Harmonic speed reducer flexible gear assembling device

Abstract

The invention relates to the technical field of harmonic speed reducer production, in particular to a harmonic speed reducer flexible gear assembling device which comprises a bearing bearing seat, a plurality of position sensor assemblies and a plurality of clamping assemblies. The multiple position sensor assemblies are evenly distributed in the circumferential direction of the bearing bearing seat and can move oppositely so as to measure the position deviation of the flexible gear and the crossed roller bearing in multiple directions. The multiple clamping assemblies are evenly distributed in the circumferential direction of the bearing bearing base and can move in the opposite directions so as to clamp the flexible gear. The multiple clamping assemblies can move to drive the flexible gear to move, and then the axis of the flexible gear and the axis of the crossed roller bearing are located on the same straight line. On the whole, manual work can be assisted or completely replaced for assembling the flexible gear and the crossed roller bearing, the requirement for the operation skill of operators is lowered, the assembling efficiency of the flexible gear and the crossed roller bearing is improved, and the yield of products is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of harmonic reducer production, and particularly to a flexible gear assembly device for a harmonic reducer. Background Art

[0002] In the early assembly stage of a harmonic reducer, it is necessary to concentrically assemble a flexible gear with a crossed roller bearing. The concentricity during the assembly of the flexible gear and the crossed roller bearing has a great impact on the performance of the product. Currently, in the form of manual assembly, an operator stacks the flexible gear and the crossed roller bearing concentrically, touches the outer circumferential surfaces of the flexible gear and the crossed roller bearing by hand feeling to align them concentrically, and then uses bolts to lock the flexible gear and the crossed roller bearing. At this assembly stage, the operation skills of the operator are required to be relatively high, resulting in low assembly efficiency of the flexible gear and the crossed roller bearing and low product yield. Summary of the Invention

[0003] The present invention provides a flexible gear assembly device for a harmonic reducer to solve the problems of low assembly efficiency and low product yield when manually assembling the flexible gear and the crossed roller bearing.

[0004] The present invention provides a flexible gear assembly device for a harmonic reducer, including: A bearing carrier seat, on the top surface of which a crossed roller bearing is carried; on the top surface of the crossed roller bearing, a flexible gear is carried; A plurality of position sensor assemblies, evenly distributed circumferentially along the bearing carrier seat, capable of moving towards each other to measure the position deviation between the flexible gear and the crossed roller bearing in multiple directions; A plurality of clamping assemblies, evenly distributed circumferentially along the bearing carrier seat, capable of moving towards each other to clamp the flexible gear; the plurality of clamping assemblies can move to drive the flexible gear to move, so that the axis of the flexible gear and the axis of the crossed roller bearing are co-linear.

[0005] In some embodiments, it further includes: A first support seat; A first driving mechanism, installed on the first support seat, connected to each position sensor assembly respectively, and capable of driving the plurality of position sensor assemblies to move synchronously.

[0006] In some embodiments, the first driving mechanism includes: A first gear, rotatably installed on the top of the first support seat; A first linear driver, with the fixed end installed on the first support seat, and the output end connected to the first gear through a first crank and connecting rod, capable of driving the first gear to rotate; The first moving seats, multiple in number, are respectively slidably mounted on the top of the first support seat; a position sensor assembly is mounted on the top of each first moving seat; each first moving seat is provided with a first rack meshing with the first gear.

[0007] In some embodiments, it further includes: The second support seat is mounted on the top of the first support seat, and the top surface bears a bearing carrier seat.

[0008] In some embodiments, it further includes: The third support seat; The second driving mechanism is mounted on the third support seat and is respectively connected to each clamping assembly, and can drive the multiple clamping assemblies to move synchronously.

[0009] In some embodiments, the second driving mechanism includes: The second gear is rotatably mounted on the top of the third support seat; The second linear driver has a fixed end mounted on the third support seat, and the output end is connected to the second gear through a second crank and connecting rod, and can drive the second gear to rotate; The second moving seats, multiple in number, are respectively slidably mounted on the top of the third support seat; a clamping assembly is mounted on the top of each second moving seat; each second moving seat is provided with a second rack meshing with the second gear.

[0010] In some embodiments, it further includes: The centering mechanism has the third support seat mounted on the top.

[0011] In some embodiments, the centering mechanism includes: The base; The first adjusting seat is mounted on the base so as to be movable along the X-axis; The second adjusting seat is mounted on the first adjusting seat so as to be movable along the Y-axis, and the third support seat is mounted on the top; The first driver has an output end connected to the first adjusting seat for driving the first adjusting seat to move; The second driver has an output end connected to the second adjusting seat for driving the second adjusting seat to move.

[0012] In some embodiments, each position sensor assembly includes: The follower seat; The first position sensor is mounted on the follower seat and is provided with a first detection telescopic head; the first detection telescopic head can abut against the outer wall of the crossed roller bearing; The second position sensor is mounted on the follower seat and is provided with a second detection telescopic head; the second detection telescopic head can abut against the outer wall of the flexspline.

[0013] In some of these embodiments, it further includes: A cabinet; A controller, installed on the cabinet.

[0014] The beneficial effects of the present invention are as follows: The flexspline assembly device of the harmonic reducer of the present invention is provided with a bearing carrier, a plurality of position sensor components and a plurality of clamping components. The position sensor components in multiple orientations move towards each other synchronously to measure the position deviation between the flexspline and the crossed roller bearing in multiple orientations. The clamping components in multiple orientations move towards each other synchronously to cooperatively clamp the flexspline and drive the flexspline to move, so that the center of the flexspline and the center of the crossed roller bearing are on the same vertical line. Overall, it can assist or completely replace manual assembly of the flexspline and the crossed roller bearing, reduce the requirements for the operating skills of operators, improve the assembly efficiency of the flexspline and the crossed roller bearing, and ensure the yield of products. Description of the Drawings

[0015] Figure 1 is a schematic structural diagram of some specific embodiments of a flexspline assembly device of a harmonic reducer of the present invention; Figure 2 is Figure 1 a front view of the flexspline assembly device shown; Figure 3 is Figure 1 a partial enlarged view of area A in Figure 4 is Figure 3 a combined structural diagram of the first support base, the second support base, the first driving mechanism and a plurality of position sensor components in Figure 5 is Figure 3 a combined structural diagram of the third support base, the second driving mechanism, the clamping component and the centering mechanism in

[0016] In the attached drawings, 110 is a bearing carrier; 120 is a position sensor assembly; 121 is a follower seat; 122 is a first position sensor; 123 is a second position sensor; 130 is a clamping assembly; 141 is a first support seat; 1411 is a first support leg; 142 is a second support seat; 143 is a third support seat; 1431 is a third support leg; 150 is a first driving mechanism; 151 is a first gear; 152 is a first linear driver; 153 is a first moving seat; 1531 is a first rack; 160 is a second driving mechanism; 161 is a second gear; 162 is a second linear driver; 163 is a second moving seat; 1631 is a second rack; 170 is a centering mechanism; 171 is a base; 172 is a first adjusting seat; 173 is a second adjusting seat; 180 is a cabinet; 181 is a fourth support leg; 182 is a traveling wheel; 190 is a controller; 200 is a crossed roller bearing; 300 is a flexspline. Detailed implementation manners

[0017] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] As described in the background art, currently, in the manual assembly form, the operator stacks the flexspline and the crossed roller bearing concentrically, touches the outer circumferential surfaces of the flexspline and the crossed roller bearing by hand feeling to make them concentrically aligned, and then uses bolts to lock the flexspline and the crossed roller bearing. At this assembly stage, the requirements for the operator's operation skills are relatively high, resulting in low assembly efficiency of the flexspline and the crossed roller bearing and low product yield.

[0019] To solve the above problems, refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5, the present invention provides a flexible gear assembly device for a harmonic reducer, including a bearing carrier 110, a plurality of position sensor assemblies 120, and a plurality of clamping assemblies 130. The top surface of the bearing carrier 110 bears an crossed roller bearing 200. The top surface of the crossed roller bearing 200 bears a flexible gear 300. The plurality of position sensor assemblies 120 are evenly distributed along the circumference of the bearing carrier 110 and can move towards each other to measure the position deviation between the flexible gear 300 and the crossed roller bearing 200 in multiple directions. The plurality of clamping assemblies 130 are evenly distributed along the circumference of the bearing carrier 110 and can move towards each other to clamp the flexible gear 300. The plurality of clamping assemblies 130 can move to drive the flexible gear 300 to move, so that the axis of the flexible gear 300 and the axis of the crossed roller bearing 200 are on the same straight line.

[0020] The working process and principle of the flexible gear assembly device for a harmonic reducer are as follows: First, the operator places the crossed roller bearing 200 on the top of the bearing carrier 110. Then, the operator places the flexible gear 300 on the top of the crossed roller bearing 200. Then, the position sensor assemblies 120 in multiple directions move towards each other synchronously to measure the position deviation between the flexible gear 300 and the crossed roller bearing 200 in multiple directions. After that, the clamping assemblies 130 in multiple directions move towards each other synchronously to cooperate in clamping the flexible gear 300. Finally, the plurality of clamping assemblies 130 drive the flexible gear 300 to move so that the center of the flexible gear 300 and the center of the crossed roller bearing 200 are on the same vertical line. Overall, it can assist or completely replace manual operation in assembling the flexible gear 300 and the crossed roller bearing 200, reduces the requirements for the operator's operation skills, improves the assembly efficiency of the flexible gear 300 and the crossed roller bearing 200, and ensures the yield of the product.

[0021] Specifically, in the demonstration example, refer to Figure 1 , Figure 3 , Figure 4 and Figure 5, the flexible gear assembly device of the harmonic reducer further includes a cabinet 180, a first support base 141, a first driving mechanism 150, a second support base 142, a centering mechanism 170, a third support base 143 and a second driving mechanism 160. The first support base 141 is fixedly installed on the top of the cabinet 180. The first driving mechanism 150 is installed on the first support base 141 and is respectively connected to each position sensor assembly 120, and can drive multiple position sensor assemblies 120 to move synchronously. The second support base 142 is installed on the top of the first support base 141, and the top surface bears a bearing carrier 110. The centering mechanism 170 is located below the first support base 141, the bottom is fixedly installed on the top of the cabinet 180, and the top is installed with a third support base 143. The second driving mechanism 160 is installed on the third support base 143 and is respectively connected to each clamping assembly 130, and can drive multiple clamping assemblies 130 to move synchronously. The centering mechanism 170 can drive the third moving seat and multiple clamping assemblies 130 to move, so as to drive the flexible gear 300 to move, so that the center of the flexible gear 300 and the center of the crossed roller bearing 200 are on the same vertical line. Overall, it can assist or completely replace manual operation in assembling the flexible gear 300 and the crossed roller bearing 200, reduce the requirements for the operation skills of operators, improve the relatively low assembly efficiency of the flexible gear 300 and the crossed roller bearing 200, and ensure the yield of products.

[0022] Preferably, as Figure 2 shown, a fourth support leg 181 is respectively arranged at the four corners of the bottom of the cabinet 180. The axial length of each fourth support leg 181 is adjustable, so that the top surface of the cabinet 180 is in a horizontal plane. A traveling wheel 182 is respectively arranged at the four corners of the bottom of the cabinet 180 to facilitate the position transfer of the cabinet 180.

[0023] Preferably, as Figure 4 shown, three first support legs 1411 are arranged at the bottom of the first support base 141. The bottom of each first support leg 1411 is installed on the top surface of the cabinet 180. The axial length of each first support leg 1411 is adjustable. With the help of the three first support legs 1411, the height of the first support base 141 in the vertical direction can be adjusted, and then the height of each position sensor assembly 120 in the vertical direction can be adjusted. At the same time, the top surface of the first support base 141 can be in a horizontal plane without tilting.

[0024] Preferably, each first support leg 1411 includes an adjusting nut and an adjusting screw.

[0025] Preferably, as Figure 3 and Figure 4As shown in the figure, the first driving mechanism 150 includes a first gear 151, a first linear driver 152, and multiple first moving seats 153. The first gear 151 is rotatably installed in the middle of the top of the first support seat 141. The fixed end of the first linear driver 152 is installed on the first support seat 141, and the output end is connected to the first gear 151 through a first crank-link mechanism, and can drive the first gear 151 to rotate through the first crank-link mechanism. The multiple first moving seats 153 are respectively slidably installed on the top of the first support seat 141. A position sensor assembly 120 is installed on the top of each first moving seat 153. Each first moving seat 153 is provided with a first rack 1531 meshing with the first gear 151. When the first linear driver 152 drives the first gear 151 to rotate through the first crank-link mechanism, the first gear 151 drives the multiple first racks 1531 to move towards or away from each other, and further makes the multiple first moving seats 153 move towards or away from each other, thereby driving the multiple position sensor assemblies 120 to move towards or away from each other.

[0026] Preferably, the bottom of each first moving seat 153 and the top of the first support seat 141 are slidably connected through corresponding sliders and slide rails to ensure the smooth movement of each first moving seat 153.

[0027] Preferably, the first linear driver 152 is an electric push rod, a hydraulic cylinder, a pneumatic cylinder, etc.

[0028] Preferably, there are three first moving seats 153 and position sensor assemblies 120, which are arranged in one-to-one correspondence.

[0029] Preferably, as Figure 3 and Figure 4 shown in the figure, each position sensor assembly 120 includes a follower seat 121, a first position sensor 122, and a second position sensor 123. The follower seat 121 of each position sensor assembly 120 is fixedly installed on a first moving seat 153 and can move with the corresponding first moving seat 153. The first position sensor 122 is fixedly installed on the follower seat 121 and is provided with a first detection telescopic head. The first detection telescopic head can abut against the outer wall of the crossed roller bearing 200. The second position sensor 123 is fixedly installed on the follower seat 121 and is located above the first position sensor 122. The second position sensor 123 is provided with a second detection telescopic head. The second detection telescopic head can abut against the outer wall of the flexspline 300. The first position sensor 122 and the second position sensor 123 move with the follower seat 121. When the first detection telescopic head abuts against the outer wall of the crossed roller bearing 200 and the second detection telescopic head abuts against the outer wall of the flexspline 300, the position deviation can be calculated using the telescopic difference.

[0030] Preferably, three second support legs are provided at the bottom of the second support base 142. The bottom of each second support leg is mounted on the top surface of the first support base 141. The axial length of each second support leg is adjustable. With the aid of the three second support legs, the height of the second support base 142 in the vertical direction can be adjusted, and further the heights of the bearing support base 110, the crossed roller bearing 200 and the flexspline 300 in the vertical direction can be adjusted. At the same time, the top surface of the second support base 142 can be kept in a horizontal plane without tilting.

[0031] Preferably, each second support leg includes an adjusting nut and an adjusting screw.

[0032] Preferably, as Figure 5 shown, three third support legs 1431 are provided at the bottom of the third support base 143. The bottom of each third support leg 1431 is mounted on the top surface of the centering mechanism 170.

[0033] Preferably, as Figure 3 and Figure 5 shown, the second driving mechanism 160 includes a second gear 161, a second linear driver 162 and a plurality of second moving seats 163. The second gear 161 is rotatably mounted in the middle of the top of the third support base 143. The fixed end of the second linear driver 162 is mounted on the third support base 143, and the output end is connected to the second gear 161 through a second crank-link mechanism, and can drive the second gear 161 to rotate through the second crank-link mechanism. The plurality of second moving seats 163 are respectively slidably mounted on the top of the third support base 143. A clamping assembly 130 is mounted on the top of each second moving seat 163. Each second moving seat 163 is provided with a second rack 1631 meshing with the second gear 161. When the second linear driver 162 drives the second gear 161 to rotate through the second crank-link mechanism, the second gear 161 drives the plurality of second racks 1631 to move towards or away from each other, and further makes the plurality of second moving seats 163 move towards or away from each other, thereby driving the plurality of clamping assemblies 130 to move towards or away from each other.

[0034] Preferably, the bottom of each second moving seat 163 and the top of the third support base 143 are slidably connected through corresponding sliders and slide rails to ensure the smooth movement of each second moving seat 163.

[0035] Preferably, the second linear driver 162 is an electric push rod, a hydraulic cylinder or a cylinder, etc.

[0036] Preferably, both the second moving seats 163 and the clamping assemblies 130 are three, and are arranged in one-to-one correspondence.

[0037] Preferably, each clamping assembly 130 includes a clamping block. The clamping block is mounted on the second moving seat 163. A jacking rod is formed at the top of the clamping block. A weight-reducing hole is formed in the clamping block, which is beneficial to accurately control the position of the clamping block.

[0038] In some practical applications, the centering mechanism 170 includes a base 171, a first adjusting seat 172, a second adjusting seat 173, a first driver, and a second driver. The base 171 is fixedly mounted on the top surface of the cabinet 180. The first adjusting seat 172 is movably mounted on the base 171 along the X-axis. The second adjusting seat 173 is movably mounted on the first adjusting seat 172 along the Y-axis, and a third support seat 143 is mounted on the top. The output end of the first driver is connected to the first adjusting seat 172, and is used to drive the first adjusting seat 172 to move along the X-axis, thereby driving the second adjusting seat 173, the third support seat 143, multiple clamping assemblies 130, and the flexspline 300 to move along the X-axis. The output end of the second driver is connected to the second adjusting seat 173, and is used to drive the second adjusting seat 173 to move along the Y-axis, thereby driving the third support seat 143, multiple clamping assemblies 130, and the flexspline 300 to move along the Y-axis. In this way, the position of the flexspline 300 can be adjusted quickly and effectively. The first driver and the second driver can be linear drivers such as electric push rods, hydraulic cylinders, or air cylinders, or can be rotary drivers such as servo motors or stepper motors, and are connected to the first adjusting seat 172 / second adjusting seat 173 through a rotary-to-linear mechanism.

[0039] In other practical applications, the centering mechanism 170 includes a base 171, a translation seat, four third linear drivers, a rotation seat, two fourth linear drivers, and multiple balls. The base 171 is fixedly mounted on the top surface of the frame. The translation seat is movably mounted on the top surface of the base 171 in the horizontal plane. The fixed ends of the four third linear drivers are respectively hinged to the four corners of the base 171, and the output ends are respectively hinged to the four corners of the translation seat, and can drive the translation seat to achieve more degrees of freedom of movement. The rotation seat is rotatably mounted on the top surface of the translation seat through a rotating shaft. A third support seat 143 is mounted on the top of the rotation seat, and can drive the third support seat 143, multiple clamping assemblies 130, and the flexspline 300 to rotate. The fixed ends of the two fourth linear drivers are respectively hinged to the adjacent sides of the translation seat, and the output ends are respectively hinged to the side walls of the rotating shaft. The axes of the two fourth linear drivers form a 90° angle, so that the rotating shaft can achieve different rotation amplitudes. The multiple balls are distributed in a rectangular array. The multiple balls are respectively rotatably mounted on the top surface of the base 171 and respectively abut against the bottom surface of the translation seat to reduce the resistance suffered by the translation seat during translation, thereby reducing kinetic energy loss and improving the action control accuracy. In this way, there are more degrees of freedom of movement, making the position adjustment process of the flexspline 300 more flexible and efficient. Each third linear driver and each fourth linear driver are electric push rods, hydraulic cylinders, or air cylinders, etc.

[0040] Preferably, the harmonic reducer flexspline assembly device further includes a controller 190. The controller 190 is installed on the top surface of the cabinet 180 and is electrically connected to the first linear driver 152, the second linear driver 162, each first position sensor 122, each second position sensor 123, the first driver / the third linear driver, and the second driver / the fourth linear driver. When the first detection telescopic head abuts against the outer wall of the crossed roller bearing 200 and the second detection telescopic head abuts against the outer wall of the flexspline 300, the controller 190 can calculate the position deviation using the telescopic difference and can control whether the first linear driver 152, the second linear driver 162, the first driver / the third linear driver, and the second driver / the fourth linear driver work.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

[0042] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connection", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection, an electrical connection, or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium. It can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0045] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A flexible gear assembly device for a harmonic reducer, characterized in that Comprising: A bearing carrier seat, on the top surface of which a crossed roller bearing is carried; on the top surface of the crossed roller bearing, a flexspline is carried. A plurality of position sensor assemblies, evenly distributed circumferentially along the bearing carrier seat, capable of moving towards each other to measure the position deviation between the flexspline and the crossed roller bearing in multiple orientations. A plurality of clamping assemblies, evenly distributed circumferentially along the bearing carrier seat, capable of moving towards each other to clamp the flexspline; the plurality of clamping assemblies can move to drive the flexspline to move, so that the axis of the flexspline and the axis of the crossed roller bearing are coaxial.

2. The harmonic reducer flexspline assembly device according to claim 1, characterized in that, Further comprising: A first support seat; A first driving mechanism, mounted on the first support seat, connected to each of the position sensor assemblies respectively, capable of driving the plurality of position sensor assemblies to move synchronously.

3. The harmonic reducer flexspline assembly device according to claim 2, characterized in that, The first driving mechanism includes: A first gear, rotatably mounted on the top of the first support seat; A first linear driver, with the fixed end mounted on the first support seat and the output end connected to the first gear through a first crank and connecting rod, capable of driving the first gear to rotate. A plurality of first moving seats, respectively slidably mounted on the top of the first support seat; on the top of each first moving seat, a position sensor assembly is mounted; each first moving seat is provided with a first rack meshing with the first gear.

4. The harmonic reducer flexible gear assembly device according to claim 2, characterized in that, Further comprising: A second support seat, mounted on the top of the first support seat, on the top surface of which the bearing carrier seat is carried.

5. The harmonic reducer flexible gear assembly device according to claim 1, characterized in that, Further comprising: A third support seat; A second driving mechanism, mounted on the third support seat, connected to each of the clamping assemblies respectively, capable of driving the plurality of clamping assemblies to move synchronously.

6. The harmonic reducer flexspline assembly device according to claim 5, characterized in that, The second driving mechanism includes: A second gear, rotatably mounted on the top of the third support seat; A second linear driver, with the fixed end mounted on the third support seat and the output end connected to the second gear through a second crank and connecting rod, capable of driving the second gear to rotate. A plurality of second moving seats, respectively slidably mounted on the top of the third support seat; on the top of each second moving seat, a clamping assembly is mounted; each second moving seat is provided with a second rack meshing with the second gear.

7. The harmonic reducer flexspline assembly device according to claim 5, characterized in that, Further comprising: An alignment mechanism, on the top of which the third support seat is mounted.

8. The harmonic reducer flexspline assembly device according to claim 7, wherein The alignment mechanism includes: A base; A first adjustment seat, movably mounted on the base along the X-axis; A second adjustment seat, movably mounted on the first adjustment seat along the Y-axis, on the top of which the third support seat is mounted; A first driver, with the output end connected to the first adjustment seat, for driving the first adjustment seat to move; A second driver, with the output end connected to the second adjustment seat, for driving the second adjustment seat to move.

9. The harmonic reducer flexspline assembly device according to claim 1, wherein, Each of the position sensor assemblies includes: A follower seat; A first position sensor, mounted on the follower seat, provided with a first detection telescopic head; the first detection telescopic head can abut against the outer wall of the crossed roller bearing; A second position sensor, mounted on the follower seat, provided with a second detection telescopic head; the second detection telescopic head can abut against the outer wall of the flexspline.

10. The harmonic reducer flexible gear assembly device according to claim 1, characterized in that Further comprising: Cabinet; A controller, installed on the cabinet.

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