpendicular to the lower surface of the end cap 210. A guide rail 211 is provided on the lower surface of the end cap 210. The guide rail 211 is elliptical in shape, and the ellipse is the same as the ellipse of the inner wall of the receiving groove 120. The upper end of the pressing column 240 is located inside the guide rail 211, and the outer periphery of the pressing column 240 rolls in contact with the inner wall of the flexible wheel 500. When the rotating disk 220 rotates, it drives the pressing column 240 to move inside the guide rail 211, so that the movement trajectory of the pressing column 240 is elliptical, pressing the inner wall of the flexible wheel 500 so that the outer wall of the flexible wheel 500 can abut against the inner wall of the receiving groove 120.

[0047] It should be noted that when determining the initial installation position 600 of the top pressure column 240, the influence of the top pressure column 240 on the inner wall of the flexible wheel 500 needs to be considered. Therefore, when inserting the top pressure column 240 into the flexible wheel 500, a position with minimal impact on the inner wall of the flexible wheel 500 needs to be selected. For example... Figure 7 As shown, when the flexible wheel 500 is extruded from a circle into an ellipse, that is, when the flexible wheel 500 changes from the first state 610 to the second state 620, the upper and lower parts of the side wall of the flexible wheel 500 will tilt outward, and the left and right parts of the side wall of the flexible wheel 500 will tilt inward. The tilt at the connection between the upper and lower and left and right parts is relatively small. Therefore, setting the initial installation position 600 of the top pressure column 240 here has the least impact on the inner wall of the flexible wheel 500 compared to other positions. After the top pressure column 240 is installed here, it begins to move along the guide rail 211 to press the side wall of the flexible wheel 500 against the inner wall of the receiving groove 120.

[0048] In a further embodiment, a drive assembly 300 is provided on the end cap 210. The drive assembly 300 is used to drive the rotating disk 220 to rotate. The rotating disk 220 drives the top pressure column 240 to slide in the guide rail 211 so that the top pressure column 240 presses against the inner wall of the flexible wheel 500, thereby allowing the inner wall of the receiving groove 120 to adsorb the outer wall of the flexible wheel 500.

[0049] Specifically, the drive assembly 300 includes a drive motor 310 and a transmission shaft 320. The drive motor 310 is fixedly mounted on the upper surface of the end cover 210. One end of the transmission shaft 320 is coaxially and fixedly connected to the rotating shaft of the drive motor 310, and the other end of the transmission shaft 320 is fixedly connected to the center of the rotating disk 220. The rotation of the drive motor 310 drives the transmission shaft 320 to rotate, and the transmission shaft 320 drives the rotating disk 220 to rotate. The rotating disk 220 drives the telescopic rod 230 so that the top pressure column 240 on the telescopic rod 230 moves within the guide rail 211.

[0050] In a further embodiment, there are four telescopic rods 230 and four pressure columns 240, arranged in a uniform circumferential array. The initial positions of the four pressure columns 240 are all located at positions that have the least impact on the inner wall of the flexible wheel 500, i.e. Figure 7 At the four connection points of the flexible wheel 500 (upper, lower, left, and right), four pressure columns 240 are set so that the rotating disk 220 does not need to rotate one full turn to ensure that the outer wall of the flexible wheel 500 is completely pressed against the inner wall of the receiving groove 120 by the pressure columns 240, which shortens the rotation time and improves the working efficiency of the harmonic reducer assembly tooling.

[0051] Specifically, the top pressure column 240 includes a roller 242 and a connecting shaft 241. The connecting shaft 241 is fixedly installed at the telescopic end of the telescopic rod 230, and the upper end of the connecting shaft 241 is located inside the guide rail 211. The roller 242 is rotatably sleeved on the outer periphery of the lower part of the connecting shaft 241. The outer periphery of the roller 242 rolls in contact with the inner wall of the flexible wheel 500. The rolling contact further reduces the impact on the inner wall of the flexible wheel 500.

[0052] In a further embodiment, a rubber pad 510 is provided between the inner wall of the receiving groove 120 and the outer wall of the flexible wheel 500. The rubber pad 510 plays a sealing role. When the outer wall of the flexible wheel 500 is completely attached to the inner wall of the receiving groove 120, the negative pressure in the cavity 110 increases, causing the rubber pad 510 to deform. The rubber pad 510 becomes thinner after being squeezed, thereby making the distance between the outer wall of the flexible wheel 500 and the inner wall of the receiving groove 120 closer. This also increases the elliptical size of the inner wall of the flexible wheel 500, so that when the cam of the wave generator enters the inner wall of the flexible wheel 500, there is still a gap between it and the inner wall, further avoiding the impact on the inner wall of the flexible wheel 500 during the installation process.

[0053] Specifically, in order to achieve a good sealing effect, the shape of the seal is adapted to the shape of the connecting hole 130 on the inner wall of the receiving groove 120, that is, the hole on the sealing gasket corresponds one-to-one with the connecting hole 130 on the inner wall of the receiving groove 120, so as not to affect the adsorption effect of the connecting hole 130.

[0054] Specifically, in this application, an air pump (not shown in the figure) is used to make the cavity 110 a negative pressure state. A connecting pipe 140 is provided on the side wall of the base 100. One end of the connecting pipe 140 is connected to the cavity 110, and the other end of the connecting pipe 140 is connected to the air pump. When the air pump is started, the gas in the cavity 110 is continuously extracted to make the cavity 110 a negative pressure state, so that the connecting hole 130 can adsorb the outer wall of the flexible wheel 500.

[0055] In a further embodiment, a positioning component 400 is also provided on the base 100, which is used to connect the end cap 210 and the base 100 and prevent them from rotating relative to each other. The positioning assembly 400 includes a positioning sleeve 420 and a positioning post 410. The positioning post 410 and the positioning sleeve 420 are arranged in pairs, and the positioning post 410 can be inserted into the positioning sleeve 420. There are multiple positioning sleeves 420 and positioning posts 410. Multiple positioning sleeves 420 are fixed and vertically arranged on the upper surface of the base 100, and multiple positioning posts 410 are fixed and vertically arranged on the lower surface of the end cover 210. When the flexible wheel 500 is located in the receiving groove 120 and the pressing post 240 needs to press the inner wall of the flexible wheel 500, the end cover 210 is installed on the base 100 from top to bottom. At this time, the positioning post 410 on the end cover 210 gradually extends into the positioning sleeve 420 on the base 100 to play a limiting role, and the end cover 210 rotates relative to the base 100.

[0056] The specific usage process of the harmonic reducer assembly fixture provided in this application will be described in conjunction with the above embodiments:

[0057] Rubber pad 510 is fitted onto the outer wall of flexible wheel 500. Both rubber pad 510 and flexible wheel 500 are installed into the receiving groove 120 of base 100. The position of rubber pad 510 is adjusted so that the holes on rubber pad 510 correspond one-to-one with the connecting holes 130 on the inner wall of receiving groove 120. At this time, the air pump (not shown in the figure) is turned on. The air pump draws air, which reduces the air pressure in cavity 110, thereby causing the connecting holes 130 to adhere to the outer wall of flexible wheel 500. Since the outer wall of flexible wheel 500 is in an inclined state, some connecting holes 130 cannot completely adhere to the outer wall of flexible wheel 500. Afterwards, the pressing of the pressing column 240 is required to make the outer wall of flexible wheel 500 completely fit the inner wall of receiving groove 120.

[0058] Adjust the position of the top pressure post 240 on the end cap 210 to Figure 6As shown, the position of the top pressure column 240 is located at the position with the least inclination of the inner wall of the flexible wheel 500. The positioning column 410 on the end cover 210 is aligned with the positioning sleeve 420 on the base 100 and installed. After installation, the drive motor 310 is started. The drive motor 310 drives the rotating disk 220 to rotate. The rotating disk 220 drives the top pressure column 240 to slide on the guide rail 211 on the lower end face of the end cover 210 to press against the inner wall of the flexible wheel 500. The inclined part of the side wall of the flexible wheel 500 is pressed by the top pressure column 240. After being pressed, the outer wall of the flexible wheel 500 is attracted by the connecting hole 130 to maintain a relatively vertical state. Under the action of the top pressure column 240, the outer wall of the flexible wheel 500 is completely attached to the inner wall of the receiving groove 120.

[0059] Increasing the suction power of the air pump increases the negative pressure inside the cavity 110. The rubber pad 510 located between the outer wall of the flexible wheel 500 and the inner wall of the receiving groove 120 is squeezed and deformed, that is, the rubber pad 510 becomes thinner. The distance between the outer wall of the flexible wheel 500 and the inner wall of the receiving groove 120 decreases, thereby increasing the elliptical size of the inner wall of the flexible wheel 500. After the elliptical size increases, the roller 242 of the top pressure column 240 disengages from the inner wall of the flexible wheel 500. At this time, the end cover 210 is removed.

[0060] After removing the end cap 210, the wave generator cam (not shown in the figure) is then installed into the flexible wheel 500. Since the elliptical size of the inner wall of the flexible wheel 500 is larger than the elliptical size of the wave generator cam, the wave generator does not rub against the inner wall of the flexible wheel 500 when it is installed, thus avoiding affecting the assembly accuracy.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A harmonic reducer assembly fixture, characterized in that, include: The base has a receiving groove, a flexible wheel is placed in the receiving groove, a cavity is provided inside the base, and a plurality of connecting holes are provided on the inner wall of the receiving groove. The plurality of connecting holes are evenly arranged in a circumferential array and have at least two rows, and the plurality of connecting holes are all connected to the cavity. A pressing assembly is used to press the inner wall of the flexible wheel so that the outer wall of the flexible wheel abuts against the inner wall of the receiving groove; The top pressure assembly abuts the outer wall of the flexible wheel against the inner wall of the receiving groove, and the cavity negative pressure is used to adsorb the outer wall of the flexible wheel onto the inner wall of the receiving groove. The shape of the inner wall of the flexible wheel is the same as the shape of the inner wall of the receiving groove. The top-pressing assembly includes an end cap and a rotating disk. The end cap is detachably mounted above the receiving groove. The rotating disk is rotatably mounted on the lower surface of the end cap. A telescopic rod is fixedly mounted on the outer periphery of the rotating disk. The telescopic rod is radially distributed along the rotating disk. The telescopic end of the telescopic rod is connected to a top-pressing column. The axis of the top-pressing column is parallel to the axis of the flexible wheel. A guide rail is provided on the lower surface of the end cap. One end of the top-pressing column slides along the guide rail. The outer periphery of the top-pressing column rolls in contact with the inner wall of the flexible wheel. The initial position of the top-pressing column is located in the area with the least inclination of the side wall of the flexible wheel.

2. The harmonic reducer assembly fixture according to claim 1, characterized in that, The end cap is provided with a driving component, which is used to drive the rotating disk to rotate so that the top pressure column slides along the guide rail.

3. The harmonic reducer assembly fixture according to claim 2, characterized in that, The drive assembly includes a drive motor and a transmission shaft. The drive motor is fixedly mounted on the upper surface of the end cover. One end of the transmission shaft is coaxially and fixedly connected to the rotating shaft of the drive motor, and the other end of the transmission shaft is fixedly connected to the center of the rotating disk.

4. The harmonic reducer assembly fixture according to claim 1, characterized in that, There are four telescopic rods and four top pressure columns, which are arranged in a uniform circular array.

5. The harmonic reducer assembly fixture according to claim 1, characterized in that, The top pressure column includes a roller and a connecting shaft. The connecting shaft is fixedly connected to the telescopic end of the telescopic rod, and the upper end of the connecting shaft is located inside the guide rail. The roller is rotatably sleeved on the outer periphery of the lower part of the connecting shaft, and the outer wall of the roller is in rolling contact with the inner wall of the flexible wheel.

6. The harmonic reducer assembly fixture according to claim 1, characterized in that, A rubber pad is provided on the inner wall of the receiving groove. The negative pressure of the cavity increases to squeeze the rubber pad, and the rubber pad deforms to reduce the distance between the outer wall of the flexible wheel and the inner wall of the receiving groove.

7. The harmonic reducer assembly fixture according to claim 1, characterized in that, A connecting pipe is provided on the side of the base. One end of the connecting pipe is connected to the cavity, and the other end of the connecting pipe is connected to a vacuum pump. The vacuum pump works to create a negative pressure inside the cavity.

8. The harmonic reducer assembly fixture according to claim 1, characterized in that, The base is also provided with a positioning component, which is used to connect the end cap and the base and prevent them from rotating relative to each other.

9. The harmonic reducer assembly fixture according to claim 8, characterized in that, The positioning component includes a positioning sleeve and a positioning post. The positioning sleeve and the positioning post are in one-to-one correspondence and are inserted into each other. There are multiple positioning sleeves and multiple positioning posts. Multiple positioning posts are fixedly set and perpendicular to the lower surface of the end cap, and multiple positioning sleeves are fixedly set and perpendicular to the upper surface of the base.

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