Harmonic transmission component flexible assembly detection all-in-one machine and detection method

Abstract

The present application relates to the technical field of harmonic drive component assembly, and particularly discloses a harmonic drive component compliant assembly and detection integrated machine and a detection method, which comprises a rack, a bottom plate, a conveying module, a transfer and pressing assembly module, a flexible gear fixing module, a steel gear clamping module, a fine adjustment module, a lubricating module and a detection module arranged on the rack. The transfer and pressing assembly module realizes three-dimensional movement, 90-degree turning and pressing of the workpiece; the flexible gear fixing module adaptively adsorbs and fixes the flexible gear; the steel gear clamping module realizes self-centering clamping and space posture adjustment of the steel gear; and the detection module synchronously detects parallelism and coaxiality. The present application realizes full-process automation of the harmonic drive component from conveying, lubricating, pressing assembly to detection, solves the problems of large assembly alignment deviation, easy tooth clashing and pressing assembly inclination, and improves assembly precision and efficiency.

Description

Technical Field

[0001] This invention relates to the field of harmonic drive component assembly technology, specifically to an integrated machine and method for testing compliant assembly of harmonic drive components. Background Technology

[0002] Harmonic reducers are high-performance speed reduction transmission devices composed of three core components: a wave generator, a flexible wheel, and a steel wheel. They are widely used in precision transmission fields such as robotics and aerospace equipment. With increasing demand for domestic production, the assembly precision and production capacity of harmonic drive components have become key bottlenecks restricting large-scale development.

[0003] Chinese invention patent authorization announcement number CN116619019B discloses an automatic assembly machine for harmonic reducers and its assembly process, including a loading arm, a first platform, a steel wheel assembly robot, a shooting and correction mechanism, a handling and fixing mechanism, a second platform, a wave generator assembly robot, and a unloading arm, which realizes the swing-type pressing assembly of steel wheels and flexible wheels and the rotational pressing assembly of wave generators.

[0004] However, the equipment has the following shortcomings in practical applications: the alignment deviation of parts is large, and problems such as tooth tipping and press-fit tilting are prone to occur when assembling rigid steel wheels and flexible wheels, resulting in tooth surface damage and reduced transmission accuracy; the inspection process mainly relies on visual alignment and lacks the ability to conduct high-precision real-time inspection of the parallelism and coaxiality of the assembled products; it does not integrate an automatic grease coating function, making it difficult to form a fully integrated operation; the dual-platform segmented layout is not compact enough and the material flow path is long. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated machine and method for inspecting compliant assembly of harmonic drive components, which can solve the technical problems in the above-mentioned background technology, such as large misalignment of parts in the assembly process; lack of complete functional integration from material transportation to finished product inspection; single inspection process, disconnected from the assembly process, and inability to provide real-time feedback on assembly quality.

[0006] To achieve the above objectives, the present invention provides the following two technical solutions:

[0007] In a first aspect, the present invention provides an integrated machine for compliant assembly and testing of harmonic drive components, comprising a frame, a base plate, and a housing, wherein the frame, base plate, and housing form an internal assembly space; and further comprising:

[0008] Harmonic drive components include a wave generator, a flexible wheel, and a steel wheel;

[0009] The conveying module is used for independently conveying harmonic drive components in layers;

[0010] The transfer and pressing module, straddling the frame, is used to clamp the harmonic drive components. It includes a gripper head module with an internal steering mechanism that allows for 90° switching between gripping and pressing modes.

[0011] The flexible wheel fixing module is located below the transfer pressing module. The transfer pressing module presses the wave generator into the flexible wheel adsorbed by the flexible wheel fixing module to form a preliminary assembly.

[0012] The steel wheel clamping module is located below the flexible wheel fixing module and is used for self-centering clamping of the steel wheel. It includes a three-degree-of-freedom attitude adjustment mechanism, which can realize three attitude adjustment modes: horizontal rotation, unidirectional tilt and compound deflection.

[0013] The fine-tuning module is located below the steel wheel clamping module and drives the steel wheel clamping module to move slightly in the horizontal plane;

[0014] Lubrication module for lubricating and grease-applying the wave generator and steel wheel;

[0015] The detection module is used to monitor the parallelism and coaxiality during the assembly process in real time. The deviation signals detected by the module are fed back to the fine-tuning module and the three-degree-of-freedom attitude adjustment mechanism for position compensation.

[0016] Preferably, the transfer pressing module further includes a Z-axis lifting mechanism, an X-axis translation mechanism, and a Y-axis translation mechanism; the gripper pressing head module is fixedly connected to the Y-axis translation mechanism, and the Z-axis lifting mechanism, X-axis translation mechanism, and Y-axis translation mechanism respectively drive the gripper pressing head module to move along the Z-axis, X-axis, and Y-axis directions.

[0017] Preferably, the gripper head module further includes a gripper drive motor, a torque sensor, a gripper mechanism, and a head mechanism. The gripper drive motor is sequentially connected to the torque sensor and an internal steering mechanism. The internal steering mechanism is connected to both the gripper mechanism and the head mechanism. The gripper mechanism and the head mechanism are arranged at 90°. The 90° rotation between the gripper mechanism and the head mechanism is achieved through the internal steering mechanism. The head mechanism has two built-in pressure sensors that monitor the pressure in real time.

[0018] Preferably, the steel wheel clamping module further includes a wedge-shaped screw three-jaw chuck; the three-degree-of-freedom attitude adjustment mechanism includes a hinged lug; the wedge-shaped screw three-jaw chuck is fixed on the hinged lug, and the three-degree-of-freedom attitude adjustment mechanism is used to realize the horizontal rotation of the wedge-shaped screw three-jaw chuck, unidirectional attitude fine adjustment, and adjustment of pitch angle and spatial attitude in three-dimensional space.

[0019] Preferably, the wedge screw three-jaw chuck includes a chuck drive motor, a central gear, three sets of wedge-shaped guide racks, three sets of wedge-shaped guide rail recesses, and three sets of slider jaw seats. The chuck drive motor drives one of the wedge-shaped guide racks to reciprocate and mesh with the central gear, thereby synchronously driving the other wedge-shaped guide racks to move. The upper wedge-shaped surface of each set of wedge-shaped guide racks cooperates with the lower wedge-shaped structure of its corresponding wedge-shaped guide rail recess, driving the wedge-shaped guide rail recess to slide radially along the chuck. The three sets of slider jaw seats are respectively fixed on the corresponding wedge-shaped guide rail recesses and open and close with their radial movement.

[0020] Preferably, the lubrication module includes a vertical lifting module, a horizontal translation module, a synchronous belt coating module, and a grease heating and stirring module; the synchronous belt coating module is installed on the horizontal translation module; the grease heating and stirring module delivers the heated and stirred grease to the synchronous belt coating module, and the synchronous belt coating module moves in the vertical and horizontal directions respectively through the vertical lifting module and the horizontal translation module to uniformly coat the workpiece surface.

[0021] Preferably, the detection module includes a detection lifting module, a detection translation module, and a dual dial indicator detection mechanism; the detection lifting module includes a detection lifting motor, a detection lifting screw, and a detection guide rail, used to drive the dual dial indicator detection mechanism to move up and down to adjust the detection height; the detection translation module includes a detection horizontal motor and a detection horizontal screw, used to drive the dual dial indicator detection mechanism to move horizontally to the part to be tested; the dual dial indicator detection mechanism is fixed on the detection translation module.

[0022] Preferably, the dual dial indicator testing mechanism includes a dial indicator motor, a dial indicator belt slider, a small guide rail, a vertical dial indicator, a vertical push-pull motor, a horizontal dial indicator, a horizontal push-pull motor, and an adjusting base. The dial indicator motor drives the dial indicator belt slider to perform fine reciprocating motion along the small guide rail via a synchronous belt transmission mechanism. The vertical dial indicator is fixed to the vertical push-pull motor and is mounted together on the adjusting base. The horizontal dial indicator is fixed to the horizontal push-pull motor and is mounted together on the dial indicator belt slider. The vertical dial indicator is used to collect the end face runout data of the workpiece to measure parallelism, and the horizontal dial indicator is used to collect the radial runout data of the workpiece to measure coaxiality.

[0023] Secondly, the present invention provides a testing method for a harmonic drive component compliance assembly testing integrated machine, comprising the following steps:

[0024] Material loading: The conveyor module sequentially transports the steel wheel, flexible wheel, and wave generator to the material handling station.

[0025] The steel wheel is positioned, and the gripper head module of the transfer pressing module clamps the steel wheel in a clamping state and moves it above the steel wheel clamping module. The wedge-shaped screw three-jaw chuck of the steel wheel clamping module self-centers and clamps the steel wheel.

[0026] The flexible wheel is fixed, and the transfer and pressing module clamps the flexible wheel and transfers it to the flexible wheel fixing module for adsorption and fixation.

[0027] Initial alignment inspection, transfer and pressing module clamps wave generator, detection module performs preliminary coaxiality and positional accuracy detection on wave generator, steel wheel and flexible wheel;

[0028] For wave generator lubrication, the transfer and pressing module drives the wave generator to rotate 90° via an internal steering mechanism and transfers it to the lubrication module to complete the lubrication.

[0029] After the internal steering mechanism is reset, the wave generator is precisely positioned above the flexure wheel. The gripper mechanism is released to initially place the wave generator above the flexure wheel. The mechanism is then rotated 90° again to switch to the pressure head mechanism to press the wave generator into the flexure wheel. Two pressure sensors monitor the pressure in real time.

[0030] Initial assembly inspection: The inspection module performs precision inspection on the preliminary assembly.

[0031] For steel wheel lubrication, the steel wheel clamping module moves the steel wheel to the lubrication module to complete the grease application.

[0032] During the final assembly and pressing, the transfer and pressing module precisely aligns and presses the steel wheel with the preliminary assembly. If the teeth are misaligned, the steel wheel clamping module makes synchronous fine adjustments to avoid tooth misalignment.

[0033] For finished product inspection, the steel wheel clamping module drives the harmonic drive component to rotate, and the detection module checks the parallelism and coaxiality.

[0034] Torque test: The drive gripper mechanism clamps the input end of the harmonic drive component, and the torque value is read by the torque sensor to obtain the starting torque and rotational torque.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] 1. This invention integrates a conveying module, a transfer and pressing module, a lubrication module, and a detection module to achieve fully automated closed-loop operation of the harmonic drive assembly from material feeding, lubrication treatment, precision pressing to accuracy detection. It solves the technical problems of component alignment deviation, tooth surface interference, and pressing tilt, and improves the assembly coaxiality and parallelism of the harmonic drive assembly.

[0037] 2. This invention achieves integrated operation of heating, stirring and precise coating of grease through a lubrication module. After heating the grease to a suitable viscosity, the device achieves uniform and quantitative coating of grease through positioning spraying and brushing processes. This changes the traditional assembly process that relies on manual or separate handling for lubrication, and improves operational stability.

[0038] 3. Through the detection module, this invention can accurately collect and provide feedback on the parallelism, coaxiality, and positional deviation of parts during the assembly process, realizing synchronous linkage between the assembly process and the detection process, thereby achieving real-time position compensation based on the detection data.

[0039] 4. This invention achieves precise gripping of parts, adaptive posture adjustment, and automatic centering and clamping through the coordinated linkage of the transfer pressing module and the steel wheel clamping module, thereby reducing manual positioning and repeated calibration processes. Attached Figure Description

[0040] Figure 1 This is a front view of the overall structure in this invention;

[0041] Figure 2 This is a perspective view of the overall structure of the present invention;

[0042] Figure 3 This is a schematic diagram of the conveying module in this invention;

[0043] Figure 4 This is a schematic diagram of the transfer and pressing module in this invention;

[0044] Figure 5 This is a partial structural diagram of the transfer pressing module in this invention;

[0045] Figure 6 This is a schematic diagram of the gripper pressure head module in this invention;

[0046] Figure 7 This is a schematic diagram of the pressure head in this invention;

[0047] Figure 8 This is a schematic diagram of the flexible wheel fixing module in this invention;

[0048] Figure 9 This is a schematic diagram of the vacuum suction cup module in this invention;

[0049] Figure 10 This is a schematic diagram of the steel wheel clamping module in this invention;

[0050] Figure 11 This is a schematic diagram of the structure of the wedge screw three-jaw chuck in this invention;

[0051] Figure 12 This is a schematic diagram of the fine-tuning module in this invention;

[0052] Figure 13 This is a schematic diagram of the lubrication module in this invention;

[0053] Figure 14 This is a schematic diagram of the synchronous belt coating module and the grease heating and stirring module in this invention;

[0054] Figure 15 This is a schematic diagram of the detection module in this invention;

[0055] Figure 16 This is a schematic diagram of the dual dial indicator detection mechanism in this invention;

[0056] Figure 17 This is a schematic diagram of the structure of the harmonic drive component in this invention.

[0057] In the diagram: 0. Frame; 1. Base plate; 2. Conveying module; 3. Transfer and pressing module; 31. Z-axis lifting mechanism; 32. X-axis translation mechanism; 33. Y-axis translation mechanism; 34. Gripper and pressing head module; 341. Gripper drive motor; 342. Torque sensor; 343. Gripper mechanism; 344. Internal steering mechanism; 3441. Driving bevel gear; 3442. First driven bevel gear; 3443. Second driven bevel gear; 345. Pressing head mechanism; 3451. Suction cup push-pull motor; 3 452. Guide sleeve; 3453. Pressure head; 3454. First pressure sensor; 3455. Second pressure sensor; 4. Flexible wheel fixing module; 5. Steel wheel clamping module; 51. Three-degree-of-freedom attitude adjustment mechanism; 511. Hinge ear plate; 512. Chuck motor; 513. Drive gear shaft; 514. Driven gear; 515. Connecting rod with seat; 516. Connecting rod; 52. Wedge screw three-jaw chuck; 521. Chuck drive motor; 522. Center gear; 523. First wedge guide rack 524. Second wedge-shaped guide rack; 525. Third wedge-shaped guide rack; 526. Wedge-shaped guide rail recess; 527. Slider gripper seat; 528. Chuck slide rail; 6. Fine-tuning module; 7. Lubrication module; 71. Vertical lifting module; 72. Horizontal translation module; 73. Synchronous belt coating module; 731. Coating motor; 732. Slider with plate; 733. Spray nozzle; 734. Brush wheel; 74. Grease heating and stirring module; 741. Stirring motor; 742. Stirring paddle; 74 3. Heating motor; 744. Scraper; 8. Detection module; 81. Detection lifting module; 82. Detection translation module; 83. Dual dial indicator detection mechanism; 831. Dial indicator motor; 832. Dial indicator with slide plate; 833. Small guide rail; 834. Vertical dial indicator; 835. Vertical push-pull motor; 836. Horizontal dial indicator; 837. Horizontal push-pull motor; 838. Adjustment seat; 9. Harmonic drive assembly; 91. Wave generator; 92. Flexible wheel; 93. Steel wheel; 94. Final assembly. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Example 1:

[0060] Please see Figure 1-17 A harmonic drive component compliant assembly and testing integrated machine includes a frame 0, a base plate 1, and a housing. The frame 0, base plate 1, and housing form an internal assembly space. The housing, not shown in the figure, is used to fix the various mechanisms. It also includes a conveying module 2, a transfer and pressing module 3, a flexible wheel fixing module 4, a steel wheel clamping module 5, a fine-tuning module 6, a lubrication module 7, a testing module 8, and a harmonic drive assembly 9. The harmonic drive assembly 9 includes a wave generator 91, a flexible wheel 92, and a steel wheel 93. The wave generator 91, flexible wheel 92, and steel wheel 93 are assembled to form a final assembly 94. The machine also includes a control system. The control system receives detection signals from the testing module 8, a torque sensor 342, and two pressure sensors, and drives the fine-tuning module 6 and the three-degree-of-freedom attitude adjustment mechanism 51 to perform position correction.

[0061] Conveying module 2 is located on the right side of frame 0, enabling sequential and rhythmic conveying of components. Conveying module 2 includes four independently driven, parallel synchronous belt conveyor units and a conveyor device fixing plate 22. Each conveyor unit is fixedly connected to the conveyor device fixing plate 22 via bearings, and the conveyor device fixing plate 22 is fixedly connected to frame 0. Each synchronous belt conveyor unit includes a conveyor motor 21; the four conveyor motors 21 form four independently operating synchronous belt conveyor units via synchronous belt drive mechanisms. Harmonic drive components 9 are placed on the four synchronous belt conveyor units according to assembly process requirements. The four conveyor motors 21 independently drive the corresponding synchronous belts, driving the harmonic drive components 9 to rotate precisely, providing rhythmic material supply for the assembly and testing of the entire machine.

[0062] During operation, the wave generator 91, flexible wheel 92, and steel wheel 93 are placed on the corresponding synchronous conveyor belts according to the assembly process requirements. Four conveyor motors 21 independently drive the corresponding synchronous belts to rotate, causing the wave generator 91, steel wheel 93, and flexible wheel 92 to precisely rotate to the designated material picking station, placing the assembled final assembly 94 at the material discharge station, providing a rhythmic material supply for the assembly and testing of the entire machine.

[0063] Transfer and pressing module 3: It is positioned above the frame 0 to facilitate the clamping and transfer of steel wheel 93, flexible wheel 92, wave generator 91 and general assembly 94 from the conveying module 2; the transfer and pressing module 3 includes Z-axis lifting mechanism 31, X-axis translation mechanism 32, Y-axis translation mechanism 33 and gripper pressing head module 34.

[0064] Furthermore, the Z-axis lifting mechanism 31 includes a Z-axis lifting motor 311 and a Z-axis lifting lead screw 312; the Z-axis lifting motor 311 drives the Z-axis lifting lead screw 312 to rotate, causing the slider to move up and down along the guide rod, thereby achieving displacement adjustment in the Z-axis direction. The X-axis translation mechanism 32 includes two parallel gear and rack modules, each gear and rack module including an X-axis drive motor 321 and an X-axis gear and rack pair 322; the X-axis drive motor 321 drives the X-axis gear and rack pair 322 to drive the slide table to move smoothly along the X-axis direction. The two modules work synchronously to achieve precise positioning over a large span. The Y-axis translation mechanism 33 includes a Y-axis drive motor 331 and a Y-axis gear and rack pair 332; the Y-axis drive motor 331 drives the slide table and the components below to move linearly along the Y-axis direction through the Y-axis gear and rack pair 332.

[0065] Furthermore, the gripper head module 34 is fixedly connected to the Y-axis translation mechanism 33, including a gripper drive motor 341, a torque sensor 342, a gripper mechanism 343, an internal steering mechanism 344, and a pressure head mechanism 345; the gripper drive motor 341 is connected to the torque sensor 342 and the internal steering mechanism 344 in sequence through a coupling; the internal steering mechanism 344 includes a driving bevel gear 3441, a first driven bevel gear 3442, and a second driven bevel gear 3443; the first driven bevel gear 3442 is fixedly connected to the gripper mechanism 343, and the second driven bevel gear 3443 is fixedly connected to the pressure head mechanism 345, and the two are arranged at 90°. The first driven bevel gear 3442 and the second driven bevel gear 3443 respectively mesh with the driving bevel gear 3441 to realize the 90° rotation of the gripper and the pressure head.

[0066] Furthermore, the pressure head mechanism 345 includes a pressure head push-pull motor 3451, a guide sleeve 3452, a pressure head 3453, a first pressure sensor 3454, and a second pressure sensor 3455. The pressure head push-pull motor 3451 is guided by the guide sleeve 3452 to drive the pressure head to press in smoothly. The first pressure sensor 3454 and the second pressure sensor 3455 are fixed inside the pressure head 3453 and monitor pressure changes in real time to ensure parallelism during the pressing process, and can also promptly identify abnormal working conditions such as jamming.

[0067] Furthermore, the gripper mechanism 343 includes a gripper opening and closing motor 3431, a gripper screw 3432, a gripper screw slider 3433, a gripper main connecting rod 3434, a secondary connecting rod 3435, a support connecting rod 3436, and gripper fingers 3437. The gripper opening and closing motor 3431 drives the gripper screw 3432 to rotate, and through the gripper screw 3432 slider, drives the gripper main connecting rod 3434, secondary connecting rod 3435, and support connecting rod 3436 to move, ultimately driving the two gripper fingers 3437 to synchronously complete the clamping or releasing action.

[0068] During operation, the gripper drive motor 341 can drive the active bevel gear 3441 to rotate, which in turn drives the first driven bevel gear 3442 and the second driven bevel gear 3443 to rotate, thereby enabling the gripper mechanism 343 and the pressure head mechanism 345 to change direction. At the same time, the torque sensor 342 monitors the pressing torque in real time.

[0069] The flexible wheel fixing module 4 is located at the front center of the frame 0 and below the transfer and pressing module 3, so that the wave generator 91 can be pressed into the flexible wheel 92 adsorbed by the flexible wheel fixing module 4 to form a preliminary assembly. The flexible wheel fixing module includes a suction cup screw base 41, a suction cup motor 42, a forward and reverse threaded screw 43, and two mirror-symmetrical vacuum suction cup modules 44. The suction cup motor 42 drives the forward and reverse threaded screw 43 to rotate. The forward and reverse threaded sections of the forward and reverse threaded screw 43 respectively cooperate with the two screw sliders, driving the two vacuum suction cup modules 44 to move relative to or towards each other to accommodate flexible wheels 92 of different sizes.

[0070] Furthermore, each vacuum suction cup module 44 includes a clamping frame 441, two suction cup servos 442, a suction cup main connecting rod 443, an upper auxiliary connecting rod 444, a lower auxiliary connecting rod 445, a guide rod 446, and four vacuum suction cups 447. The two suction cup servos 442 are mounted on the clamping frame 441, forming a dual-servo linkage mechanism. The main connecting rod is connected to the guide rod via the upper and lower auxiliary connecting rods. Two vacuum suction cups are fixed to the clamping frame 441, and the other two vacuum suction cups are respectively connected to the guide rods on both sides.

[0071] During operation, the suction cup motor 42 drives the forward and reverse threaded rods 43 to rotate, causing the two vacuum suction cup modules 44 to move to the corresponding positions on the workpiece. Subsequently, the two suction cup servos 442 in each vacuum suction cup module 44 rotate in opposite directions, driving the guide rods 446 to extend or retract synchronously through the suction cup main connecting rod 443, upper auxiliary connecting rod 444, and lower auxiliary connecting rod 445, thereby adjusting the adsorption posture of the four vacuum suction cups 447. Then, each vacuum suction cup 447 activates negative pressure to collaboratively clamp the workpiece surface, achieving precise clamping and fixing of the flexible wheel 92, and ensuring the positioning stability of the workpiece during assembly.

[0072] The steel wheel clamping module 5 is located below the frame 0 and below the flexible wheel fixing module 4, facilitating the initial assembly and pressing of the steel wheel 93. The steel wheel clamping module 5 includes a three-degree-of-freedom attitude adjustment mechanism 51 and a wedge-shaped screw three-jaw chuck 52. The three-degree-of-freedom attitude adjustment mechanism 51 includes three independent drive units and a hinged lug 511. Each drive unit includes a chuck motor 512, a drive gear shaft 513, a driven gear 514, a seated connecting rod 515, and a connecting rod 516. The three driven gears 514 are coaxially mounted. One end of each seated connecting rod 515 is fixedly connected to the driven gear 514, and the other end is hinged to the hinged lug 511 via the connecting rod 516. The wedge-shaped screw three-jaw chuck 52 is fixed to the hinged lug 511. The three-degree-of-freedom attitude adjustment mechanism 51 can achieve three attitude adjustment modes:

[0073] Horizontal rotation: When the three motors rotate synchronously at the same speed, they drive the hinged ear plate 511 and the wedge-shaped screw three-jaw chuck 52 to rotate, which is used to adjust the circumferential assembly angle of the harmonic components.

[0074] Unidirectional tilting: When a single motor rotates independently, the corresponding drive gear shaft 513 drives the driven gear 514 and the seated connecting rod 515 on that side to deflect, causing the tilt angle of the corresponding connecting rod 516 to change. The other two sets of connecting rods 516 adjust their posture accordingly, jointly driving the hinged ear plate 511 to tilt and rotate from the initial horizontal position to that side. Due to the limitation of mechanical stroke, the hinged ear plate 511 can only pitch within a certain range and cannot reach a completely vertical state. This achieves unidirectional attitude fine adjustment of the chuck, realizing unidirectional attitude fine adjustment of the wedge screw three-jaw chuck 52.

[0075] Compound deflection: When the three motors operate at different speeds, i.e., when there are differences in speed or direction, the rotation angles of the three driven gears 514 and the corresponding connecting rods 515 will differ, causing the tilt angles of the three sets of connecting rods 516 to change synchronously and differently. By controlling the speed difference and phase difference of each motor, the hinge plate 511 can be driven to achieve compound deflection of spatial angle. In this state, the hinge plate 511 no longer simply maintains a horizontal or unidirectional tilt, but adjusts the pitch angle and spatial attitude of the wedge screw three-jaw chuck 52 in three-dimensional space according to the motor differential ratio.

[0076] Furthermore, the wedge-shaped screw three-jaw chuck 52 is used to clamp the steel wheel 93, including a chuck drive motor 521, a central gear 522, a first wedge-shaped guide rack 523, a second wedge-shaped guide rack 524, a third wedge-shaped guide rack 525, three sets of wedge-shaped guide rail recesses 526, three sets of slider jaw seats 527, and a chuck slide rail 528.

[0077] Furthermore, the chuck drive motor 521 is mounted on the hinged lug plate and drives the first wedge-shaped guide rack 523 to reciprocate via a lead screw. The first wedge-shaped guide rack 523 meshes with the central gear 522, which synchronously drives the second and third wedge-shaped guide racks. The upper wedge-shaped surface of each set of wedge-shaped guide racks engages with the lower wedge-shaped structure of its corresponding wedge-shaped guide rail recess 526. When the wedge-shaped guide rack reciprocates, it drives the corresponding wedge-shaped guide rail recess 526 to slide radially along the chuck. The three sets of slider jaw seats 527 are respectively fixed on the corresponding wedge-shaped guide rail recess 526, opening and closing with its radial movement and maintaining synchronization through the guide rod, realizing the three-jaw synchronous self-centering clamping of the steel wheel 93. The chuck outer shell has a three-petal structure, and its inner chuck slide rail 528 limits each wedge-shaped guide rail recess 526 to slide only radially.

[0078] Working process: First, the wedge-shaped screw three-jaw chuck 52 clamps the steel wheel 93 self-centeringly. Depending on the assembly selection, the attitude adjustment mode can be horizontal rotation, unidirectional tilt, or combined deflection. After attitude adjustment, the transfer and pressing module 3 aligns and presses the steel wheel 93 with the preliminary assembly. If misalignment or resistance occurs during pressing, the three-degree-of-freedom attitude adjustment mechanism 51 can fine-tune the chuck angle again to achieve smooth assembly.

[0079] The fine-tuning module 6 is fixed to the base plate 1 and located below the steel wheel clamping module 5, facilitating the fine-tuning of the steel wheel clamping module 5 in the horizontal plane. The fine-tuning module 6 includes an X-axis fine-tuning mechanism 61 and a Y-axis fine-tuning mechanism 62. The X-axis fine-tuning mechanism 61 includes an X-axis fine-tuning motor 611; the Y-axis fine-tuning mechanism 62 includes a Y-axis fine-tuning motor 621. The Y-axis fine-tuning motor 621 drives the lead screw to rotate, causing the corresponding slide to move linearly along the Y-axis. The X-axis fine-tuning motor 611 drives the lead screw to rotate, causing the corresponding slide to move linearly along the X-axis. Through the independent drive of the two sets of lead screws, precise displacement fine-tuning of the steel wheel clamping module 5 in both the X and Y directions is achieved, providing accurate positional assurance for subsequent assembly.

[0080] The lubrication module 7 is located on the left side of the frame 0 to facilitate lubrication and grease application to the wave generator 91 and steel wheel 93. The lubrication module 7 includes a vertical lifting module 71, a horizontal translation module 72, a synchronous belt coating module 73, and a grease heating and stirring module 74. The horizontal translation module 72 is tilted. The synchronous belt coating module 73 is mounted on the horizontal translation module 72.

[0081] Furthermore, the vertical lifting module 71 includes a lifting motor 711, which drives the synchronous belt coating module 73 to move vertically by rotating a drive screw, thereby adjusting the coating height. The horizontal translation module 72 includes a horizontal motor 721, which drives the synchronous belt coating module 73 to move linearly horizontally by rotating a drive screw, thereby achieving precise alignment of the coating position.

[0082] Furthermore, the synchronous belt coating module 73 includes a coating motor 731, a belt slide block 732, a spray nozzle 733, a brush wheel 734, and a servo motor; the belt slide block 732 is driven to reciprocate via a synchronous belt transmission mechanism. The spray nozzle 733 and the brush wheel 734 mounted on the belt slide block 732 move along with it, and the servo motor can adjust the posture of the brush wheel 734 to ensure coating uniformity.

[0083] Furthermore, the grease heating and stirring module 74 includes a stirring motor 741, a stirring paddle 742, a heating motor 743, a scraper 744, and an oil pump. The stirring motor 741 drives the stirring paddle 742 via gear transmission to stir the grease, while the heating motor 743 provides heat to ensure the fluidity of the grease. The scraper 744 can scrape off residual grease from the barrel wall. The oil pump delivers the heated and stirred grease to the spray nozzle 733. The cable reel synchronously collects the cable as the mechanism moves, ensuring the cleanliness and safety of the cable during the mechanism's operation.

[0084] Working process: The grease heating and stirring module 74 heats and stirs the grease to a suitable viscosity; the vertical lifting module 71 and the horizontal translation module 72 drive the synchronous belt coating module 73 to position it on the workpiece; the coating motor 731 drives the spray nozzle 733 and the brush wheel 734 to reciprocate to complete the uniform coating.

[0085] The detection module 8 is located at the rear center of the frame 0 to facilitate monitoring of parallelism and coaxiality during assembly. The deviation signals detected by the module are used to drive the fine-tuning module 6 and the three-degree-of-freedom attitude adjustment mechanism 51 for position compensation. It includes a detection lifting module 81, a detection translation module 82, and a dual dial indicator detection mechanism 83. The dual dial indicator detection mechanism 83 is used to detect the parallelism and coaxiality of the harmonic drive assembly 9 and the overall assembly 94.

[0086] Furthermore, the horizontal detection module includes a horizontal detection motor 821 and a horizontal detection lead screw 822. When the horizontal detection motor 821 drives the horizontal detection lead screw 822 to rotate, it can move the detection mechanism horizontally to the part to be measured, providing positional assurance for accurate detection of parallelism and coaxiality. The lifting detection module 81 includes a lifting detection motor 811, a lifting detection lead screw 812, and a detection guide rail 813. The lifting detection motor 811 drives the lifting detection lead screw 812 to rotate, and simultaneously, in conjunction with the other three sets of detection guide rails 813, drives the dual dial indicator detection mechanism 83 to move up and down synchronously, realizing the adjustment of the detection height.

[0087] Furthermore, the dual dial indicator testing mechanism 83 is fixedly connected to the translation module, which includes a dial indicator motor 831, a dial indicator belt slider 832, a small guide rail 833, a vertical dial indicator 834, a vertical push-pull motor 835, a horizontal dial indicator 836, a horizontal push-pull motor 837, and an adjusting seat 838. The dial indicator motor 831 drives the dial indicator belt slider 832 to perform fine reciprocating motion along the small guide rail 833 via a synchronous belt transmission mechanism. The vertical dial indicator 834 is fixed to the vertical push-pull motor 835, and both are mounted on the adjusting seat 838; the horizontal dial indicator 836 is fixed to the horizontal push-pull motor 837, and the horizontal dial indicator 836 passes through the adjusting seat 838 and is mounted on the dial indicator belt slider 832 together with the push-pull motor. During operation, the vertical dial indicator 834 collects end face runout data, i.e., parallelism, and the horizontal dial indicator 836 collects radial runout data, i.e., coaxiality.

[0088] Working process: First, start the detection lifting motor 811 to adjust the dual dial indicator detection mechanism 83 to a suitable detection height; then start the detection horizontal motor 821 to push the dual dial indicator detection mechanism 83 to the part to be tested. Fine-tune the dial indicator posture by adjusting the seat 838, the vertical push-pull motor 835, and the horizontal push-pull motor 837 so that the probe contacts the surface to be tested. Start the dial indicator motor 831 to drive the dial indicator to move finely. At the same time, the workpiece to be tested rotates. The vertical dial indicator 834 collects end face runout data (parallelism), and the horizontal dial indicator 836 collects radial runout data (coaxiality). Collect parallelism and coaxiality detection data after the wave generator 91 and flexible wheel 92 are assembled. After the test is completed, each motor runs in reverse to drive the detection mechanism to reset. Then, complete the assembly of the steel wheel 93, start the relevant motors and the dual push-pull motor to the part to be tested again, and repeat the above steps of dial indicator posture fine-tuning and data acquisition to complete the second test after the steel wheel 93 is assembled. After the second test is completed, each motor runs in reverse to drive all components to reset, which is convenient for the next workpiece test. When the detection module 8 detects that the coaxiality deviation exceeds the threshold, it sends the deviation signal to the control system. The control system drives the fine-tuning module to perform position compensation, while the three-degree-of-freedom attitude adjustment mechanism 51 adjusts the pitch angle until the detected value returns to the tolerance range.

[0089] Example 2:

[0090] A testing method for a harmonic drive component compliance assembly testing integrated machine includes the following steps:

[0091] Material loading: Conveying module 2 sequentially transports steel wheel 93, flexible wheel 92, and wave generator 91 to the material picking station;

[0092] The steel wheel 93 is positioned, and the gripper head module 34 of the transfer pressing module 3 clamps the steel wheel 93 in a clamping state and moves it above the steel wheel clamping module 5. The wedge-shaped screw three-jaw chuck 52 of the steel wheel clamping module 5 self-centers and clamps the steel wheel 93.

[0093] The flexible wheel 92 is fixed, and the transfer and pressing module 3 clamps the flexible wheel 92 and transfers it to the flexible wheel fixing module for adsorption and fixation.

[0094] Initial alignment inspection, transfer and pressing module 3 clamps wave generator 91, and detection module 8 performs preliminary coaxiality and positional accuracy detection on wave generator 91, steel wheel 93 and flexible wheel 92;

[0095] The wave generator 91 is lubricated. The transfer and pressing module 3 drives the wave generator 91 to rotate 90° through the internal steering mechanism 344 and transfers it to the lubrication module 7 to complete the lubrication.

[0096] After the wave generator 91 is pressed in, the internal steering mechanism 344 is reset and precisely positioned above the flexible wheel 92. The clamping mechanism 343 is released to initially place the wave generator above the flexible wheel 92. The mechanism is then rotated 90° again to switch to the pressure head mechanism 345 to press the wave generator 91 into the flexible wheel 92. Two pressure sensors monitor the pressure in real time.

[0097] Initial assembly inspection: Inspection module 8 performs precision inspection on the preliminary assembly.

[0098] The steel wheel 93 is lubricated by the steel wheel clamping module 5, which moves the steel wheel 93 to the lubrication module 7 to complete the grease application. The steel wheel clamping module 5 can adjust the pitch angle and spatial attitude in three-dimensional space, and can apply grease to the inner wall of the steel wheel through the extension and retraction of the screw of the lubrication module 7.

[0099] During the final assembly and pressing, the transfer and pressing module precisely aligns and presses the steel wheel 93 with the preliminary assembly. If the teeth are misaligned, the steel wheel clamping module makes synchronous fine adjustments to avoid tooth misalignment.

[0100] For finished product inspection, the steel wheel clamping module drives the harmonic drive component 9 to rotate, which, together with the detection module 8, detects parallelism and coaxiality.

[0101] Torque test: drive gripper mechanism 343 to clamp the input end of harmonic drive component 9, and read torque value through torque sensor 342 to obtain starting torque and rotational torque.

[0102] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0103] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A compliant assembly and testing integrated machine for harmonic drive components, comprising a frame, a base plate, and a housing, wherein the frame, base plate, and housing form an internal assembly space; characterized in that, Also includes: Harmonic drive components include a wave generator, a flexible wheel, and a steel wheel; The conveying module is used for independently conveying harmonic drive components in layers; The transfer and pressing module, straddling the frame, is used to grip the harmonic drive assembly. It includes a gripper head module, a Z-axis lifting mechanism, an X-axis translation mechanism, and a Y-axis translation mechanism. The gripper head module is fixedly connected to the Y-axis translation mechanism. The Z-axis lifting mechanism, X-axis translation mechanism, and Y-axis translation mechanism drive the gripper head module to move along the Z-axis, X-axis, and Y-axis directions, respectively. The gripper head module includes an internal steering mechanism, a gripper drive motor, a torque sensor, a gripper mechanism, and a pressing head mechanism. The gripper drive motor is sequentially connected to the torque sensor and the internal steering mechanism. The internal steering mechanism is connected to both the gripper mechanism and the pressing head mechanism. The gripper mechanism and the pressing head mechanism are arranged at 90°, and the internal steering mechanism enables a 90° rotation between them. The pressing head mechanism includes a pressing head push-pull motor, a guide sleeve, a pressing head, a first pressure sensor, and a second pressure sensor. The pressing head push-pull motor is guided by the guide sleeve to drive the pressing head to press in smoothly. The first and second pressure sensors are fixed inside the pressing head and monitor pressure changes in real time. The flexible wheel fixing module is located below the transfer pressing module. The transfer pressing module presses the wave generator into the flexible wheel adsorbed by the flexible wheel fixing module to form a preliminary assembly. The steel wheel clamping module is located below the flexible wheel fixing module and is used for self-centering clamping of the steel wheel. It includes a three-degree-of-freedom attitude adjustment mechanism, which can realize three attitude adjustment modes: horizontal rotation, unidirectional tilt and compound deflection. The fine-tuning module is located below the steel wheel clamping module and drives the steel wheel clamping module to move slightly in the horizontal plane; Lubrication module for lubricating and grease-applying the wave generator and steel wheel; The detection module is used to monitor the parallelism and coaxiality during the assembly process in real time. The deviation signals detected by the module are fed back to the fine-tuning module and the three-degree-of-freedom attitude adjustment mechanism for position compensation.

2. The integrated machine for compliant assembly and testing of harmonic drive components according to claim 1, characterized in that: The steel wheel clamping module also includes a wedge-shaped screw three-jaw chuck; the three-degree-of-freedom attitude adjustment mechanism includes a hinged lug; the wedge-shaped screw three-jaw chuck is fixed on the hinged lug, and the three-degree-of-freedom attitude adjustment mechanism is used to realize the horizontal rotation of the wedge-shaped screw three-jaw chuck, unidirectional attitude fine adjustment, and adjustment of pitch angle and spatial attitude in three-dimensional space.

3. The integrated machine for compliant assembly and testing of harmonic drive components according to claim 2, characterized in that: The wedge screw three-jaw chuck includes a chuck drive motor, a central gear, three sets of wedge-shaped guide racks, three sets of wedge-shaped guide rail recesses, and three sets of slider jaw seats. The chuck drive motor drives one of the wedge-shaped guide racks to reciprocate and mesh with the central gear, thereby synchronously driving the other wedge-shaped guide racks to move. The upper wedge-shaped surface of each set of wedge-shaped guide racks cooperates with the lower wedge-shaped structure of its corresponding wedge-shaped guide rail recess, driving the wedge-shaped guide rail recess to slide radially along the chuck. The three sets of slider jaw seats are fixed to the corresponding wedge-shaped guide rail recesses and open and close with their radial movement.

4. The integrated machine for compliant assembly and testing of harmonic drive components according to claim 1, characterized in that: The lubrication module includes a vertical lifting module, a horizontal translation module, a synchronous belt coating module, and a grease heating and stirring module. The synchronous belt coating module is installed on the horizontal translation module. The grease heating and stirring module delivers the heated and stirred grease to the synchronous belt coating module. The synchronous belt coating module moves in the vertical and horizontal directions via the vertical lifting module and the horizontal translation module, respectively, to uniformly coat the workpiece surface.

5. The integrated machine for compliant assembly and testing of harmonic drive components according to claim 1, characterized in that: The detection module includes a detection lifting module, a detection translation module, and a dual dial indicator detection mechanism. The detection lifting module includes a detection lifting motor, a detection lifting lead screw, and a detection guide rail, used to drive the dual dial indicator detection mechanism to move up and down to adjust the detection height. The detection translation module includes a detection horizontal motor and a detection horizontal lead screw, used to drive the dual dial indicator detection mechanism to move horizontally to the part to be tested. The dual dial indicator detection mechanism is fixed on the detection translation module.

6. The integrated machine for compliant assembly and testing of harmonic drive components according to claim 5, characterized in that: The dual dial indicator testing mechanism includes a dial indicator motor, a dial indicator belt slider, a small guide rail, a vertical dial indicator, a vertical push-pull motor, a horizontal dial indicator, a horizontal push-pull motor, and an adjusting base. The dial indicator motor drives the dial indicator belt slider to perform fine reciprocating motion along the small guide rail via a synchronous belt transmission mechanism. The vertical dial indicator is fixed to the vertical push-pull motor and is mounted together on the adjusting base. The horizontal dial indicator is fixed to the horizontal push-pull motor and is mounted together on the dial indicator belt slider. The vertical dial indicator is used to collect the end face runout data of the workpiece to measure parallelism, and the horizontal dial indicator is used to collect the radial runout data of the workpiece to measure coaxiality.

7. A testing method for a harmonic drive component compliance assembly testing integrated machine as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Material loading: The conveyor module sequentially transports the steel wheel, flexible wheel, and wave generator to the material handling station. The steel wheel is positioned, and the gripper head module of the transfer pressing module clamps the steel wheel in a clamping state and moves it above the steel wheel clamping module. The wedge-shaped screw three-jaw chuck of the steel wheel clamping module self-centers and clamps the steel wheel. The flexible wheel is fixed, and the transfer and pressing module clamps the flexible wheel and transfers it to the flexible wheel fixing module for adsorption and fixation. Initial alignment inspection, transfer and pressing module clamps wave generator, detection module performs preliminary coaxiality and positional accuracy detection on wave generator, steel wheel and flexible wheel; For wave generator lubrication, the transfer and pressing module drives the wave generator to rotate 90° via an internal steering mechanism and transfers it to the lubrication module to complete the lubrication. After the internal steering mechanism is reset, the wave generator is precisely positioned above the flexure wheel. The gripper mechanism is released to initially place the wave generator above the flexure wheel. The mechanism is then rotated 90° again to switch to the pressure head mechanism to press the wave generator into the flexure wheel. Two pressure sensors monitor the pressure in real time. Initial assembly inspection: The inspection module performs accuracy inspection on the preliminary assembly. For steel wheel lubrication, the steel wheel clamping module moves the steel wheel to the lubrication module to complete the grease application. During the final assembly and pressing, the transfer and pressing module precisely aligns and presses the steel wheel with the preliminary assembly. If the teeth are misaligned, the steel wheel clamping module makes synchronous fine adjustments to avoid tooth misalignment. For finished product inspection, the steel wheel clamping module drives the harmonic drive component to rotate, and the detection module checks the parallelism and coaxiality. Torque test: The drive gripper mechanism clamps the input end of the harmonic drive component, and the torque value is read by the torque sensor to obtain the starting torque and rotational torque.

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