Airtightness detection clamp for harmonic reducer flexible gear processing

Abstract

The invention relates to the technical field of flexible gear clamps, in particular to an air tightness detection clamp for harmonic reducer flexible gear machining, which comprises a base, a punching table, a first fixing assembly and a fine adjustment assembly, the base is of a frame type structure, the bottom of the punching table is fixedly connected with the top of the base, and a circular groove for bearing a flexible gear body is formed in the top of the punching table; the first fixing assembly comprises a pair of clamping jaws, the two clamping jaws are symmetrically arranged at the two ends of the punching table, each clamping jaw comprises a swing arm and a pair of jaw fingers, the swing arms can be rotatably installed on the base, the jaw fingers can be slidably installed on the swing arms, and the two jaw fingers form a U-shaped structure. Through the fine adjustment assembly and the positioning assembly, the flexible gear can be quickly centered, and the claw fingers on the clamping claw are moved to be close to or far away from each other, so that the size of the clamping claw can be reduced or increased, and the effects of quickly positioning and being suitable for flexible gears of different sizes are achieved.

Description

Technical Field

[0001] This invention relates to the field of flexible gear fixture technology, and specifically to an airtightness testing fixture for machining flexible gears in harmonic reducers. Background Technology

[0002] The flex wheel of the harmonic reducer has a thin-walled cup-shaped structure, requiring multiple heat treatments and precision turning and grinding processes during manufacturing. Airtightness testing is a crucial step in ensuring the positioning accuracy of the flex wheel during machining and falls under the category of quality control technology in mechanical manufacturing.

[0003] Currently, most chucks used for machining flexible wheels employ a three-jaw chuck structure. Their working principle involves three circumferentially distributed jaws around the pallet pressing against the flexible wheel from the outside, thus achieving clamping and fixation. The advantage of this design is that the jaws can quickly position the flexible wheel by retracting inwards, and it is applicable to various sizes of flexible wheels. However, when applied to the machining of thin-walled flexible wheels, the lower strength of the wheel's sidewalls makes it susceptible to damage due to excessive stress.

[0004] There is another type of flexible wheel clamp in the prior art, in which the jaws fix the flexible wheel by pressing down. This solution avoids the problem that the clamping force can easily exceed the strength of the flexible wheel. However, it is not convenient to adjust the size of the jaws, which results in a limited range of applications. Furthermore, it is not convenient to quickly position the flexible wheel, which can easily cause displacement and affect the machining accuracy. Therefore, it needs to be improved. Summary of the Invention

[0005] The purpose of this invention is to provide an airtightness testing fixture for machining flexures in harmonic reducers, which can quickly position the flexures and facilitate adjustment of the gripper size, thereby expanding the scope of application.

[0006] To achieve this objective, the present invention adopts the following technical solution: A gas tightness testing fixture for machining flexures in a harmonic reducer is provided, comprising a base with a frame structure, a drilling table, a first fixing component, and a fine-tuning component. The bottom of the drilling table is fixedly connected to the top of the base, and the top of the drilling table has a circular groove for supporting the flexure body. The first fixing component includes a pair of jaws symmetrically arranged at both ends of the drilling table. Each jaw includes a swing arm and a pair of claw fingers. The swing arm is rotatably mounted on the base, and the claw fingers are slidably mounted on the swing arm. The two claw fingers form a U-shaped structure, with the bottom of the claw fingers abutting against the top of the flexure body. The fine-tuning component is mounted on the drilling table and is used to quickly adjust the position of the flexure body.

[0007] Preferably, the gripper further includes a guide block and a pair of sliding shafts. The guide block is fixedly connected to one end of the swing arm. The two sides of the guide block are symmetrical inclined structures. The two sides of the guide block limit the movement of the two gripper fingers respectively. A pair of sliding grooves are provided on the top of the guide block. The sliding shafts pass through the top wall of the gripper fingers and are fixedly connected to them. The bottom of the sliding shafts is slidably connected to the sliding grooves. A protruding block for limiting excessive displacement of the gripper fingers is fixedly connected to one end of the guide block.

[0008] Preferably, the gripper further includes a first motor, a bidirectional screw, a pair of sliders, and a pair of telescopic rods. The first motor is fixedly connected to one side of the swing arm. The output shaft of the first motor passes through the swing arm and is coaxially connected to the bidirectional screw. A long groove is provided at the end of the swing arm near the gripper finger. The bidirectional screw is rotatably connected to the inner wall of the long groove. The two sliders are symmetrically arranged on both sides of the long groove and are slidably connected to it. The sliders are threadedly connected to the outer periphery of the bidirectional screw. The threaded grooves on the two sliders are in opposite directions. One end of the telescopic rod is fixedly connected to the slider, and the telescopic end of the telescopic rod is fixedly connected to the gripper finger.

[0009] Preferably, the first fixing component further includes a hydraulic cylinder and a hinge plate. The bottom of the hydraulic cylinder is fixedly connected to the bottom wall of the base, the telescopic end of the hydraulic cylinder is rotatably connected to the other end of the swing arm, the bottom of the hinge plate is rotatably connected to one end of the top of the hydraulic cylinder, and the top of the hinge plate is rotatably connected to the middle of the swing arm.

[0010] Preferably, the fine-tuning component includes a hydraulic rod, a push block, and a pair of limiting plates. One side of the hydraulic rod is fixedly connected to the drilling table, and the telescopic end of the hydraulic rod is fixedly connected to the push block. The push block is used to push the flexible wheel body to move horizontally. The limiting plates are rotatably mounted on the other side of the drilling table and are used to abut against the flexible wheel body.

[0011] Preferably, the fine-tuning assembly also includes a pair of rotating shafts and a pair of spur gears. The rotating shafts pass through the punching station and are rotatably connected to it. One end of the limiting plate is fixedly connected to the top periphery of the rotating shaft. The spur gears are coaxially connected to the bottom periphery of the rotating shaft, and the two spur gears mesh with each other.

[0012] Preferably, the fine-tuning component further includes a ratchet, a pawl, a cam shaft, and a torsion spring. The ratchet is coaxially connected to the periphery of one of the rotating shafts. One end of the pawl meshes with the ratchet. The cam shaft passes through the middle of the pawl and is coaxially connected to it. The cam shaft is rotatably connected to the top wall of the punching table. The torsion spring is sleeved around the cam shaft, and both ends of the torsion spring are fixedly connected to the top wall of the punching table and the top of the pawl, respectively.

[0013] Preferably, it also includes a chamfering platform, a second fixing component, and a positioning component. The bottom of the chamfering platform is fixedly connected to the top of the base. An air hole for air tightness testing is provided on the chamfering platform. The second fixing component has the same structure as the first fixing component. A pair of grippers of the second fixing component are symmetrically arranged at both ends of the chamfering platform. The positioning component is installed on the base and is used to quickly position the flexible wheel body.

[0014] Preferably, the positioning component includes a pair of positioning pins, a pair of support seats, and a turntable. The top of the positioning pin passes through and is slidably connected to the chamfered platform. The positioning pin is used to position the flexible wheel by passing through a round hole on the flexible wheel body. The bottom of the positioning pin passes through and is slidably connected to the top wall of the support seat. The bottom wall of the base is provided with a guide groove, which is slidably connected to the bottom of the support seat. The turntable is rotatably connected to the bottom wall of the base. Symmetrical through arc-shaped grooves are provided on both sides of the top of the turntable. The support seats pass through the arc-shaped grooves and are slidably connected to them. The two ends of the arc-shaped grooves are close to the center of the turntable and the outer periphery of the turntable, respectively.

[0015] Preferably, the positioning assembly further includes a second motor, a bevel gear, and a gear ring. The gear ring is fixedly connected to the top of the turntable, the gear ring meshes with the bevel gear, the bottom of the motor is fixedly connected to the bottom wall of the base, and the output shaft of the motor is coaxially connected with the bevel gear.

[0016] The beneficial effects of this invention are: 1. The airtightness testing fixture for processing harmonic reducer flexure wheels of the present invention can, when it is necessary to fix flexure wheels of different sizes, move the claw fingers on the clamping jaws so that they slide at one end of the swing arm, and the two claw fingers slide synchronously and symmetrically, so that they move closer or further away from each other, thereby reducing or increasing the size of the clamping jaws, thus expanding the applicability of the fixture to flexure wheels of different specifications.

[0017] 2. The present invention can quickly push the flexible wheel body to center and limit the flexible wheel body through the fine adjustment component and the positioning component, respectively, so as to quickly complete the positioning before clamping. Furthermore, the limiting plate of the fine adjustment component can adjust the angle, and the positioning pin of the positioning component can move horizontally to adapt to the positioning requirements of flexible wheels of different specifications. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 .

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 .

[0021] Figure 3 This is an exploded view of the base structure of the present invention.

[0022] Figure 4 This is a structural breakdown diagram of the first fixed component of the present invention.

[0023] Figure 5 This is a schematic diagram of the gripper structure of the present invention.

[0024] Figure 6 This is a cross-sectional view of the swing arm structure of the present invention.

[0025] Figure 7 This is a schematic diagram of the fine-tuning component structure of the present invention.

[0026] Figure 8 This is a structural breakdown diagram of the fine-tuning component of the present invention.

[0027] Figure 9 yes Figure 8 Enlarged view of the structure at point A in the middle.

[0028] Figure 10 This is a schematic diagram of the positioning component structure of the present invention.

[0029] Figure 11 This is a structural breakdown diagram of the positioning component of the present invention.

[0030] In the picture: 1. Base; 10. Guide groove; 11. Drilling table; 12. First fixing component; 120. Hydraulic cylinder; 121. Hinge plate; 13. Flexible wheel body; 14. Chamfering table; 15. Second fixing component; 2. Gripper; 20. Swing arm; 200. Long groove; 21. Gripper finger; 22. Guide block; 220. Slide groove; 23. Slide shaft; 24. Protruding block; 25. First motor; 26. Bidirectional screw; 27. Slider; 28. Telescopic rod; 3. Fine-tuning component; 30. Hydraulic rod; 31. Push block; 32. Limiting plate; 33. Rotary shaft; 34. Spur gear; 35. Ratchet; 36. Pawl; 37. Cam shaft; 38. Torsion spring; 4. Positioning component; 40. Positioning pin; 41. Support base; 42. Turntable; 420. Arc groove; 43. Second motor; 44. Bevel gear; 45. Gear ring. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0033] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and 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, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0034] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating a connection between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] like Figures 1 to 11 As shown: An airtightness testing fixture for machining a flexure of a harmonic reducer includes a base 1, which is a frame structure. The base 1 also includes a drilling platform 11, a first fixing component 12, and a fine-tuning component 3. The bottom of the drilling platform 11 is fixedly connected to the top of the base 1. A circular groove for supporting the flexure body 13 is formed on the top of the drilling platform 11. The first fixing component 12 includes a pair of jaws 2, symmetrically arranged at both ends of the drilling platform 11. Each jaw 2 includes a swing arm 20 and a pair of claw fingers 21. The swing arm 20 is rotatably mounted on the base 1, and the claw fingers 21 are slidably mounted on the swing arm 20. The two claw fingers 21 form a U-shaped structure, with the bottom of the claw fingers 21 abutting against the top of the flexure body 13. The fine-tuning component 3 is mounted on the drilling platform 11 and is used to quickly adjust the position of the flexure body 13.

[0036] When drilling the flexible wheel of the harmonic reducer, the flexible wheel body 13 is placed on the drilling table 11, with its bottom passing through the circular groove on the drilling table 11. Then, the flexible wheel body 13 is quickly adjusted to a horizontal position by the fine-tuning component 3. Then, a pair of grippers 2 press the flexible wheel body 13 from top to bottom, thereby fixing it on the drilling table 11. The two grippers 2 press from both sides of the flexible wheel body 13, and the grippers 2 have a U-shaped structure, thus forming a four-point contact, which improves stability and facilitates the drilling operation.

[0037] When it is necessary to fix flexible wheel bodies 13 of different sizes, the claw fingers 21 on the moving jaw 2 are moved so that they slide at one end of the swing arm 20, and the two claw fingers 21 slide synchronously and symmetrically, so that they move closer or further away from each other, thereby reducing or increasing the size of the jaw 2 to accommodate flexible wheel bodies 13 of different specifications, thus expanding the applicability of the clamp.

[0038] like Figures 1 to 6 As shown: The gripper 2 also includes a guide block 22 and a pair of sliding shafts 23. The guide block 22 is fixedly connected to one end of the swing arm 20. The two sides of the guide block 22 are symmetrical inclined structures. The two sides of the guide block 22 limit the two claw fingers 21 respectively. A pair of sliding grooves 220 are opened on the top of the guide block 22. The sliding shafts 23 pass through the top wall of the claw fingers 21 and are fixedly connected to it. The bottom of the sliding shafts 23 is slidably connected to the sliding grooves 220. A protruding block 24 for limiting the excessive displacement of the claw fingers 21 is fixedly connected to one end of the guide block 22.

[0039] The gripper 2 also includes a first motor 25, a bidirectional screw 26, a pair of sliders 27, and a pair of telescopic rods 28. The first motor 25 is fixedly connected to one side of the swing arm 20. The output shaft of the first motor 25 passes through the swing arm 20 and is coaxially connected to the bidirectional screw 26. A long groove 200 is provided at one end of the swing arm 20 near the claw finger 21. The bidirectional screw 26 is rotatably connected to the inner wall of the long groove 200. The two sliders 27 are symmetrically arranged on both sides of the long groove 200 and are slidably connected to it. The sliders 27 are threadedly connected to the outer periphery of the bidirectional screw 26. The threaded grooves on the two sliders 27 are in opposite directions. One end of the telescopic rod 28 is fixedly connected to the slider 27, and the telescopic end of the telescopic rod 28 is fixedly connected to the claw finger 21.

[0040] The first fixed component 12 also includes a hydraulic cylinder 120 and a hinge plate 121. The bottom of the hydraulic cylinder 120 is fixedly connected to the bottom wall of the base 1, the telescopic end of the hydraulic cylinder 120 is rotatably connected to the other end of the swing arm 20, the bottom of the hinge plate 121 is rotatably connected to one end of the top of the hydraulic cylinder 120, and the top of the hinge plate 121 is rotatably connected to the middle of the swing arm 20.

[0041] The first motor 25 is energized, and its output shaft drives the bidirectional screw 26 to rotate. Through the threaded transmission between the bidirectional screw 26 and the slider 27, the two sliders 27 slide synchronously in opposite directions along the long groove 200. At the same time, the telescopic rod 28 drives the claw fingers 21 to move. The telescopic rod 28 extends and retracts between the sliders 27 and the claw fingers 21 to consume the stroke of the claw fingers 21. Due to the abutment of the guide block 22, the two claw fingers 21 slide along the inclined surface on both sides of the guide block 22. The sliding shaft 23 follows the claw fingers 21 and slides within the sliding groove 220 to limit the movement of the claw fingers 21, thereby driving the two claw fingers 21 to move closer or further apart.

[0042] After adjusting the gripper 2 to the appropriate size, the hydraulic cylinder 120 is activated. Its telescopic end pushes one end of the swing arm 20 to rotate upward. At the same time, the swing arm 20 rotates around the hinge plate 121 in the middle. The hinge plate 121 rotates between the hydraulic cylinder 120 and the swing arm 20, causing the other end of the swing arm 20 to rotate downward. This causes the gripper finger 21 to press down on the flexible wheel body 13 for fixation. A buffer pad is also installed at the bottom of the gripper finger 21 to reduce pressure and increase friction, thus preventing pressure damage and slippage.

[0043] like Figures 7 to 9 As shown: The fine-tuning component 3 includes a hydraulic rod 30, a push block 31, and a pair of limiting plates 32. One side of the hydraulic rod 30 is fixedly connected to the drilling table 11, and the telescopic end of the hydraulic rod 30 is fixedly connected to the push block 31. The push block 31 is used to push the flexible wheel body 13 to move horizontally. The limiting plate 32 is rotatably installed on the other side of the drilling table 11 and is used to abut against the flexible wheel body 13.

[0044] The fine-tuning component 3 also includes a pair of rotating shafts 33 and a pair of spur gears 34. The rotating shafts 33 pass through the drilling table 11 and are rotatably connected to it. One end of the limiting plate 32 is fixedly connected to the top periphery of the rotating shafts 33. The spur gears 34 are coaxially connected to the bottom periphery of the rotating shafts 33, and the two spur gears 34 mesh with each other.

[0045] The fine-tuning component 3 also includes a ratchet 35, a pawl 36, a cam shaft 37, and a torsion spring 38. The ratchet 35 is coaxially connected to the periphery of one of the rotating shafts 33. One end of the pawl 36 meshes with the ratchet 35. The cam shaft 37 passes through the middle of the pawl 36 and is coaxially connected to it. The cam shaft 37 is rotatably connected to the top wall of the punching table 11. The torsion spring 38 is sleeved on the periphery of the cam shaft 37. Both ends of the torsion spring 38 are fixedly connected to the top wall of the punching table 11 and the top of the pawl 36, respectively.

[0046] After the flexible wheel body 13 is placed on the drilling table 11, the bottom of the flexible wheel is located in the circular groove, causing the hydraulic rod 30 to operate. Its telescopic end pushes the push block 31 to slide rapidly from one side to the other on the top of the drilling table 11. During this process, the flexible wheel body 13 is pushed to move horizontally on the drilling table 11 until the other side of the flexible wheel body 13 abuts against the two limit blocks. At this time, the pressure sensor on the push block 31 receives the pressure signal, controls the hydraulic rod 30 to stop working and reset, and then the first fixing component 12 clamps the flexible wheel body 13, thereby quickly completing the centering and positioning. One side of the push block 31 has a V-shaped inclined structure, which can adapt to flexible wheel bodies 13 of different diameters and is not easy to slip.

[0047] When centering flexible wheels of different diameters is required, one of the limiting plates 32 is pushed to rotate around one end of the rotating shaft 33. The rotating shaft 33 drives the spur gear 34 to rotate. Simultaneously, through the meshing transmission between the two spur gears 34, the other limiting plate 32 is driven to rotate synchronously in the opposite direction. This allows adjustment of the angle of the two limiting plates 32 to accommodate flexible wheel bodies 13 of different sizes. During rotation, the ratchet 35 rotates with the rotating shaft 33. At this time, the ratchet 35 squeezes the pawl 36, causing it to rotate around the cam shaft 37 and spring open. The torsion spring 38 is twisted, and then the torsion spring 38 rebounds, pushing the pawl 36 back to its original position. One end of the pawl 36 abuts against the ratchet 35, preventing it from rotating in the opposite direction and preventing the limiting plate 32 from loosening. Conversely, moving the other end of the pawl 36 to disengage it from the ratchet 35 allows the limiting plate 32 to rotate and return to its original position.

[0048] like Figure 10 and Figure 11 As shown: It also includes a chamfered platform 14, a second fixing component 15, and a positioning component 4. The bottom of the chamfered platform 14 is fixedly connected to the top of the base 1. An air hole for air tightness testing is opened on the chamfered platform 14. The second fixing component 15 has the same structure as the first fixing component 12. A pair of grippers 2 of the second fixing component 15 are symmetrically arranged at both ends of the chamfered platform 14. The positioning component 4 is installed on the base 1 and is used to quickly position the flexible wheel body 13.

[0049] The chamfering table 14 and the drilling table 11 are located at both ends of the base 1, respectively, enabling simultaneous drilling and chamfering. The flexural wheel body 13, after drilling, can be directly moved to the chamfering table 14 for further processing, improving the continuity of the processing flow. The holes on the flexural wheel body 13 can also be quickly positioned using the locating pins 40 on the chamfering table 14. Simultaneously, the air holes on the chamfering table 14 allow for airtightness testing of the flexural wheel body 13. Second fixing components 15, with the same structure as the first fixing component 12, are provided at both ends of the chamfering table 14. This reduces the risk of pressure damage while fixing the flexural wheel body 13, and the parts of both components are interchangeable, reducing operating costs.

[0050] like Figure 11 As shown: The positioning component 4 includes a pair of positioning pins 40, a pair of support seats 41, and a turntable 42. The top of the positioning pin 40 passes through the chamfered platform 14 and is slidably connected to it. The positioning pin 40 is used to position the flexible wheel body 13 by passing through the round hole. The bottom of the positioning pin 40 passes through the top wall of the support seat 41 and is slidably connected to it. The bottom wall of the base 1 is provided with a guide groove 10, which is slidably connected to the bottom of the support seat 41. The turntable 42 is rotatably connected to the bottom wall of the base 1. The top two sides of the turntable 42 are symmetrically provided with through arc-shaped grooves 420. The support seat 41 passes through the arc-shaped grooves 420 and is slidably connected to them. The two ends of the arc-shaped grooves 420 are close to the center of the turntable 42 and the outer periphery of the turntable 42, respectively.

[0051] The positioning component 4 also includes a second motor 43, a bevel gear 44 and a gear ring 45. The gear ring 45 is fixedly connected to the top of the turntable 42, and the gear ring 45 and the bevel gear 44 mesh with each other. The bottom of the motor is fixedly connected to the bottom wall of the base 1, and the output shaft of the motor is coaxially connected to the bevel gear 44.

[0052] The second motor 43 is energized, and its output shaft drives the bevel gear 44 to rotate. Through the meshing transmission between the bevel gear 44 and the gear ring 45, the turntable 42 is driven to rotate. This causes the support seat 41 to be pressed against the inner wall of the arc groove 420, making it slide along the guide groove 10. The two positioning pins 40 gradually move closer or further apart, thereby adjusting the distance between the two positioning pins 40 to achieve the effect of adapting to flexible wheel bodies 13 of different diameters. The two positioning pins 40 are located on both sides of the chamfering table 14 and can slide up and down within the support seat 41. When fixing the flexible wheel body 13, the top of the positioning pin 40 slides upward out of the chamfering table 14, and then the hole on the flexible wheel body 13 is aligned with the positioning pin 40 and lowered to achieve quick centering. Then, the flexible wheel body 13 is clamped by the second fixing component 15, and the positioning pin 40 is moved down, its top retracting into the hole on the flexible wheel body 13, thus enabling chamfering.

[0053] It should be stated that the above-described specific embodiments are merely preferred embodiments of the present invention and the technical principles employed. Those skilled in the art should understand that various modifications, equivalent substitutions, and variations can be made to the present invention. However, such variations, as long as they do not depart from the spirit of the present invention, should be within the scope of protection of the present invention. Furthermore, some terminology used in this specification and claims is not limiting, but merely for the purpose of clearly describing the positional relationships and functions of the components.

Claims

1. A gas tightness testing fixture for machining the flexible wheel of a harmonic reducer, comprising a base (1), wherein the base (1) is a frame structure, characterized in that, It also includes a punching platform (11), a first fixing component (12) and a fine-tuning component (3). The bottom of the punching platform (11) is fixedly connected to the top of the base (1). The top of the punching platform (11) has a circular groove for supporting the flexible wheel body (13). The first fixing component (12) includes a pair of grippers (2). The two grippers (2) are symmetrically arranged at both ends of the punching platform (11). The grippers (2) include a swing arm (20) and a pair of claw fingers (21). The swing arm (20) is rotatably mounted on the base (1). The claw fingers (21) are slidably mounted on the swing arm (20). The two claw fingers (21) form a U-shaped structure. The bottom of the claw fingers (21) abuts against the top of the flexible wheel body (13). The fine-tuning component (3) is installed on the punching platform (11). The fine-tuning component (3) is used to quickly adjust the position of the flexible wheel body (13).

2. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 1, characterized in that, The gripper (2) also includes a guide block (22) and a pair of sliding shafts (23). The guide block (22) is fixedly connected to one end of the swing arm (20). The two sides of the guide block (22) are symmetrical inclined structures. The two sides of the guide block (22) limit the two claw fingers (21). A pair of sliding grooves (220) are provided on the top of the guide block (22). The sliding shaft (23) passes through the top wall of the claw finger (21) and is fixedly connected to it. The bottom of the sliding shaft (23) is slidably connected to the sliding groove (220). A protruding block (24) for limiting the excessive displacement of the claw finger (21) is fixedly connected to one end of the guide block (22).

3. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 2, characterized in that, The gripper (2) also includes a first motor (25), a bidirectional screw (26), a pair of sliders (27) and a pair of telescopic rods (28). The first motor (25) is fixedly connected to one side of the swing arm (20). The output shaft of the first motor (25) passes through the swing arm (20) and is coaxially connected to the bidirectional screw (26). The swing arm (20) has a long groove (200) at one end near the claw finger (21). The bidirectional screw (26) is rotatably connected to the inner wall of the long groove (200). The two sliders (27) are symmetrically arranged on both sides of the long groove (200) and are slidably connected to it. The sliders (27) are threadedly connected to the outer periphery of the bidirectional screw (26). The threaded grooves on the two sliders (27) are in opposite directions. One end of the telescopic rod (28) is fixedly connected to the slider (27). The telescopic end of the telescopic rod (28) is fixedly connected to the claw finger (21).

4. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 1, characterized in that, The first fixed component (12) also includes a hydraulic cylinder (120) and a hinge plate (121). The bottom of the hydraulic cylinder (120) is fixedly connected to the bottom wall of the base (1). The telescopic end of the hydraulic cylinder (120) is rotatably connected to the other end of the swing arm (20). The bottom of the hinge plate (121) is rotatably connected to one end of the top of the hydraulic cylinder (120). The top of the hinge plate (121) is rotatably connected to the middle of the swing arm (20).

5. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 1, characterized in that, The fine-tuning component (3) includes a hydraulic rod (30), a push block (31) and a pair of limiting plates (32). One side of the hydraulic rod (30) is fixedly connected to the drilling table (11), and the telescopic end of the hydraulic rod (30) is fixedly connected to the push block (31). The push block (31) is used to push the flexible wheel body (13) to move horizontally. The limiting plate (32) is rotatably installed on the other side of the drilling table (11) and is used to abut against the flexible wheel body (13).

6. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 5, characterized in that, The fine-tuning component (3) also includes a pair of rotating shafts (33) and a pair of spur gears (34). The rotating shafts (33) pass through the punching table (11) and are rotatably connected to it. One end of the limiting plate (32) is fixedly connected to the top periphery of the rotating shaft (33). The spur gears (34) are coaxially connected to the bottom periphery of the rotating shaft (33). The two spur gears (34) mesh with each other.

7. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 6, characterized in that, The fine-tuning component (3) also includes a ratchet (35), a pawl (36), a cam shaft (37), and a torsion spring (38). The ratchet (35) is coaxially connected to the periphery of one of the rotating shafts (33). One end of the pawl (36) meshes with the ratchet (35). The cam shaft (37) passes through the middle of the pawl (36) and is coaxially connected with it. The cam shaft (37) is rotatably connected to the top wall of the punching table (11). The torsion spring (38) is sleeved on the periphery of the cam shaft (37). Both ends of the torsion spring (38) are fixedly connected to the top wall of the punching table (11) and the top of the pawl (36), respectively.

8. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 1, characterized in that, It also includes a chamfered platform (14), a second fixing component (15) and a positioning component (4). The bottom of the chamfered platform (14) is fixedly connected to the top of the base (1). The chamfered platform (14) is provided with an air hole for air tightness testing. The second fixing component (15) has the same structure as the first fixing component (12). A pair of grippers (2) of the second fixing component (15) are symmetrically arranged at both ends of the chamfered platform (14). The positioning component (4) is installed on the base (1) and is used to quickly position the flexible wheel body (13).

9. The airtightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 8, characterized in that, The positioning component (4) includes a pair of positioning pins (40), a pair of support seats (41) and a turntable (42). The top of the positioning pin (40) passes through the chamfered platform (14) and is slidably connected to it. The positioning pin (40) is used to position the flexible wheel body (13) through the round hole. The bottom of the positioning pin (40) passes through the top wall of the support seat (41) and is slidably connected to it. The bottom wall of the base (1) is provided with a guide groove (10). The guide groove (10) is slidably connected to the bottom of the support seat (41). The turntable (42) is rotatably connected to the bottom wall of the base (1). The top two sides of the turntable (42) are symmetrically provided with through arc-shaped grooves (420). The support seat (41) passes through the arc-shaped grooves (420) and is slidably connected to it. The two ends of the arc-shaped grooves (420) are close to the center of the turntable (42) and the outer periphery of the turntable (42), respectively.

10. A gas tightness testing fixture for machining the flexible wheel of a harmonic reducer according to claim 9, characterized in that, The positioning component (4) also includes a second motor (43), a bevel gear (44) and a gear ring (45). The gear ring (45) is fixedly connected to the top of the turntable (42), and the gear ring (45) meshes with the bevel gear (44). The bottom of the motor is fixedly connected to the bottom wall of the base (1), and the output shaft of the motor is coaxially connected with the bevel gear (44).

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