Fixture assembly and method for assembling harmonic reducers

Abstract

This invention relates to the field of harmonic reducer assembly technology, specifically disclosing a fixture assembly and method for assembling harmonic reducers, aiming to improve the assembly accuracy of harmonic reducers. The fixture assembly features a flexible wheel fixture that, through the coordinated cooperation of a third hydraulic expansion part and a second variable-diameter expansion sleeve, achieves high-precision positioning of the pre-assembled component consisting of a first component and a flexible wheel in a second circular assembly groove. Simultaneously, a motor drives a wave generator and a drive bearing to rotate synchronously, allowing the flexible wheel to simulate the dynamic rotation of actual operating conditions during assembly. This enables adaptive meshing and automatic centering of the flexible wheel and rigid wheel under dynamic rotation, effectively avoiding random errors introduced by traditional manual static assembly, significantly improving the uniformity and stability of tooth surface meshing, ensuring uniform contact of the tooth surfaces, and providing balanced transmission clearance, thereby greatly improving the assembly accuracy and service life of the harmonic reducer.

Description

Technical Field

[0001] This invention belongs to the field of harmonic reducer assembly technology, specifically relating to a fixture assembly and method for assembling harmonic reducers. Background Technology

[0002] A harmonic reducer is a gear transmission device that reduces speed and increases torque to meet the needs of various working machines. It is widely used in aerospace, marine, machinery manufacturing, transportation and other fields. A harmonic reducer mainly consists of a wave generator, a flexible gear, a cross bearing, and a rigid gear. Motion and power are transmitted by the wave generator driving the meshing flexible and rigid gears.

[0003] In precision equipment, extremely high requirements are placed on the smoothness of harmonic reducer operation and the radial runout at the output end. The assembly accuracy of a harmonic reducer depends primarily on the coaxiality of the rigid wheel, flex wheel, and cross bearing, as well as the uniformity of the tooth meshing between the flex wheel and the rigid wheel after assembly. However, existing harmonic reducer assembly processes mainly suffer from the following problems:

[0004] 1. Low coaxiality control accuracy: Traditional fixtures use mechanical jaws for clamping, and the positioning of the rigid wheel and the cross bearing relies on manual calibration. The concentricity error is usually above 0.01mm, resulting in uneven meshing clearance of subsequent gear teeth.

[0005] 2. Clamping method can easily damage parts: The rigid clamping of mechanical jaws can cause indentations or scratches on the outer circle of the rigid wheel and the outer circle of the cross bearing, affecting the accuracy and service life of the parts;

[0006] 3. Meshing centering is static positioning: The meshing of the flexible wheel and the rigid wheel is mostly positioned by manual observation or feeler gauge inspection, which cannot achieve dynamic meshing calibration and is prone to problems such as local meshing being too tight or the gap being too large.

[0007] 4. Dispersed fixture structure: Clamping the rigid wheel and the cross bearing requires multiple sets of fixtures to operate in steps, making the assembly process cumbersome and the repeated positioning can easily accumulate errors. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a fixture assembly that can improve the assembly accuracy of harmonic reducers.

[0009] The technical solution adopted by the present invention to solve its technical problem is: a fixture assembly for assembling a harmonic reducer, including an assembly base, a rigid wheel fixture and a flexible wheel fixture;

[0010] The rigid wheel clamp is mounted on the assembly seat and is used to assemble the rigid wheel and the cross bearing into the first component;

[0011] The flexible wheel clamp is mounted on the assembly base and is used to assemble the flexible wheel with the first component to form the second component;

[0012] The flexible wheel clamp includes a flexible wheel clamp body, a second ejection mechanism, and a drive mechanism;

[0013] The flexible wheel clamp body includes a base, a pad, and a second reducing expansion sleeve;

[0014] The base is mounted on the assembly base, and the upper part of the base is provided with a base cylinder section. The inner wall of the base cylinder section is provided with a base annular cavity along its circumference, so that the inner wall of the base cylinder section forms a third hydraulic expansion part; the base is provided with a third pressurization mechanism for pressurizing the base annular cavity.

[0015] The gasket is annular and embedded in the base cylinder section. The inner hole of the gasket forms a dynamic engagement cavity, which can be used to embed the rigid wheel in the first component.

[0016] The second variable diameter expansion sleeve is embedded in the base cylinder section and located on the upper side of the pad sleeve; the inner cavity of the second variable diameter expansion sleeve is a clamping cavity, and the clamping cavity and the dynamic engagement cavity together form a second circular assembly groove, which is used to install the first component and the pre-assembled component pre-assembled together.

[0017] The second ejection mechanism is mounted on the flexible wheel clamp body and is used to eject the second component from the second circular assembly slot.

[0018] The drive mechanism includes a wave generator rotatably disposed in the dynamic engagement cavity and coaxial with the pad, a motor disposed on the base and drivenly connected to the wave generator, and a drive bearing sleeved outside the wave generator for engaging with the flexible wheel.

[0019] Furthermore, there are at least three second ejection mechanisms, arranged in a circular array around the central axis of the base. Each second ejection mechanism includes an ejection seat located at the bottom of the base. A second ejection piston chamber is formed between the upper part of the ejection seat and the bottom of the base. A second ejection rod through-hole connects the center of the second ejection piston chamber and the edge of the clamping chamber. A second ejection piston, dividing the second ejection piston chamber into a third upper chamber and a third lower chamber, is located within the second ejection piston chamber. A second ejection air passage communicates with the third lower chamber on the ejection seat. A second ejection rod is connected to the second ejection piston. The upper end of the second ejection rod passes through the second ejection rod through-hole and can extend into the clamping chamber. A second ejection rod return spring is fitted onto the second ejection rod. One end of the second ejection rod return spring abuts against the second ejection piston, and the other end abuts against the top surface of the third upper chamber. By adjusting the pressure difference between the third lower chamber and the third upper chamber, the second ejection piston can be driven to move the second ejection rod upwards, thereby ejecting the second component from the second circular assembly slot.

[0020] Furthermore, the rigid wheel clamp includes a rigid wheel clamp body, a pull-down mechanism, and a first ejection mechanism;

[0021] The main body of the rigid wheel clamp includes a lower base, an upper base, and a first variable diameter expansion sleeve;

[0022] The lower base is mounted on the assembly seat. The upper part of the lower base is provided with a first cylindrical section. The inner wall of the first cylindrical section is provided with a first annular cavity along its circumference, so that the inner wall of the first cylindrical section forms a first hydraulic expansion part for radially clamping the cross bearing.

[0023] The upper base is cylindrical and is fitted onto the first cylindrical section, and has a second cylindrical section extending upward beyond the first cylindrical section; the inner wall of the second cylindrical section is provided with a second annular cavity along its circumference, so that the inner wall of the second cylindrical section forms a second fluid-expanding part;

[0024] The main body of the rigid wheel clamp is provided with a first pressurizing mechanism for pressurizing the first annular cavity and a second pressurizing mechanism for pressurizing the second annular cavity;

[0025] The first variable diameter expansion sleeve is embedded in the second cylindrical section and is used to cooperate with the second hydraulic expansion part to radially clamp the rigid wheel. The area enclosed by the first variable diameter expansion sleeve and the area enclosed by the first cylindrical section together form the first circular assembly groove. The first circular assembly groove is used to install the rigid wheel and the cross bearing.

[0026] The pull-down mechanism is mounted on the rigid wheel clamp body and is used to cooperate with the first circular assembly slot to axially clamp the rigid wheel and the cross bearing.

[0027] The first ejection mechanism is mounted on the rigid wheel clamp body and is used to eject the first component from the first circular assembly slot.

[0028] Furthermore, the first pressurizing mechanism includes a first pressurizing channel disposed in the lower base and communicating with the first annular cavity, a first pressurizing piston disposed in the first pressurizing channel and slidingly sealingly fitted therewith, and a first pressurizing screw threadedly connected to the first pressurizing channel and capable of pressing the first pressurizing piston toward the inner end of the first pressurizing channel;

[0029] The second pressurizing mechanism includes a second pressurizing channel disposed in the lower or upper base and connected to the second annular cavity, a second pressurizing piston disposed in the second pressurizing channel and slidably sealed therewith, and a second pressurizing screw threadedly connected to the second pressurizing channel and capable of pressing the second pressurizing piston toward the inner end of the second pressurizing channel.

[0030] The third pressurizing mechanism includes a third pressurizing channel disposed within the base and communicating with the annular cavity of the base, a third pressurizing piston disposed within the third pressurizing channel and in sliding sealing cooperation therewith, and a third pressurizing screw threadedly connected to the third pressurizing channel and capable of pressing the third pressurizing piston toward the inner end of the third pressurizing channel.

[0031] Furthermore, the base is also provided with a pressure regulating mechanism for replenishing hydraulic medium into the annular cavity of the base. The pressure regulating mechanism includes a pressure regulating channel disposed in the base and connected to the annular cavity of the base, a pressure regulating plug disposed in the pressure regulating channel and sealed therewith, and a pressure regulating screw that is threadedly connected to the pressure regulating channel and tightens the pressure regulating plug.

[0032] Furthermore, a radial adjustment mechanism is provided at the part where the upper base mates with the first cylindrical section. There are at least three radial adjustment mechanisms and they are evenly distributed along the circumference of the first cylindrical section.

[0033] The radial adjustment mechanism includes a radial adjustment hole opened on the upper base, a radial adjustment screw threaded into the radial adjustment hole, and the inner end of the radial adjustment screw abutting against the outer wall of the first cylindrical section.

[0034] Furthermore, the first variable diameter expansion sleeve includes an annular first sleeve body, which has at least three first blind grooves and a number of second blind grooves equal to the number of first blind grooves. The first blind grooves extend downward from the upper end of the first sleeve body, and the second blind grooves extend upward from the lower end of the first sleeve body. The first blind grooves and the second blind grooves are alternately distributed along the circumference of the first sleeve body and divide the first sleeve body into multiple annular segments. The inner wall of the annular segments is provided with fan-shaped clamps extending toward the center of the first sleeve body.

[0035] And / or, the second variable diameter expansion sleeve includes an annular second sleeve body, the second sleeve body is provided with at least three third blind grooves and a fourth blind groove equal in number to the third blind grooves, the third blind grooves extend downward from the upper end face of the second sleeve body, the fourth blind grooves extend upward from the lower end face of the second sleeve body, and the third blind grooves and the fourth blind grooves are alternately distributed along the circumference of the second sleeve body.

[0036] Furthermore, the pull-down mechanism includes a pull-down piston chamber formed within the lower base. A pull rod through-hole axially connects the center of the pull-down piston chamber and the center of the first circular assembly groove. A pull-down piston, dividing the pull-down piston chamber into a first upper chamber and a first lower chamber, is provided within the pull-down piston chamber. A pull-down air passage communicating with the first upper chamber is provided on the lower base. A pull-down rod is connected to the pull-down piston. The upper end of the pull-down rod passes through the pull rod through-hole and the first circular assembly groove. A pressure cap is detachably provided at the upper end of the pull-down rod. A bottom cover for sealing the pull-down piston chamber is detachably provided at the bottom of the lower base. An exhaust hole communicating with the first lower chamber is provided on the bottom cover. A pressure cap return spring is provided between the bottom cover and the pull-down piston. By adjusting the pressure difference between the first upper chamber and the first lower chamber, the pull-down piston can drive the pull-down rod to move the pressure cap up and down, thereby loosening or tightening the rigid wheel and the cross bearing in the first circular assembly groove.

[0037] Furthermore, the first ejection mechanism comprises at least three units arranged in a circular array around the central axis of the lower base. Each first ejection mechanism includes a first ejection piston chamber formed within the lower base. A first ejector rod through-hole connecting the center of the first ejection piston chamber and the edge of the first circular mounting groove is provided. A first ejection piston is provided within the first ejection piston chamber, dividing it into a second upper chamber and a second lower chamber. A first ejection air passage communicating with the second lower chamber is provided on the lower base. A first ejection rod is connected to the first ejection piston. The upper end of the first ejector rod passes through the first ejector rod through hole and can extend into the first circular assembly groove. A groove bottom pad is provided in the first circular assembly groove. The groove bottom pad has an ejector rod sliding hole that corresponds to and communicates with the first ejector rod through hole. A first ejector rod return spring is sleeved on the first ejector rod. One end of the first ejector rod return spring abuts against the first ejector piston, and the other end abuts against the top surface of the second upper cavity. By adjusting the pressure difference between the second upper cavity and the second lower cavity, the first ejector piston can be driven to move the first ejector rod upward to eject the first component out of the first circular assembly groove.

[0038] The present invention also provides a method for assembling a harmonic reducer, wherein the assembly is performed using the aforementioned fixture assembly for assembling a harmonic reducer; the method includes the following steps:

[0039] Step 1: Install the cross-bearing into the first circular assembly groove and align it with the first hydraulic expansion part. Pressurize the first annular cavity to cause the first hydraulic expansion part to expand and clamp the outer circle of the cross-bearing.

[0040] Step 2: Insert the first variable diameter expansion sleeve into the first circular assembly groove and align it with the second hydraulic expansion part. Then, install the rigid wheel inside the first variable diameter expansion sleeve and clamp the rigid wheel and the cross bearing axially by using the pull-down mechanism in conjunction with the first circular assembly groove.

[0041] Step 3: Pressurize the second annular cavity to cause the second hydraulic expansion part to expand and clamp the first variable diameter expansion sleeve. The first variable diameter expansion sleeve shrinks evenly to clamp the outer circle of the rigid wheel. Then, lock the rigid wheel and the cross bearing with the rigid wheel connecting screw to obtain the first assembly.

[0042] Step 4: Adjust the pull-down mechanism to loosen the first component, depressurize the second annular cavity, and after the second hydraulic expansion part contracts and loosens the first variable diameter expansion sleeve and the rigid wheel, remove the first variable diameter expansion sleeve; then, depressurize the first annular cavity to make the first hydraulic expansion part contract and loosen the cross bearing; finally, push the first component out of the first circular assembly slot through the first ejection mechanism and remove the first component.

[0043] Step 5: Pre-install the flexible wheel on the first component, and pre-connect the flexible wheel to the cross bearing using the flexible wheel connecting screws to obtain the pre-installed component;

[0044] Step six: Install the pre-assembled components into the second circular assembly slot, so that the rigid wheel is embedded in the dynamic meshing cavity, the inner circle of the toothed part of the flexible wheel is pre-fitted with the drive bearing, and the cross bearing is embedded in the clamping cavity; then, pressurize the base annular cavity to make the third hydraulic expansion part expand radially inward, so as to drive the second variable diameter expansion sleeve to contract and clamp the outer circle of the cross bearing.

[0045] Step 7: Start the motor to make it rotate alternately in both directions. The wave generator drives the drive bearing, which drives the flexible wheel and the rigid wheel to dynamically mesh to achieve automatic centering. After that, fully tighten the flexible wheel connecting screw that connects the flexible wheel and the cross bearing to obtain the second component.

[0046] Step 8: Depressurize the base annular cavity to cause the third hydraulic expansion part to contract and loosen the second variable diameter expansion sleeve and the cross bearing; then, push the cross bearing outward through the second ejection mechanism to disengage the second component from the second circular assembly slot and remove the second component.

[0047] The beneficial effects of this invention are as follows:

[0048] 1) The flexible wheel clamp on the fixture assembly, through the coordinated cooperation of the third hydraulic expansion part and the second variable diameter expansion sleeve, applies a uniform radial clamping force to the outer circle of the cross bearing, which can achieve high-precision positioning of the pre-assembled assembly consisting of the first component and the flexible wheel in the second circular assembly groove; at the same time, by setting a drive mechanism mainly composed of a motor, a wave generator and a drive bearing, the motor drives the wave generator and the drive bearing to rotate synchronously, so that the flexible wheel can simulate the dynamic rotation of the actual operating conditions during the assembly process, thereby realizing the adaptive meshing and automatic centering of the flexible wheel and the rigid wheel in the dynamic rotation state, effectively avoiding the random errors introduced by traditional manual static assembly, significantly improving the uniformity and stability of tooth surface meshing, ensuring that the tooth surface is in a uniform contact state, and having a balanced transmission clearance, which greatly improves the assembly accuracy and service life of the harmonic reducer.

[0049] 2) The rigid wheel clamp on the fixture assembly, by coaxially sleeved on the first cylindrical section of the lower base, transforms the positioning reference of the upper and lower bases from an "end face" to a high-precision "cylindrical surface," ensuring good coaxiality between the first and second hydraulic expansion parts. This effectively avoids the cumulative error caused by end face fit, thereby facilitating further improvement in the assembly accuracy of the rigid wheel and the cross bearing. Tests have shown that the concentricity of the two can typically be controlled within 0.003mm. Simultaneously, the radial flexible expansion achieved by the first hydraulic expansion part, the second hydraulic expansion part, and the first variable diameter expansion sleeve, combined with the axial clamping of the pull-down mechanism, forms a stable three-dimensional clamping system. This effectively avoids damage to the rigid wheel and the cross bearing, ensuring the surface quality and service life of the parts.

[0050] 3) The method for assembling harmonic reducers provided by this invention, by employing the aforementioned fixture assembly, effectively overcomes the defects of existing assembly processes, such as low coaxiality accuracy, easy damage to parts, static meshing centering, and fixture dispersion. This method not only achieves integrated high-precision centering of the rigid wheel and the cross bearing, but also enables non-destructive clamping of the outer diameter of the parts; simultaneously, by guiding the flexible wheel and the rigid wheel to dynamically mesh and center, it ensures the uniformity of gear meshing; furthermore, this method simplifies the assembly process, reduces cumulative positioning errors, and allows the coaxiality of the flexible wheel, rigid wheel, and cross bearing after assembly to be controlled within 0.006 mm.

[0051] The technical effects brought about or directly generated by other technical features of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0052] Figure 1 This is a three-dimensional structural diagram of a partially cut-out section of a harmonic reducer;

[0053] Figure 2 It is a 3D exploded view of the rigid wheel and the cross bearing;

[0054] Figure 3 This is a 3D exploded view of the first component and the flexible wheel;

[0055] Figure 4 This is a three-dimensional structural schematic diagram of the fixture assembly of the present invention;

[0056] Figure 5 This is a three-dimensional structural schematic diagram of the rigid wheel clamp in this invention;

[0057] Figure 6 This is a top view of the rigid wheel clamp in this invention.

[0058] Figure 7 It is along Figure 6 Schematic diagram of the cross-sectional structure along line AA;

[0059] Figure 8 It is along Figure 6 Schematic diagram of the cross-sectional structure of the middle BB line;

[0060] Figure 9 It is along Figure 6 Schematic diagram of the cross-sectional structure of the middle CC line;

[0061] Figure 10 This is a three-dimensional structural schematic diagram of the first variable diameter expansion sleeve in this invention;

[0062] Figure 11 This is a three-dimensional structural schematic diagram of the flexible wheel clamp in this invention;

[0063] Figure 12This is a top view of the flexible wheel clamp in this invention.

[0064] Figure 13 It is along Figure 12 Schematic diagram of the cross-sectional structure of the middle DD line;

[0065] Figure 14 It is along Figure 12 Schematic diagram of the cross-sectional structure of the middle EE line;

[0066] Figure 15 It is along Figure 12 Schematic diagram of the cross-sectional structure of the middle FF line;

[0067] Figure 16 This is a three-dimensional structural schematic diagram of the second variable diameter expansion sleeve in this invention;

[0068] The markings in the diagram are as follows: 100 - Assembly seat, 200 - Rigid wheel clamp, 210 - Lower base, 211 - First annular cavity, 212 - First pressurizing channel, 213 - First pressurizing piston, 214 - First pressurizing screw, 215 - Second pressurizing channel, 216 - Second pressurizing piston, 217 - Second pressurizing screw, 220 - Upper base, 221 - Second annular cavity, 222 - Radial adjustment hole, 223 - Radial adjustment screw 230-First reducing expansion sleeve, 231-First blind groove, 232-Second blind groove, 233-Fan-shaped clamp, 241-First upper cavity, 242-Pull-down piston, 243-Pull-down rod, 244-Pressure cap, 245-Pull-down air passage, 246-Bottom cap, 247-Exhaust port, 248-Pressure cap return spring, 251-Second lower cavity, 252-First ejector piston, 253-First ejector rod, 254-First ejector... Air outlet path, 255-first push rod return spring, 256-slot bottom pad, 300-flexible wheel clamp, 310-base, 311-base annular cavity, 312-third pressurization channel, 313-third pressurization piston, 314-third pressurization screw, 315-pressure regulating channel, 316-pressure regulating plug, 317-pressure regulating screw, 320-waist, 330-second reducing diameter expansion sleeve, 331-third blind groove, 332-fourth blind groove 341-Ejector seat, 342-Third upper cavity, 343-Second ejector piston, 344-Second ejector air passage, 345-Second ejector rod, 346-Second ejector rod return spring, 351-Wave generator, 352-Motor, 353-Drive bearing, 410-First assembly, 411-Cross bearing, 412-Rigid wheel, 413-Rigid wheel connecting screw, 420-Flexible wheel, 430-Flexible wheel connecting screw. Detailed Implementation

[0069] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the drawings, the same reference numerals denote components with the same or similar functions.

[0070] In the description of this invention, the term "detachably configured" refers to a connection between two or more components that can be repeatedly disassembled and reassembled, meaning that disassembly does not affect the original function of the connection structure and the components can be reconnected through the connection structure. This connection can be a threaded connection, screw connection, bolt connection, snap-fit ​​connection, plug-in connection, magnetic connection, etc. The term "rotatably configured" refers to a connection between two parts that allows one part to rotate relative to the other. This connection method typically uses mechanical components such as bearings, bushings, shaft-hole fits, hinges, and universal joints. The term "transmission connection" refers to a connection method used in a mechanical system to transmit power or motion, such as a connection achieved through a coupling, reducer, gear assembly, worm gear assembly, or other transmission mechanism. When the term "multiple" indicates a quantity, it usually refers to three or more. For example, "multiple" usually means three or more. The term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0071] Combination Figures 1 to 5 and Figures 11 to 13 As shown, the fixture assembly for assembling a harmonic reducer includes an assembly base 100, a rigid wheel fixture 200, and a flexible wheel fixture 300.

[0072] The assembly seat 100 is the load-bearing component of the clamp assembly, and typically includes a seat plate and multiple seat legs disposed at the bottom of the seat plate;

[0073] The rigid wheel clamp 200 is mounted on the assembly seat 100 and is used to assemble the rigid wheel 412 and the cross bearing 411 into the first component 410.

[0074] The flexible wheel clamp 300 is disposed on the assembly seat 100 and is used to assemble the flexible wheel 420 with the first component 410 into the second component;

[0075] The flexible wheel clamp 300 includes a flexible wheel clamp body, a second ejection mechanism, and a drive mechanism;

[0076] The flexible wheel clamp body includes a base 310, a pad 320, and a second reducing expansion sleeve 330;

[0077] The base 310 is mounted on the assembly 100. The upper part of the base 310 is provided with a base cylindrical section. The inner wall of the base cylindrical section is provided with a base annular cavity 311 along its circumference, so that the inner wall of the base cylindrical section forms a third hydraulic expansion part. The base annular cavity 311 is distributed close to the inner wall surface of the base cylindrical section, and a thin-walled structure with compressive elasticity is formed between the two. The base 310 is provided with a third pressurizing mechanism for pressurizing the base annular cavity 311. The base annular cavity 311 and the third pressurizing mechanism are filled with a hydraulic medium, such as hydraulic oil. The third pressurizing mechanism can take various forms, such as a threaded manual pressurizing mechanism or a hydraulically driven automatic pressurizing mechanism.

[0078] The sleeve 320 is annular and embedded in the base cylinder section. The inner hole of the sleeve 320 forms a dynamic engagement cavity, which can be used to embed the rigid wheel 412 in the first component 410.

[0079] The second variable diameter expansion sleeve 330 is embedded in the base cylinder section and located on the upper side of the pad 320. The second variable diameter expansion sleeve 330 is used to cooperate with the third hydraulic expansion part to radially clamp the cross bearing 411 in the first component 410. The inner cavity of the second variable diameter expansion sleeve 330 is a clamping cavity. The clamping cavity and the dynamic meshing cavity together form the second circular assembly groove. The second circular assembly groove is used to install the pre-assembled component of the first component 410 and the flexible wheel 420. During operation, pressure is applied to the base annular cavity 311 by the third pressurizing mechanism. The third hydraulic expansion part is pressed and expands slightly inward, thereby driving the second variable diameter expansion sleeve 330 to undergo uniform radial contraction, applying a uniform radial clamping force to the outer circle of the cross bearing 411, and realizing high-precision positioning of the pre-assembled component in the second circular assembly groove.

[0080] The second ejection mechanism is mounted on the flexible wheel clamp body and is used to eject the second component from the second circular assembly slot. The second ejection mechanism can be a linear drive device such as a cylinder, hydraulic cylinder or electric push rod.

[0081] The drive mechanism includes a wave generator 351 rotatably mounted in the dynamic meshing cavity and coaxial with the bushing 320, a motor 352 mounted on the base 310 and driven by the wave generator 351, and a drive bearing 353 sleeved on the outside of the wave generator 351 for engaging with the flexible wheel 420. The drive mechanism is mainly used to simulate the actual operating conditions of the harmonic reducer to achieve adaptive meshing and automatic centering of the flexible wheel 420 and the rigid wheel 412 in a dynamic rotational state. The motor 352 is used to drive the wave generator 351 and the drive bearing 353 to rotate synchronously. It is preferably a servo motor mounted at the bottom of the base 310. With the help of a speed regulator, the speed can be adjusted and the forward and reverse rotation can be adjusted, so that the contact state of the tooth surface under bidirectional force is more stable and uniform, and the transmission gap can be automatically balanced to achieve the optimal automatic centering effect. The drive bearing 353 is mainly used to convert the sliding friction between the wave generator 351 and the flexible wheel 420 into rolling friction to reduce wear and heat generation. The drive bearing 353 can be of various types, preferably a thin-walled bearing.

[0082] Preferably, there are at least three second ejection mechanisms, which are arranged in a ring array around the central axis of the base 310. By arranging multiple second ejection mechanisms in a ring array, a uniform and balanced axial thrust can be applied to the second component when it is removed, which can effectively prevent it from deviating, jamming or deforming during the ejection process, thereby ensuring that it exits the second circular assembly slot smoothly and without damage.

[0083] For example Figure 13As shown, in some embodiments, the second ejection mechanism includes an ejection seat 341 disposed at the bottom of the base 310. A second ejection piston chamber is formed between the upper part of the ejection seat 341 and the bottom of the base 310. A second ejection rod through hole is provided between the center position of the second ejection piston chamber and the edge position of the clamping chamber to connect the two. A second ejection piston 343 is disposed in the second ejection piston chamber, dividing it into a third upper chamber 342 and a third lower chamber. The ejection seat 341 is provided with a second ejection air passage 344 communicating with the third lower chamber. A second ejector rod 345 is connected to 343. The upper end of the second ejector rod 345 passes through the second ejector rod through hole and can extend into the clamping cavity. A second ejector rod return spring 346 is sleeved on the second ejector rod 345. One end of the second ejector rod return spring 346 abuts against the second ejector piston 343, and the other end abuts against the top surface of the third upper cavity 342. By adjusting the pressure difference between the third lower cavity and the third upper cavity 342, the second ejector piston 343 can be driven to drive the second ejector rod 345 to move upward, thereby ejecting the second component from the second circular assembly slot. This second ejection mechanism is integrated on the base 310, making the overall structure of the flexible wheel clamp 300 more compact. It not only realizes the automated unloading of the second component, greatly improving the unloading efficiency, but also effectively reduces the intensity of manual labor and reduces the risk of damage to parts. Air pressure is introduced through the second ejection air passage 344, which drives the second ejection piston 343 to drive the second ejection rod 345 to complete a precise pushing action. The second ejection rod 345 automatically returns to its original position by utilizing the elastic force of the second ejection rod return spring 346 after depressurization. This forms a linkage mechanism of "single-path pneumatic ejection - automatic spring return", which not only simplifies the air path control system, but also provides rapid response and stable operation.

[0084] Combination Figures 1 to 7 As shown, in some embodiments, the rigid wheel clamp 200 includes a rigid wheel clamp body, a pull-down mechanism, and a first ejection mechanism;

[0085] The main body of the rigid wheel clamp includes a lower base 210, an upper base 220, and a first variable diameter expansion sleeve 230;

[0086] The lower base 210 is mounted on the assembly seat 100. The upper part of the lower base 210 is provided with a first cylindrical section. The inner wall of the first cylindrical section is provided with a first annular cavity 211 along its circumference, so that the inner wall of the first cylindrical section forms a first hydraulic expansion part for radially clamping the cross bearing 411. The first annular cavity 211 is opened close to the inner wall surface of the first cylindrical section, so that a thin wall with compressive elasticity is formed between the first annular cavity 211 and the inner wall surface of the first cylindrical section.

[0087] The upper substrate 220 is cylindrical and is fitted onto the first cylindrical section, and has a second cylindrical section extending upward beyond the first cylindrical section; by coaxially fitting the upper substrate 220 onto the first cylindrical section of the lower substrate 210 to form a precise cylindrical surface fit, good coaxiality between the two is ensured; a second annular cavity 221 is provided along its circumference inside the inner wall of the second cylindrical section, so that the inner wall of the second cylindrical section forms a second hydraulic expansion part; the second annular cavity 221 is opened close to the inner wall surface of the second cylindrical section, so that a thin wall with compressive elasticity is formed between the second annular cavity 221 and the inner wall surface of the second cylindrical section;

[0088] The main body of the rigid wheel clamp is provided with a first pressurizing mechanism for pressurizing the first annular cavity 211 and a second pressurizing mechanism for pressurizing the second annular cavity 221; the interiors of the first annular cavity 211 and the first pressurizing mechanism, as well as the interiors of the second annular cavity 221 and the second pressurizing mechanism, are filled with hydraulic medium, such as hydraulic oil; the first pressurizing mechanism and the second pressurizing mechanism can take various forms, such as: a threaded manual pressurizing mechanism, or a hydraulically driven automatic pressurizing mechanism;

[0089] The first variable diameter expansion sleeve 230 is embedded in the second cylindrical section and is used to cooperate with the second hydraulic expansion part to radially clamp the rigid wheel 412. The area enclosed by the first variable diameter expansion sleeve 230 and the area enclosed by the first cylindrical section together form the first circular assembly groove. The first circular assembly groove is used to install the rigid wheel 412 and the cross bearing 411.

[0090] The pull-down mechanism is set on the rigid wheel clamp body and is used to cooperate with the first circular assembly slot to axially clamp the rigid wheel 412 and the cross bearing 411.

[0091] The first ejection mechanism is mounted on the rigid wheel clamp body and is used to eject the first component 410 out of the first circular assembly slot.

[0092] The first and second hydraulic expansion parts of the rigid wheel clamp have good coaxiality, which is beneficial to further improve the assembly accuracy of the rigid wheel 412 and the cross bearing 411. According to the test, the concentricity of the two can usually be controlled within 0.003mm. The radial flexible expansion achieved by the first hydraulic expansion part, the second hydraulic expansion part and the first variable diameter expansion sleeve 230, combined with the axial clamping of the pull-down mechanism, forms a stable three-dimensional clamping system, which can effectively avoid damaging the rigid wheel 412 and the cross bearing 411, and ensure the surface quality and service life of the parts.

[0093] like Figure 8As shown, in some embodiments, the first pressurizing mechanism includes a first pressurizing channel 212 disposed within the lower base 210 and communicating with the first annular cavity 211, a first pressurizing piston 213 disposed within the first pressurizing channel 212 and slidably sealed therewith, and a first pressurizing screw 214 threadedly connected to the first pressurizing channel 212 and capable of pressing the first pressurizing piston 213 toward the inner end of the first pressurizing channel 212. The first pressurizing piston 213 is typically provided with a first sealing ring, which slidably seals with the first pressurizing channel 212. By tightening the first pressurizing screw 214, the first pressurizing piston 213 can be pushed inward, compressing the hydraulic medium within the first pressurizing channel 212, thereby increasing the pressure within the first annular cavity 211, which in turn drives the first hydraulic expansion portion to expand and clamp the cross-bearing 411. Conversely, by loosening the first pressure screw 214, the first pressure piston 213 retracts toward the first pressure screw 214 under the pressure of the hydraulic medium, thereby reducing the pressure generated by the hydraulic medium and causing the first hydraulic expansion part to retract radially and release the cross bearing 411.

[0094] In some embodiments, the rigid wheel clamp body is typically provided with a first pressure regulating mechanism for replenishing hydraulic medium into the first annular cavity 211 and the first pressurizing mechanism, and a second pressure regulating mechanism for replenishing hydraulic medium into the second annular cavity 221 and the second pressurizing mechanism.

[0095] like Figure 9 As shown, in some embodiments, the second pressurizing mechanism includes a second pressurizing channel 215 disposed within the lower base 210 or the upper base 220 and communicating with the second annular cavity 221, a second pressurizing piston 216 disposed within the second pressurizing channel 215 and slidingly sealingly fitted therewith, and a second pressurizing screw 217 threadedly connected to the second pressurizing channel 215 and capable of pressing the second pressurizing piston 216 toward the inner end of the second pressurizing channel 215. The working principle of the second pressurizing mechanism is the same as that of the first pressurizing mechanism.

[0096] like Figure 14 and Figure 15 As shown, in some embodiments, the third pressurizing mechanism includes a third pressurizing channel 312 disposed within the base 310 and communicating with the annular cavity 311 of the base; a third pressurizing piston 313 disposed within the third pressurizing channel 312 and in sliding sealing cooperation therewith; and a third pressurizing screw 314 threadedly connected to the third pressurizing channel 312 and capable of pressing the third pressurizing piston 313 toward the inner end of the third pressurizing channel 312. The working principle of the third pressurizing mechanism is the same as that of the first pressurizing mechanism.

[0097] For example Figure 14 and Figure 15As shown, in some embodiments, the base 310 is further provided with a pressure regulating mechanism for replenishing hydraulic medium into the base annular cavity 311. The pressure regulating mechanism includes a pressure regulating channel 315 disposed within the base 310 and communicating with the base annular cavity 311, a pressure regulating plug 316 disposed within and sealingly fitted with the pressure regulating channel 315, and a pressure regulating screw 317 threadedly connected to the pressure regulating channel 315 and tightening the pressure regulating plug 316. The pressure regulating plug 316 is typically provided with a second sealing ring, which seals against the pressure regulating channel 315 to achieve a blockage. By unscrewing the pressure regulating screw 317, the operator can remove the pressure regulating plug 316 and replenish hydraulic medium into the hydraulic cavity formed by the base annular cavity 311, the third pressurization channel 312, and the pressure regulating channel 315.

[0098] To compensate for coaxiality errors caused by part tolerances and achieve higher precision self-alignment, for example... Figure 7 As shown, in some embodiments, a radial adjustment mechanism is provided at the portion of the upper base 220 that mates with the first cylindrical section. There are at least three radial adjustment mechanisms evenly distributed along the circumference of the first cylindrical section. Each radial adjustment mechanism includes a radial adjustment hole 222 formed on the upper base 220, with a radial adjustment screw 223 threaded into the hole 222. The inner end of the radial adjustment screw 223 abuts against the outer wall of the first cylindrical section. Utilizing the minute gap between the mating surfaces, the operator can change the screw depth of each radial adjustment screw 223 in the radial adjustment hole 222 by individually screwing on the circumferentially distributed radial adjustment screws 223. This allows the inner end of the radial adjustment screw 223 to apply different magnitudes of radial thrust to the outer wall of the first cylindrical section, thereby fine-tuning the coaxiality error and further improving the coaxiality between the first and second hydraulically expanded parts. To avoid damaging the outer wall of the first cylindrical section, the inner end of the radial adjustment screw 223 is usually set as a flat end or has a protective pad on it.

[0099] like Figure 10As shown, in some embodiments, the first variable diameter expansion sleeve 230 includes an annular first sleeve body. The first sleeve body is provided with at least three first blind grooves 231 and a number of second blind grooves 232 equal to the number of first blind grooves 231. The first blind grooves 231 extend downward from the upper end face of the first sleeve body, and the second blind grooves 232 extend upward from the lower end face of the first sleeve body. Each first blind groove 231 and each second blind groove 232 are alternately distributed along the circumference of the first sleeve body, dividing the first sleeve body into multiple annular segments. The inner wall of the annular segments is provided with fan-shaped clamps 233 extending toward the center of the first sleeve body. The first variable diameter expansion sleeve 230 is generally made of rigid material, usually a durable metal material, preferably spring steel; the alternating first blind groove 231 and second blind groove 232 make the first sleeve made of rigid material form an elastic body with continuous folding characteristics in the circumferential direction. When the first variable diameter expansion sleeve 230 is subjected to the clamping force of the second hydraulic expansion part, the adjacent ring segments can undergo a slight elastic deflection with the bottom of the groove as the fulcrum, which changes the opening width of the first blind groove 231 and the second blind groove 232, thereby causing the entire first sleeve to undergo uniform radial contraction, thereby radially clamping the rigid wheel 412 through multiple fan-shaped clamps 233. The alternating slot design not only gives the first variable diameter expansion sleeve 230 excellent radial expansion compensation capability, but also ensures the symmetry of the force in all directions of the circumference during deformation. This allows the fan-shaped clamp 233, which moves synchronously with the first sleeve, to form a large-area contact surface with the rigid wheel 412 located at the center from multiple directions. This not only effectively improves the stability of the clamping and the high-precision centering effect, but also effectively avoids local stress concentration from causing indentation damage to the surface of the rigid wheel 412.

[0100] like Figure 16As shown, in some embodiments, the second variable-diameter expansion sleeve 330 includes an annular second sleeve body. The second sleeve body has at least three third blind grooves 331 and an equal number of fourth blind grooves 332. The third blind grooves 331 extend downwards from the upper end of the second sleeve body, and the fourth blind grooves 332 extend upwards from the lower end of the second sleeve body. The third blind grooves 331 and fourth blind grooves 332 are alternately distributed along the circumference of the second sleeve body. The second variable-diameter expansion sleeve 330 is generally made of the same material as the first variable-diameter expansion sleeve 230. The alternating distribution of the third blind grooves 331 and fourth blind grooves 332 creates an elastic body with continuous folding characteristics in the circumferential direction. When the second variable-diameter expansion sleeve 330 is subjected to the clamping force of the third hydraulic expansion portion, adjacent annular segments can undergo slight elastic deflection around the bottom of the groove, causing a change in the opening width of the third blind grooves 331 and fourth blind grooves 332, thereby causing the entire second sleeve body to undergo uniform radial contraction. The alternating slotted design endows the second variable-diameter expansion sleeve 330 with excellent radial expansion compensation capability. When the outer third hydraulic expansion part expands under pressure, it will uniformly squeeze the second variable-diameter expansion sleeve 330, causing its diameter to shrink slightly, thereby clamping the outer circle of the cross bearing 411 with high precision and uniformity. It should be emphasized that since the outer circle of the flange of the flexible wheel 420 is usually slightly smaller than the outer circle of the cross bearing 411, the second variable-diameter expansion sleeve 330 only clamps the outer circle of the cross bearing 411 when it shrinks, and does not clamp the outer circle of the flange of the flexible wheel 420. This leaves room for adaptive adjustment for the subsequent dynamic centering of the flexible wheel 420.

[0101] For example Figure 7As shown, in some embodiments, the pull-down mechanism includes a pull-down piston chamber opened in the lower base 210. A pull rod through hole is provided between the center of the pull-down piston chamber and the center of the first circular mounting groove to axially connect the two. A pull-down piston 242 is provided in the pull-down piston chamber to divide it into a first upper cavity 241 and a first lower cavity. A pull-down air passage 245 communicating with the first upper cavity 241 is provided on the lower base 210. A pull-down rod 243 is connected to the pull-down piston 242. The upper end of the pull-down rod 243 passes through the pull rod through hole and the first circular mounting groove. A pressure cap 244 is detachably provided at the upper end of the 43, and a bottom cover 246 for sealing the pull-down piston chamber is detachably provided at the bottom of the lower base 210. The bottom cover 246 has an exhaust port 247 communicating with the first lower cavity. A pressure cap return spring 248 is provided between the bottom cover 246 and the pull-down piston 242. By adjusting the pressure difference between the first upper cavity 241 and the first lower cavity, the pull-down piston 242 can drive the pull-down rod 243 to move the pressure cap 244 up and down, thereby loosening or tightening the rigid wheel 412 and the cross bearing 411 in the first circular assembly groove. This pull-down mechanism can automatically clamp and loosen the rigid wheel 412 and the cross bearing 411, which not only significantly improves the operational efficiency of clamping parts and reduces manual labor intensity, but also outputs a uniform and constant axial clamping force by precisely controlling the pressure difference, effectively avoiding component deformation caused by mechanical hard clamping. Through the coordinated action of the air intake drive of the pull-down air passage 245, the exhaust vent 247 for depressurization, and the pressure storage of the pressure cap reset spring 248, a linkage mechanism of "single-path pneumatic clamping - automatic spring reset" is formed. This not only simplifies the control air passage but also ensures that the clamp can safely and quickly release the clamped parts automatically when the air is cut off.

[0102] For example Figure 7As shown, in some embodiments, the first ejection mechanism comprises at least three components arranged in a ring around the central axis of the lower base 210. Each first ejection mechanism includes a first ejection piston chamber located within the lower base 210. A first ejector rod through-hole connecting the center of the first ejection piston chamber and the edge of the first circular mounting groove is provided. A first ejection piston 252, dividing the first ejection piston chamber into a second upper chamber and a second lower chamber 251, is provided within the first ejection piston chamber. A first ejection air passage 254 communicating with the second lower chamber 251 is provided on the lower base 210. A first ejection rod 253 is connected to the first ejection piston 252. The upper end of the ejector rod 253 passes through the first ejector rod through hole and can extend into the first circular assembly groove. A groove bottom pad 256 is provided in the first circular assembly groove, and the groove bottom pad 256 has an ejector rod sliding hole corresponding to and communicating with the first ejector rod through hole. A first ejector rod return spring 255 is sleeved on the first ejector rod 253. One end of the first ejector rod return spring 255 abuts against the first ejector piston 252, and the other end abuts against the top surface of the second upper cavity. By adjusting the pressure difference between the second upper cavity and the second lower cavity 251, the first ejector piston 252 can be driven to move the first ejector rod 253 upwards, thereby ejecting the first component 410 out of the first circular assembly groove. This first ejection mechanism realizes automated unloading of the first component 410, which not only significantly improves the efficiency of unloading but also effectively reduces the intensity of manual labor and the risk of component damage. Through the coordinated action of the first ejection air passage 254 for air intake drive and the first ejector rod return spring 255 for pressure storage, a linkage mechanism of "single-path pneumatic ejection - automatic spring return" is formed. This not only simplifies the air passage control system, but also ensures that the first ejection rod 253 and the first ejection piston 252 can quickly and automatically return to their original positions after the assembly is unloaded.

[0103] The present invention also provides a method for assembling a harmonic reducer, wherein the assembly is performed using the aforementioned fixture assembly for assembling a harmonic reducer; the method includes the following steps:

[0104] Step 1: Install the cross bearing 411 into the first circular assembly groove and align it with the first hydraulic expansion part. Apply pressure to the first annular cavity 211 to cause the first hydraulic expansion part to expand and clamp the outer circle of the cross bearing 411.

[0105] Step 2: Insert the first variable diameter expansion sleeve 230 into the first circular assembly groove and align it with the second hydraulic expansion part. Then, insert the rigid wheel 412 into the first variable diameter expansion sleeve 230 and clamp the rigid wheel 412 and the cross bearing 411 axially by using the pull-down mechanism in conjunction with the first circular assembly groove.

[0106] Step 3: Pressurize the second annular cavity 221 to expand the second hydraulic expansion part and clamp the first variable diameter expansion sleeve 230. The first variable diameter expansion sleeve 230 shrinks evenly to clamp the outer circle of the rigid wheel 412. Then, lock the rigid wheel 412 and the cross bearing 411 with the rigid wheel connecting screw 413 to obtain the first component 410.

[0107] Step four: Adjust the pull-down mechanism to release the first component 410, depressurize the second annular cavity 221, and after the second hydraulic expansion part contracts and releases the first variable diameter expansion sleeve 230 and the rigid wheel 412, remove the first variable diameter expansion sleeve 230; then, depressurize the first annular cavity 211, causing the first hydraulic expansion part to contract and release the cross bearing 411; finally, push the first component 410 out of the first circular assembly groove through the first ejection mechanism and remove the first component 410.

[0108] Step 5: Pre-install the flexible wheel 420 on the first component 410, and pre-connect the flexible wheel 420 to the cross bearing 411 through the flexible wheel connecting screw 430 to obtain the pre-installed component; generally, the pre-installation is carried out manually by the workers offline, and the flexible wheel connecting screw 430 is not fully tightened so that the flexible wheel 420 maintains a small floating amount relative to the cross bearing 411.

[0109] Step six: The pre-assembled components are installed into the second circular assembly slot, so that the rigid wheel 412 is embedded in the dynamic meshing cavity, the inner circle of the toothed part of the flexible wheel 420 is pre-fitted with the drive bearing 353, and the cross bearing 411 is embedded in the clamping cavity; then, pressure is applied to the base annular cavity 311, so that the third hydraulic expansion part expands radially inward, thereby driving the second variable diameter expansion sleeve 330 to contract and clamp the outer circle of the cross bearing 411; in this step, the second variable diameter expansion sleeve 330 does not clamp the outer circle of the flange of the flexible wheel 420, and the outer circle of the flange of the flexible wheel 420 is usually slightly smaller than the outer circle of the cross bearing 411;

[0110] Step 7: Start the motor 352 to rotate alternately in both directions. The wave generator 351 drives the drive bearing 353, causing the flexible wheel 420 and the rigid wheel 412 to dynamically mesh and achieve automatic centering. After turning off the motor 352 and waiting for it to stop running, fully tighten the flexible wheel connecting screw 430 connecting the flexible wheel 420 and the cross bearing 411 to obtain the second component. This step generally involves first controlling the motor 352 to rotate forward for a certain period of time, and then controlling the motor 352 to rotate in reverse for a certain period of time. The specific forward or reverse rotation time can be determined by testing according to the specific specifications of the assembled gears. By controlling the forward and reverse rotation of the motor 352 to drive the gears to mesh dynamically, the contact state of the tooth surface under bidirectional force is more stable and uniform, and the transmission clearance is automatically balanced.

[0111] Step 8: Depressurize the base annular cavity 311 to cause the third hydraulic expansion part to contract and loosen the second variable diameter expansion sleeve 330 and the cross bearing 411; then, push the cross bearing 411 outward through the second ejection mechanism to disengage the second component from the second circular assembly slot and remove the second component.

[0112] In some embodiments, step four specifically involves: pulling down the air passage 245 to stop the air supply, the pressure cap reset spring 248 driving the pull rod 243 to move the pressure cap 244 upward and axially release the rigid wheel 412; then, removing the pressure cap 244, loosening the second pressure screw 217, depressurizing the second annular cavity 221, loosening the second hydraulic expansion part of the first variable diameter expansion sleeve 230, radially loosening the rigid wheel 412 of the first variable diameter expansion sleeve 230, and removing the first variable diameter expansion sleeve 230; loosening the first pressure screw 214, the first annular cavity 221... Depressurize cavity 211, and radially loosen cross bearing 411 in the first hydraulic expansion section; finally, supply air to the second lower cavity 251 through the first ejection air passage 254, and then drive the first ejection piston 252 to push the first ejection rod 253 upward to push out the first component 410; after manually removing the first component 410, stop supplying air to the first ejection air passage 254, and the first ejection rod return spring 255 drives the first ejection piston 252 to drive the first ejection rod 253 to return to its original position, and then the next assembly cycle can begin.

[0113] In some embodiments, step eight specifically involves: depressurizing the base annular cavity 311, causing the third hydraulic expansion part to contract and loosen the second variable diameter expansion sleeve 330, which in turn loosens the cross bearing 411; then, supplying air to the second ejection air passage 344, increasing the air pressure in the third lower cavity, and overcoming the elastic force of the second ejector rod return spring 346 to drive the second ejector rod 345 upward; multiple second ejection mechanisms work together to smoothly eject the second component from the second circular assembly slot, allowing for manual removal; finally, stopping the air supply, and under the action of the second ejector rod return spring 346, the second ejector rod 345 automatically falls back, allowing the next assembly cycle to begin.

Claims

1. A fixture assembly for assembling a harmonic reducer, comprising an assembly base (100), a rigid wheel fixture (200), and a flexible wheel fixture (300). A rigid wheel clamp (200) is mounted on the assembly seat (100) for assembling the rigid wheel (412) and the cross bearing (411) into a first assembly (410). The flexible wheel clamp (300) is mounted on the assembly seat (100) for assembling the flexible wheel (420) with the first component (410) to form the second component; Its features are: The flexible wheel clamp (300) includes a flexible wheel clamp body, a second ejection mechanism, and a drive mechanism; The flexible wheel clamp body includes a base (310), a pad (320), and a second reducing expansion sleeve (330); The base (310) is mounted on the assembly base (100). The upper part of the base (310) is provided with a base cylinder section. The inner wall of the base cylinder section is provided with a base annular cavity (311) along its circumference, so that the inner wall of the base cylinder section forms a third hydraulic expansion part. The base (310) is provided with a third pressurizing mechanism for pressurizing the base annular cavity (311). The sleeve (320) is annular and embedded in the base cylinder section. The inner hole of the sleeve (320) forms a dynamic engagement cavity, which can be used for the rigid wheel (412) in the first component (410) to be embedded. The second variable diameter expansion sleeve (330) is embedded in the base cylinder section and located on the upper side of the pad sleeve (320); the inner cavity of the second variable diameter expansion sleeve (330) is a clamping cavity, and the clamping cavity and the dynamic meshing cavity together form a second circular assembly groove. The second circular assembly groove is used to install the pre-assembled assembly of the first component (410) and the flexible wheel (420) pre-assembled together. The second ejection mechanism is mounted on the flexible wheel clamp body and is used to eject the second component from the second circular assembly slot. The drive mechanism includes a wave generator (351) rotatably disposed in the dynamic engagement cavity and coaxial with the bushing (320), a motor (352) disposed on the base (310) and drivenly connected to the wave generator (351), and a drive bearing (353) sleeved outside the wave generator (351) for engaging with the flexible wheel (420).

2. The fixture assembly for assembling a harmonic reducer according to claim 1, characterized in that: There are at least three second ejection mechanisms, arranged in a circular array around the central axis of the base (310); the second ejection mechanism includes an ejection seat (341) located at the bottom of the base (310), a second ejection piston chamber is provided between the upper part of the ejection seat (341) and the bottom of the base (310), a second ejection rod through hole is provided between the center of the second ejection piston chamber and the edge of the clamping chamber to connect the two, a second ejection piston (343) is provided in the second ejection piston chamber to divide it into a third upper chamber (342) and a third lower chamber, and a second ejection air passage (344) is provided on the ejection seat (341) to communicate with the third lower chamber. The second ejector piston (343) is connected to a second ejector rod (345). The upper end of the second ejector rod (345) passes through the second ejector rod through hole and can extend into the clamping cavity. A second ejector rod return spring (346) is sleeved on the second ejector rod (345). One end of the second ejector rod return spring (346) abuts against the second ejector piston (343), and the other end abuts against the top surface of the third upper cavity (342). By adjusting the pressure difference between the third lower cavity and the third upper cavity (342), the second ejector piston (343) can be driven to drive the second ejector rod (345) to move upward, so as to eject the second component out of the second circular assembly groove.

3. The fixture assembly for assembling a harmonic reducer according to claim 1 or 2, characterized in that: The rigid wheel clamp (200) includes a rigid wheel clamp body, a pull-down mechanism, and a first ejection mechanism; The main body of the rigid wheel clamp includes a lower base (210), an upper base (220), and a first variable diameter expansion sleeve (230). The lower base (210) is mounted on the assembly seat (100). The upper part of the lower base (210) is provided with a first cylindrical section. The inner wall of the first cylindrical section is provided with a first annular cavity (211) along its circumference, so that the inner wall of the first cylindrical section forms a first hydraulic expansion part for radially clamping the cross bearing (411). The upper substrate (220) is cylindrical and is fitted onto the first cylindrical section, and has a second cylindrical section extending upward beyond the first cylindrical section; the inner wall of the second cylindrical section is provided with a second annular cavity (221) along its circumference, so that the inner wall of the second cylindrical section forms a second liquid expansion part; The main body of the rigid wheel clamp is provided with a first pressurizing mechanism for pressurizing the first annular cavity (211) and a second pressurizing mechanism for pressurizing the second annular cavity (221); The first variable diameter expansion sleeve (230) is embedded in the second cylindrical section and is used to cooperate with the second hydraulic expansion part to radially clamp the rigid wheel (412). The area enclosed by the first variable diameter expansion sleeve (230) and the area enclosed by the first cylindrical section together form the first circular assembly groove. The first circular assembly groove is used to install the rigid wheel (412) and the cross bearing (411). The pull-down mechanism is set on the rigid wheel clamp body and is used to cooperate with the first circular assembly slot to axially clamp the rigid wheel (412) and the cross bearing (411); The first ejection mechanism is mounted on the rigid wheel clamp body and is used to eject the first component (410) from the first circular assembly slot.

4. The fixture assembly for assembling a harmonic reducer according to claim 3, characterized in that: The first pressurizing mechanism includes a first pressurizing channel (212) disposed in the lower base (210) and communicating with the first annular cavity (211), a first pressurizing piston (213) disposed in the first pressurizing channel (212) and slidingly sealingly engaged therewith, and a first pressurizing screw (214) threadedly connected to the first pressurizing channel (212) and capable of pressing the first pressurizing piston (213) toward the inner end of the first pressurizing channel (212). The second pressurizing mechanism includes a second pressurizing channel (215) disposed in the lower base (210) or the upper base (220) and communicating with the second annular cavity (221), a second pressurizing piston (216) disposed in the second pressurizing channel (215) and slidingly sealingly engaged therewith, and a second pressurizing screw (217) threadedly connected to the second pressurizing channel (215) and capable of pressing the second pressurizing piston (216) toward the inner end of the second pressurizing channel (215). The third pressurizing mechanism includes a third pressurizing channel (312) disposed in the base (310) and communicating with the annular cavity (311) of the base, a third pressurizing piston (313) disposed in the third pressurizing channel (312) and slidingly sealingly engaged therewith, and a third pressurizing screw (314) threadedly connected to the third pressurizing channel (312) and capable of pressing the third pressurizing piston (313) toward the inner end of the third pressurizing channel (312).

5. The fixture assembly for assembling a harmonic reducer according to claim 4, characterized in that: The base (310) is also provided with a pressure regulating mechanism for replenishing hydraulic medium into the base annular cavity (311). The pressure regulating mechanism includes a pressure regulating channel (315) disposed in the base (310) and connected to the base annular cavity (311), a pressure regulating plug (316) disposed in the pressure regulating channel (315) and sealed therewith, and a pressure regulating screw (317) threadedly connected to the pressure regulating channel (315) and tightening the pressure regulating plug (316).

6. The fixture assembly for assembling a harmonic reducer according to claim 3, characterized in that: A radial adjustment mechanism is provided at the part where the upper substrate (220) mates with the first cylindrical section. There are at least three radial adjustment mechanisms and they are evenly distributed along the circumference of the first cylindrical section. The radial adjustment mechanism includes a radial adjustment hole (222) opened on the upper base (220), and a radial adjustment screw (223) is threadedly connected in the radial adjustment hole (222). The inner end of the radial adjustment screw (223) abuts against the outer wall of the first cylindrical section.

7. The fixture assembly for assembling a harmonic reducer according to claim 3, characterized in that: The first variable diameter expansion sleeve (230) includes an annular first sleeve body. The first sleeve body is provided with at least three first blind grooves (231) and a number of second blind grooves (232) equal to the number of first blind grooves (231). The first blind grooves (231) extend downward from the upper end of the first sleeve body, and the second blind grooves (232) extend upward from the lower end of the first sleeve body. Each first blind groove (231) and each second blind groove (232) are alternately distributed along the circumference of the first sleeve body and divide the first sleeve body into multiple annular segments. The inner wall of the annular segments is provided with fan-shaped clamps (233) extending toward the center of the first sleeve body. And / or, the second variable diameter expansion sleeve (330) includes an annular second sleeve body, on which at least three third blind grooves (331) and a fourth blind groove (332) equal in number to the third blind grooves (331) are provided. The third blind grooves (331) extend downward from the upper end face of the second sleeve body, and the fourth blind grooves (332) extend upward from the lower end face of the second sleeve body. Each third blind groove (331) and each fourth blind groove (332) are alternately distributed along the circumference of the second sleeve body.

8. The fixture assembly for assembling a harmonic reducer according to claim 3, characterized in that: The pull-down mechanism includes a pull-down piston chamber opened in the lower base (210). A pull rod through hole is provided between the center of the pull-down piston chamber and the center of the first circular assembly groove to connect the two axially. A pull-down piston (242) is provided in the pull-down piston chamber to divide it into a first upper cavity (241) and a first lower cavity. A pull-down air passage (245) communicating with the first upper cavity (241) is provided on the lower base (210). A pull-down rod (243) is connected to the pull-down piston (242). The upper end of the pull-down rod (243) passes through the pull rod through hole and the first circular assembly groove. The upper end of the pull-down rod (243) is detachably provided with A pressure cap (244) is provided, and a bottom cover (246) for sealing the pull-down piston chamber is detachably provided at the bottom of the lower base (210). An exhaust hole (247) communicating with the first lower cavity is provided on the bottom cover (246). A pressure cap return spring (248) is provided between the bottom cover (246) and the pull-down piston (242). By adjusting the pressure difference between the first upper cavity (241) and the first lower cavity, the pull-down piston (242) can drive the pull rod (243) to drive the pressure cap (244) to move up and down, so as to loosen or tighten the rigid wheel (412) and the cross bearing (411) in the first circular assembly groove.

9. The fixture assembly for assembling a harmonic reducer according to claim 3, characterized in that: The first ejection mechanism consists of at least three parts arranged in a ring around the central axis of the lower base (210). Each ejection mechanism includes a first ejection piston chamber located within the lower base (210). A first ejector rod through-hole connects the center of the first ejection piston chamber to the edge of the first circular mounting groove. A first ejection piston (252) is provided within the first ejection piston chamber, dividing it into a second upper chamber and a second lower chamber (251). The lower base (210) has a first ejection air passage (254) communicating with the second lower chamber (251). A first ejection rod (253) is connected to the first ejection piston (252). The upper end of the first ejection rod (253)... The first push rod passes through the first push rod through hole and can extend into the first circular assembly groove. The first circular assembly groove is provided with a groove bottom pad (256). The groove bottom pad (256) is provided with a push rod sliding hole corresponding to and communicating with the first push rod through hole. The first push rod (253) is fitted with a first push rod return spring (255). One end of the first push rod return spring (255) abuts against the first push piston (252) and the other end abuts against the top surface of the second upper cavity. By adjusting the pressure difference between the second upper cavity and the second lower cavity (251), the first push piston (252) can be driven to drive the first push rod (253) to move upward, so as to push the first component (410) out of the first circular assembly groove.

10. A method for assembling a harmonic reducer, characterized in that, Assembly is performed using the fixture assembly for harmonic reducer assembly as described in any one of claims 3 to 9; the method includes the following steps: Step 1: Install the cross bearing (411) into the first circular assembly groove and align it with the first hydraulic expansion part. Pressurize the first annular cavity (211) to expand the first hydraulic expansion part and clamp the outer circle of the cross bearing (411). Step 2: Install the first variable diameter expansion sleeve (230) into the first circular assembly groove and make it correspond to the second hydraulic expansion part. Then, install the rigid wheel (412) in the first variable diameter expansion sleeve (230) and clamp the rigid wheel (412) and the cross bearing (411) axially by using the pull-down mechanism in cooperation with the first circular assembly groove. Step 3: Pressurize the second annular cavity (221) to expand the second hydraulic expansion part and clamp the first variable diameter expansion sleeve (230). The first variable diameter expansion sleeve (230) shrinks evenly to clamp the outer circle of the rigid wheel (412). Then, lock the rigid wheel (412) and the cross bearing (411) with the rigid wheel connecting screw (413) to obtain the first component (410). Step four: Adjust the pull-down mechanism to loosen the first component (410), depressurize the second annular cavity (221), and after the second hydraulic expansion part contracts to loosen the first variable diameter expansion sleeve (230) and the rigid wheel (412), remove the first variable diameter expansion sleeve (230); then, depressurize the first annular cavity (211) to make the first hydraulic expansion part contract to loosen the cross bearing (411); finally, push the first component (410) out of the first circular assembly groove through the first ejection mechanism and remove the first component (410). Step 5: Pre-install the flexible wheel (420) on the first component (410), and pre-connect the flexible wheel (420) to the cross bearing (411) through the flexible wheel connecting screw (430) to obtain the pre-installed component; Step six: The pre-assembled components are installed into the second circular assembly slot, so that the rigid wheel (412) is embedded in the dynamic meshing cavity, the inner circle of the toothed part of the flexible wheel (420) is pre-fitted with the drive bearing (353), and the cross bearing (411) is embedded in the clamping cavity; then, the base annular cavity (311) is pressurized, so that the third hydraulic expansion part expands radially inward, thereby driving the second variable diameter expansion sleeve (330) to contract and clamp the outer circle of the cross bearing (411); Step 7: Start the motor (352) to make it rotate alternately in both directions. Drive the drive bearing (353) through the wave generator (351) to drive the flexible wheel (420) and the rigid wheel (412) to dynamically mesh to achieve automatic centering. After that, fully tighten the flexible wheel connecting screw (430) connecting the flexible wheel (420) and the cross bearing (411) to obtain the second component. Step 8: Depressurize the base annular cavity (311) to cause the third hydraulic expansion part to contract and loosen the second variable diameter expansion sleeve (330) and the cross bearing (411); then, push the cross bearing (411) outward through the second ejection mechanism to disengage the second component from the second circular assembly slot and remove the second component.

Images