Pressing apparatus and pressing method for wave generator

Abstract

The application discloses a wave generator press-fitting equipment and press-fitting method, relates to the technical field of harmonic reducer, and comprises a rack, a press-fitting mechanism, a supporting mechanism and a flexible expansion jig. The press-fitting mechanism comprises a driving assembly and a lower press head, the lower press head comprises at least one of a first press head and a second press head, the supporting mechanism comprises a supporting assembly and a jig seat, and the supporting assembly is movably arranged on the rack. The wave generator comprises a cam and a flexible bearing, the jig seat is provided with a profiling positioning groove, the flexible expansion jig is detachably arranged in the profiling positioning groove, the press-fitting equipment has a first mode and a second mode, the first press head and the second press head are respectively used for executing the first mode and the second mode, in the first mode, the first press head is pressed downward to obtain a pre-assembled part composed of the flexible bearing and the flexible expansion jig, and in the second mode, the second press head is pressed downward to obtain the wave generator. The application solves the problem that the existing technology has low press-fitting precision and poor consistency, and accessories are prone to damage.

Description

Technical Field

[0001] This invention relates to the field of harmonic reducer technology, and in particular to a press-fitting device and press-fitting method for a wave generator. Background Technology

[0002] As a crucial core component of harmonic reducers, the assembly process of wave generators requires meticulous attention to press-fit quality. Currently, manual press-fitting machines are used, where pressure expansion and fixed depth cause the flexible bearing to deform like a cam. However, due to the difficulty in precisely controlling the force and pressing depth applied by the operator during manual press-fitting, the consistency of pressing force and pressing depth varies significantly across different press-fitting operations. Furthermore, each step in the press-fitting process is independent, requiring manual transfer of workpieces between different workstations and separate press-fitting operations. This results in long process flow times and cumbersome operations, severely impacting press-fitting efficiency and product quality consistency. Summary of the Invention

[0003] The main objective of this invention is to propose a pressing device and pressing method for wave generators, which solves the problem of low pressing accuracy and poor consistency in the manual pressing of wave generators in the prior art, which leads to easy damage to accessories.

[0004] To achieve the above objectives, the present invention provides a pressing device for a wave generator, the pressing device for the wave generator comprising: a frame; The pressing mechanism includes a drive assembly mounted on the frame and a lower pressing head drivenly connected to the drive assembly. The drive assembly is used to drive the lower pressing head to reciprocate along the height direction. The lower pressing head includes at least one of a first pressing head and a second pressing head. The support mechanism includes a support assembly and a fixture seat disposed on the support assembly. The support assembly is disposed below the lower pressure head and is movably disposed on the frame in a horizontal direction to adjust the position of the fixture seat relative to the lower pressure head. The wave generator includes a cam and a flexible bearing. The fixture seat is provided with an elliptical contour positioning groove for mounting the flexible bearing. A flexible expansion fixture is detachably disposed within the contour positioning groove; The pressing device for the wave generator has a first mode and a second mode, wherein the first pressing head is used to execute the first mode and the second pressing head is used to execute the second mode. In the first mode, the first pressure head presses down on the flexible expansion fixture to expand the flexible bearing in the fixture seat into an elliptical shape, thereby obtaining a pre-assembled part consisting of the flexible bearing and the flexible expansion fixture; In the second mode, the second pressure head presses down on the cam to press the cam into the pre-assembled part to obtain a wave generator, and the flexible expansion fixture separates from the flexible bearing.

[0005] In one embodiment, the contour positioning groove is provided with a countersunk platform, which divides the contour positioning groove into a first positioning groove and a second positioning groove. The first positioning groove is located above the second positioning groove. The diameter of the first positioning groove is larger than the outer diameter of the flexible bearing, and the diameter of the second positioning groove is smaller than the outer diameter of the flexible bearing, so that the flexible bearing can be placed into the first positioning groove and supported by the countersunk platform.

[0006] In one embodiment, along the height direction of the frame, the outer diameter of the flexible expansion fixture gradually decreases from the upper end to the lower end. The flexible expansion fixture is provided with a groove, the inner diameter of which is adapted to the outer diameter of the first pressure head for insertion of the first pressure head. When the flexible expansion fixture is placed in the contour positioning groove, the upper outer circumferential surface of the flexible expansion fixture abuts against the inner wall of the flexible bearing; the maximum outer diameter of the upper end of the flexible expansion fixture is greater than the aperture of the second positioning groove, so that the flexible expansion fixture in its natural state is partially locked in the contour positioning groove and partially extends out of the second positioning groove.

[0007] In one embodiment, the cam has a first wheel portion and a second wheel portion connected along the height direction. The first wheel portion is located at the upper end of the second wheel portion. The second pressure head is provided with a clearance groove, which is adapted to the outer diameter of the first wheel portion for pressing down and adapting to the cam.

[0008] In one embodiment, the fixture seat is further provided with a material discharge channel, which is connected to the bottom of the contour positioning groove, and is used to allow the flexible expansion fixture to fall into and be removed after the flexible expansion fixture separates from the flexible bearing.

[0009] In one embodiment, the support assembly includes a first support plate, a second support plate, and a third support plate. The first support plate has a central fixing hole, and the bottom of the second support plate has a positioning protrusion. The second support plate is disposed on the first support plate so that the positioning protrusion can be inserted into the central fixing hole. The first support plate has T-shaped grooves on both sides of the central fixing hole, and T-shaped sliders are provided in the T-shaped grooves. The second support plate has multiple mounting holes at the positions corresponding to the T-shaped grooves, and each mounting hole is fixedly connected to the T-shaped slider in the corresponding T-shaped groove by fasteners. The second support plate has multiple positioning holes on the side away from the first support plate, and the third support plate has positioning posts on the side facing the second support plate, with the positioning posts engaging with the positioning holes. The third support plate is rectangular in shape and has multiple diagonally distributed connection holes for detachable and fixed connection with different types of fixture seats.

[0010] This application also proposes a pressing method for a wave generator, including a pressing device for the wave generator as described above, the pressing method for the wave generator comprising the following steps: When the flexible bearing is placed in the conformal positioning groove, the press-fit operation is triggered; In response to the first mode switching command of the press-fit operation, the first press head is driven to press down, so that the flexible expansion fixture is pressed into the inner hole of the flexible bearing until the inner hole of the flexible bearing expands into an ellipse with the target ellipticity, and a pre-assembled part is obtained. In response to the second mode switching command of the press-fit operation, the second press head is driven to press down the cam, so that the cam is pressed into the pre-assembled part and the flexible expansion fixture of the pre-assembled part is separated from the flexible bearing to obtain the wave generator; The press-fitting device for the wave generator is configured to perform either the first mode or the second mode. Alternatively, the press-fitting device for the wave generator is configured to trigger a second mode switching command when a pre-assembled part is placed in the contour positioning slot.

[0011] In one embodiment, the pressing equipment for the wave generator has two sets, including a first pressing equipment and a second pressing equipment, wherein the first pressing head and the second pressing head are respectively disposed on the first pressing equipment and the second pressing equipment, and the pressing method includes the following steps: On the first pressing device, the flexible bearing is placed in the contour positioning groove, and the first pressing head is driven to press down the flexible expansion fixture, so that the flexible bearing expands into an ellipse to obtain a pre-assembled part; The pre-assembled component is transferred into the contour positioning groove of the second pressing equipment; On the second pressing device, the second pressing head is driven to press down the cam, pressing the cam into the pre-assembled part, and pushing the flexible expansion fixture out of the flexible bearing, so that the flexible expansion fixture is separated from the flexible bearing, thus obtaining the wave generator.

[0012] In one embodiment, the step of driving the first pressure head to press down the flexible expansion fixture adopts a position control mode, and the step of driving the second pressure head to press down the cam adopts a pressure control mode. The position control mode includes a preset initial position, a pressure-initiating position, a pressing position, a termination position, and a pressure-holding time. When the first pressure head moves downward to the termination position, it enters the pressure-holding state. After a preset pressure-holding time, the first pressure head is controlled to rise and return. The pressure control mode includes a preset initial position, a pressure initiation position, a pressing position, a termination pressure value, and a pressure holding time. When the pressure value borne by the second pressure head reaches the termination pressure value, it enters the pressure holding state. After a preset pressure holding time, the second pressure head is controlled to rise and return.

[0013] In one embodiment, the press-fitting method of the wave generator further includes: after driving the first press head to press down, detecting whether the upper end face of the flexible expansion fixture is parallel and coincident with the end face of the first press head, and whether the long axis direction of the flexible expansion fixture is in a predetermined orientation, and determining whether the flexible bearing has undergone a predetermined elliptical deformation based on the detection results. After the second pressure head is driven to complete the pressing, it is detected whether the cam and the flexible bearing are aligned, and the pressing is determined based on the detection result.

[0014] The pressing equipment for the wave generator of this application includes a lower pressing head comprising at least one of a first pressing head and a second pressing head, and the pressing equipment has a first mode and a second mode. This allows the same equipment to be configured as needed to perform only the expansion of the flexible bearing, only the pressing of the cam, or both processes simultaneously. It has strong compatibility, high equipment utilization, and users can flexibly configure it according to actual production needs. By setting an expansion fixture that can be detachably set in the contour positioning groove, in the first mode, the first pressing head presses down on the expansion fixture, so that the flexible bearing is precisely expanded into an elliptical shape under the constraint of the contour positioning groove. The expansion fixture and the contour positioning groove cooperate to ensure the deformation accuracy of the flexible bearing during the expansion process, and avoid the pressure head directly contacting the flexible bearing, which would cause local stress concentration or damage, further improving the pressing quality.

[0015] The pressing method of the wave generator in this application automatically completes the expansion of the flexible bearing and the pressing of the cam in response to the switching command of the first and second modes, realizing the automated control of the entire pressing process, greatly reducing the difficulty of operation and dependence on human experience, and effectively avoiding poor pressing caused by human operation errors; at the same time, the two modes can be integrated into the same equipment and executed sequentially, or executed by two independent equipment respectively, and users can flexibly choose according to their needs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1A schematic diagram of an embodiment of the press-fitting device for the wave generator provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the support mechanism in the first mode of one embodiment; Figure 3 for Figure 2 A schematic diagram of the exploded structure; Figure 4 for Figure 1 A cross-sectional structural schematic diagram of one embodiment; Figure 5 for Figure 1 A cross-sectional structural schematic diagram of another embodiment; Figure 6 A schematic diagram of another embodiment of the press-fitting device for the wave generator provided by the present invention; Figure 7 This is a schematic flowchart of the press-fitting method for the wave generator provided by the present invention.

[0018] Explanation of icon numbers: 100. Rack; 200, Pressing mechanism; 210, Lower press head; 211, First press head; 212, Second press head; 212a, Clearance groove; 300. Support mechanism; 310. Support assembly; 311. First support plate; 311a. Central fixing hole; 311b. T-slot; 312. Second support plate; 312a. Positioning protrusion; 312b. Mounting hole; 312c. Positioning hole; 313. Third support plate; 313a. Connecting hole; 313b. Positioning post; 320. Fixture base; 321. Contour positioning groove; 321a. First positioning groove; 321b. Second positioning groove; 322. Material discharge channel; 410. Pre-assembled part; 411. Flexible expansion jig; 411a. Groove; 420. Flexible bearing; 430. Cam; 431. First wheel section; 432. Second wheel section.

[0019] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] Please see Figure 1 and Figure 2In one embodiment of the present invention, a pressing device for a wave generator is provided. The pressing device for the wave generator includes a frame 100, a pressing mechanism 200, a support mechanism 300, and a flexible expansion fixture 411. The pressing mechanism 200 includes a drive assembly mounted on the frame 100 and a lower pressing head 210 drivenly connected to the drive assembly. The drive assembly is used to drive the lower pressing head 210 to reciprocate along the height direction. The lower pressing head 210 includes at least one of a first pressing head 211 and a second pressing head 212. The support mechanism 300 includes a support assembly 310 and a fixture seat 320 mounted on the support assembly 310. The support assembly 310 is located below the lower pressing head 210 and is movably mounted on the frame 100 in the horizontal direction to adjust the position of the fixture seat 320 relative to the lower pressing head 210. The wave generator includes a cam 430 and a flexible expansion fixture 411. The bearing 420 has an elliptical contour positioning groove 321 on the fixture seat 320 for mounting the flexible bearing 420. A flexible expansion fixture 411 is detachably disposed within the contour positioning groove 321. The pressing device for the wave generator has a first mode and a second mode. A first pressing head 211 is used to execute the first mode, and a second pressing head 212 is used to execute the second mode. In the first mode, the first pressing head 211 presses down on the flexible expansion fixture 411 to expand the flexible bearing 420 in the fixture seat 320 into an elliptical shape, resulting in a pre-assembled part 410 composed of the flexible bearing 420 and the flexible expansion fixture 411. In the second mode, the second pressing head 212 presses down on the cam 430 to press the cam 430 into the pre-assembled part 410, resulting in the wave generator. The flexible expansion fixture 411 is separated from the flexible bearing 420.

[0024] It should be noted that the inner and outer rings of the flexible bearing 420 have a certain elastic deformation capability, and can undergo elliptical deformation consistent with the outer contour of the cam 430 under the action of radial force, and maintain this deformation state after the external force is removed; this characteristic of the flexible bearing 420 enables it to cooperate with the cam 430 and the flexure to realize the power transmission of the harmonic reducer.

[0025] It is understandable that the expansion fixture is in direct contact with the inner wall of the flexible bearing 420 during operation, and the flexible bearing 420 is opened by the pressing force applied by the first pressure head 211. The outer surface of the expansion fixture can be made of flexible material, or the whole can be made of a material with a certain elasticity, so as to play a buffering and protective role for the flexible bearing 420 during the pressing process, thereby avoiding local stress concentration or scratches caused by the first pressure head 211 directly contacting the flexible bearing 420.

[0026] In this embodiment, a working space is formed inside the frame 100. This working space is used to house the pressing mechanism 200, the support mechanism 300, and the workpiece to be pressed, and provides space for the lifting and lowering movement of the pressing mechanism 200. It is understood that the frame 100 is typically also equipped with a safety light curtain and an emergency stop button. The safety light curtain is located at the entrance of the working space and is used to issue a safety signal when a foreign object is detected entering. The emergency stop button is located on the operation panel of the frame 100 and is used to immediately stop the movement of the pressing mechanism 200 in an emergency to ensure the safety of the operator. Optionally, the operation panel of the frame 100 is also equipped with a human-machine interface. This interface allows the operator to set pressing parameters and display relevant parameters during the pressing process in real time, so that the operator can monitor the pressing status or adjust different working modes. Optionally, the human-machine interface is a touch screen.

[0027] Optionally, the drive assembly includes a servo motor and an electric cylinder. The servo motor drives the lower pressure head 210 to reciprocate along the height direction via the electric cylinder to achieve precision pressing with adjustable distance and controllable pressure.

[0028] It is understood that the first pressing head 211 is used to perform the expansion operation of the flexible bearing 420, and the second pressing head 212 is used to perform the pressing operation of the cam 430. Optionally, the pressing mechanism 200 may only be equipped with the first pressing head 211 to perform the expansion of the flexible bearing 420, and after obtaining the pre-assembled part 410, the cam 430 is pressed in by other equipment; alternatively, the pressing mechanism 200 may only be equipped with the second pressing head 212 to perform the pressing in of the cam 430, which, together with the pre-expanded flexible bearing 420, completes the wave generator assembly; alternatively, the pressing mechanism 200 may be equipped with both the first pressing head 211 and the second pressing head 212, and the two processes are completed sequentially on one machine. The specific configuration can be flexibly selected according to actual production needs, and the present invention does not limit this.

[0029] Optionally, the lower pressure head 210 is detachably connected to the pressing mechanism 200, in which case the first pressure head 211 or the second pressure head 212 can be actively switched according to the user's needs.

[0030] It is understandable that, since wave generators come in various models and specifications, the dimensions of the cam 430 and flexible bearing 420 differ depending on the model. The support assembly 310 can move horizontally according to the model of the workpiece to be pressed, thereby adjusting the position of the fixture seat 320 relative to the lower pressure head 210. This ensures that the fixture seat 320 remains coaxially aligned with the lower pressure head 210, guaranteeing the positioning accuracy of the cam 430 and flexible bearing 420 during the pressing process, eliminating the need for repeated manual alignment. In this embodiment, the fixture seat 320 is provided with a contour positioning groove 321, which is elliptical in shape and is used for mounting the flexible bearing 420. It is understood that the elliptical contour of the contour positioning groove 321 matches the outer contour of the cam 430.

[0031] For example, in the first mode, the pressing mechanism 200 is provided with a first pressing head 211. The first pressing head 211 presses down on the flexible expansion fixture 411. During the pressing process, the groove 411a of the flexible expansion fixture 411 is sleeved on the outside of the first pressing head 211, so that the first pressing head 211 indirectly applies force to the flexible bearing 420 through the flexible expansion fixture 411 during the pressing process, thereby preventing the pressing head 210 from damaging the flexible bearing 420 during the pressing process. After pressing down to the preset position, it returns to obtain the pre-assembled part 410. Optionally, the pressing head 210 is switched and the second mode is used. The cam 430 is placed on the pre-mounted part 410 and aligned with the inner hole of the flexible bearing 420. At this time, the second pressing head 212 presses down and presses the cam 430 into the flexible bearing 420. During the pressing process, since the cam 430 is adapted to the outer diameter of the expanded flexible bearing 420, the cam 430 will push the flexible expansion fixture 411 out from the lower end of the flexible bearing 420 during the pressing process until the cam 430 and the flexible bearing 420 are pressed together, and a wave generator is obtained.

[0032] For example, when the pressing mechanism 200 is simultaneously equipped with a first pressing head 211 and a second pressing head 212, the first pressing head 211 and the second pressing head 212 are spaced apart. Optionally, after the first pressing head 211 presses down, the second pressing head 212 moves to the workstation where the support fixture is located; alternatively, after the first pressing head 211 presses down, the position of the support assembly 310 is adjusted so that the contour positioning groove 321 of the fixture seat 320 is aligned with the axis of the second pressing head 212, and the second pressing head 212 presses down to complete the wave generator. In this way, by integrating the first mode and the second mode into the same equipment, users can flexibly select the equipment configuration according to actual production capacity requirements, reducing equipment procurement costs, and avoiding secondary clamping errors caused by the transfer of workpieces between different devices.

[0033] In one implementation, see Figure 2 and Figure 3The contour positioning groove 321 is provided with a recessed platform, which divides the contour positioning groove 321 into a first positioning groove 321a and a second positioning groove 321b. The first positioning groove 321a is located above the second positioning groove 321b. The diameter of the first positioning groove 321a is larger than the outer diameter of the flexible bearing 420, and the diameter of the second positioning groove 321b is smaller than the outer diameter of the flexible bearing 420, so that the flexible bearing 420 can be placed in the first positioning groove 321a and supported by the recessed platform.

[0034] It is understood that the recessed platform is a stepped surface formed by the inward protrusion of the groove wall of the contour positioning groove 321. When the flexible bearing 420 is placed into the contour positioning groove 321, since the diameter of the first positioning groove 321a is larger than the outer diameter of the flexible bearing 420, the flexible bearing 420 can be smoothly placed into the first positioning groove 321a. When the flexible bearing 420 continues to move downward to the entrance of the second positioning groove 321b, since the diameter of the second positioning groove 321b is smaller than the outer diameter of the flexible bearing 420, the flexible bearing 420 cannot enter the second positioning groove 321b, but instead abuts against the upper surface of the recessed platform, which supports and bears it. In this way, the recessed platform axially limits the flexible bearing 420, keeping it at a preset height during the press-fitting process, preventing the flexible bearing 420 from axially shifting or deviating when the expansion jig is pressed down, and ensuring that the expansion jig can accurately expand the flexible bearing 420 into an elliptical shape.

[0035] Understandably, the second positioning groove 321b is used for the expansion fixture to pass through. Since the diameter of the second positioning groove 321b is smaller than the outer diameter of the flexible bearing 420 but larger than the outer diameter of the lower end of the expansion fixture, the expansion fixture can pass through the second positioning groove 321b and extend into the space below the contour positioning groove 321 during the pressing process, while the flexible bearing 420 is stopped by the countersink within the first positioning groove 321a. In this way, the countersink limits and separates the flexible bearing 420 and the expansion fixture in the axial direction, ensuring that the expansion fixture can continue to move downward and pass through the second positioning groove 321b after being pressed into the inner hole of the flexible bearing 420, while the flexible bearing 420 is always supported within the first positioning groove 321a, thereby ensuring reliable separation of the flexible bearing 420 and the expansion fixture during the pressing process.

[0036] In one implementation, see Figure 4 and Figure 5Along the height direction of the frame 100, the outer diameter of the flexible expansion fixture 411 gradually decreases from the upper end to the lower end. The flexible expansion fixture 411 is provided with a groove 411a, the inner diameter of which is adapted to the outer diameter of the first pressure head 211 for insertion. When the flexible expansion fixture 411 is placed in the contour positioning groove 321, the outer peripheral surface of the upper end of the flexible expansion fixture 411 abuts against the inner wall of the flexible bearing 420. The maximum outer diameter of the upper end of the flexible expansion fixture 411 is larger than the aperture of the second positioning groove 321b, so that the flexible expansion fixture 411 in its natural state is partially locked in the contour positioning groove 321 and partially extends out of the second positioning groove 321b.

[0037] It should be noted that the height direction of the frame 100 is... Figure 1 and Figure 5 In the Z direction. In this embodiment, the outer diameter of the flexible expansion fixture 411 gradually decreases from the upper end to the lower end. Exemplarily, the flexible expansion fixture 411 forms a tapered structure with a larger upper end and a smaller lower end in the height direction, so that the lower end of the flexible expansion fixture 411 can enter first when pressed into the inner hole of the flexible bearing 420, and as the pressing depth increases, the upper part with a gradually increasing outer diameter gradually expands the flexible bearing 420 radially, thereby realizing a smooth transition expansion of the flexible bearing 420 into a preset elliptical shape.

[0038] It is understood that the groove 411a is provided at the upper end of the flexible expansion fixture 411, and the inner diameter of the groove 411a is adapted to the outer diameter of the first pressure head 211 for insertion. When the first pressure head 211 is inserted into the groove 411a, the first pressure head 211 and the flexible expansion fixture 411 form a radial positioning fit through the side wall of the groove 411a. In this way, the pressing force generated when the first pressure head 211 presses down is evenly transmitted to the flexible expansion fixture 411 through the bottom wall and side wall of the groove 411a, so that the flexible expansion fixture 411 moves vertically downward along its axis, thereby avoiding uneven force on the flexible bearing 420 due to relative offset between the pressure head and the fixture.

[0039] In this embodiment, the flexible expansion fixture 411 in its natural state is partially engaged within the contour positioning groove 321 and partially extends out from the second positioning groove 321b. It should be noted that the natural state refers to the initial placement state of the flexible expansion fixture 411 before it is pressed down by the first pressure head 211, that is, the state in which it is placed in the contour positioning groove 321 solely by its own weight and has not yet been driven down by an external force. It is understandable that the maximum outer diameter of the upper end of the flexible expansion fixture 411 is greater than the aperture of the second positioning groove 321b, while the outer diameter of the lower end is smaller than the aperture of the second positioning groove 321b. Therefore, when the flexible expansion fixture 411 is placed in the contour positioning groove 321, its upper part is blocked by the entrance edge of the second positioning groove 321b because its maximum outer diameter is greater than the aperture of the second positioning groove 321b, and cannot pass through the second positioning groove 321b, thus being stuck in the contour positioning groove 321. The lower part, because its outer diameter is smaller than the aperture of the second positioning groove 321b, can pass through the second positioning groove 321b and extend from the lower end of the second positioning groove 321b. Thus, in its natural state, the flexible expansion jig 411 is supported and positioned by the second positioning groove 321b, and can be stably held in the contour positioning groove 321 without the need for additional fixing structures. At the same time, its lower end has partially extended into the second positioning groove 321b, which plays a guiding role during the pressing process, ensuring that the flexible expansion jig 411 does not deviate horizontally when it moves downward in the vertical direction.

[0040] Optionally, the flexible expansion fixture 411 is configured such that when the first pressure head 211 is inserted into the groove 411a and pressed down, the flexible expansion fixture 411 overcomes the jamming force at the entrance edge of the second positioning groove 321b under the action of external force. The upper part of its maximum outer diameter slightly contracts or undergoes elastic deformation under the compression of the flexible bearing 420 and moves downward a certain distance in the inner hole of the flexible bearing 420, so that a certain gap is formed between the upper end of the flexible expansion fixture 411 and the flexible bearing 420 for the cam 430 to be positioned. Understandably, when the second pressure head 212 presses down on the cam 430, the flexible expansion fixture 411 moves slightly downward in the inner hole of the flexible bearing 420. Therefore, the cam 430 can first align with the inner hole of the flexible bearing 420 in the pre-assembled part 410, and then abut against the flexible expansion fixture 411 when the second pressure head 212 presses down on the cam 430. During the pressing process, the flexible expansion fixture 411 is gradually pushed out from the lower end of the flexible bearing 420 until the cam 430 and the flexible bearing 420 are pressed together, thus obtaining the wave generator.

[0041] In one implementation, see Figure 5The cam 430 has a first wheel portion 431 and a second wheel portion 432 connected along the height direction. The first wheel portion 431 is located at the upper end of the second wheel portion 432. The second pressure head 212 is provided with a clearance groove 212a. The clearance groove 212a is adapted to the outer diameter of the first wheel portion 431 and is used to press down and adapt to the cam 430.

[0042] Understandably, by providing the clearance groove 212a, the second pressure head 212 forms a surface-to-surface contact with the cam 430 during the pressing process, avoiding local stress concentration caused by point or line contact. This ensures that the pressing force is evenly distributed along the circumference of the cam 430, guaranteeing the coaxiality and stability of the cam 430 when it is pressed into the flexible bearing 420. Understandably, if the second pressure head 212 does not have the clearance groove 212a, since the first wheel portion 431 of the cam 430 protrudes from the upper end of the second wheel portion 432, the lower end face of the second pressure head 212 can only partially contact the top end of the first wheel portion 431. This results in a small force application area and makes it difficult to maintain coaxial alignment, which could easily cause the cam 430 to skew.

[0043] Understandably, as the second pressure head 212 presses the cam 430 into the pre-assembled part 410, the second pressure head 212 continues to press down, and the second wheel part 432 of the cam 430 gradually enters the inner hole of the flexible bearing 420, and pushes the flexible expansion fixture 411 out from the lower end of the flexible bearing 420; after the second pressure head 212 presses down to the preset position, the second pressure head 212 rises back, completing the press fitting.

[0044] Understandably, when the second pressure head 212 presses down on the cam 430, the first wheel portion 431 is accommodated within the clearance groove 212a. The sidewall of the clearance groove 212a forms a radial positioning fit with the outer peripheral surface of the first wheel portion 431, ensuring that the second pressure head 212 and the cam 430 remain coaxially aligned. Simultaneously, the bottom wall of the clearance groove 212a abuts against the upper end surface of the first wheel portion 431 or the stepped surface of the second wheel portion 432, evenly transmitting the pressing force to the cam 430. Thus, the clearance groove 212a can guide and position the cam 430, preventing it from tilting during the pressing process. Furthermore, since the clearance groove 212a accommodates at least a portion of the first wheel portion 431, it effectively shortens the axial distance between the lower end of the second pressure head 212 and the cam 430, allowing the pressing force to act more directly and concentratedly on the cam 430, reducing the risk of cam 430 tilting due to torque offset during the pressing process.

[0045] In one implementation, see Figures 2 to 5 The fixture seat 320 is also provided with a material drop channel 322, which is connected to the bottom of the contour positioning groove 321. It is used to allow the flexible expansion fixture 411 to fall into and be taken out after the flexible expansion fixture 411 is separated from the flexible bearing 420.

[0046] It is understood that the material discharge channel 322 is located inside the fixture seat 320, and the upper end of the material discharge channel 322 is connected to the contour positioning groove 321. During the process of the second pressure head 212 pressing down the cam 430, the cam 430 gradually enters the inner hole of the flexible bearing 420 and pushes the flexible expansion fixture 411 downward. When the cam 430 is pressed into place, the flexible expansion fixture 411 is completely pushed out from the lower end of the flexible bearing 420 by the cam 430 and detaches from the flexible bearing 420. At this time, the flexible expansion fixture 411 falls from the inner hole of the flexible bearing 420 under the action of gravity, enters the material discharge channel 322 through the contour positioning groove 321, and is taken out or collected by the operator.

[0047] By setting up the material drop channel 322, the flexible expansion fixture 411 can automatically detach from the flexible bearing 420 and fall into the material drop channel 322 after completing the expansion task, eliminating the need for manual removal of the flexible expansion fixture 411 from the flexible bearing 420 after pressing. This avoids the need for an additional removal process after pressing, shortening the pressing time of a single wave generator and thus improving production efficiency. Simultaneously, since the flexible expansion fixture 411 completes the detachment and falling operation simultaneously during the pressing of the cam 430 by the second pressure head 212, no removal action is required, simplifying the equipment structure and reducing equipment costs.

[0048] Optionally, the material discharge channel 322 can be configured as a channel that extends inclinedly from the bottom of the contour positioning groove 321 to the side wall of the fixture seat 320, so that after the flexible expansion fixture 411 falls into the material discharge channel 322, it automatically slides down along the inclined channel wall to the outside of the fixture seat 320, making it easy for the operator to take it away.

[0049] Alternatively, the material drop channel 322 can also be configured as a channel extending in a vertical direction, into which the flexible expansion fixture 411 falls and is then removed by the operator from the bottom of the fixture seat 320. Alternatively, a collection device communicating with the material drop channel 322 can be provided on the frame 100, and the material can be automatically collected by the collection device located below the fixture seat 320.

[0050] In one implementation, see Figure 2 and Figure 3The support assembly 310 includes a first support plate 311, a second support plate 312, and a third support plate 313. The first support plate 311 has a central fixing hole 311a, and the bottom of the second support plate 312 has a positioning protrusion 312a. The second support plate 312 is disposed on the first support plate 311 so that the positioning protrusion 312a can be inserted and engaged with the central fixing hole 311a. T-shaped grooves 311b are provided on both sides of the central fixing hole 311a of the first support plate 311, and T-shaped sliders are provided in the T-shaped grooves 311b. The second support plate 312 has openings corresponding to the positions of the T-shaped grooves 311b. The third support plate 313 has multiple mounting holes 312b, each of which is fixedly connected to a T-shaped slider in a corresponding T-slot 311b by fasteners. The second support plate 312 has multiple positioning holes 312c on the side away from the first support plate 311, and the third support plate 313 has positioning posts 313b on the side facing the second support plate 312. The positioning posts 313b are inserted into the positioning holes 312c. The third support plate 313 is rectangular and has multiple diagonally distributed connecting holes 313a for detachably fixing to different types of fixture seats 320.

[0051] In this embodiment, the first support plate 311 is provided with a central fixing hole 311a, and the bottom of the second support plate 312 is provided with a positioning protrusion 312a. The positioning protrusion 312a is inserted into the central fixing hole 311a to achieve radial positioning between the second support plate 312 and the first support plate 311, thereby ensuring the coaxiality between the two.

[0052] Understandably, since the T-shaped slider can slide along the extension direction of the T-shaped groove 311b, the fixed position of the second support plate 312 on the first support plate 311 can be adjusted according to actual needs. Thus, when different models of second support plates 312 need to be adapted, the T-shaped slider can be moved to the corresponding position along the T-shaped groove 311b, and then the second support plate 312 can be fixed to the first support plate 311 by fasteners, thereby achieving flexible adaptation of the support assembly 310 to different models of second support plates 312. Optionally, the second support plate 312 and the fixture seat 320 can also be the same assembly. Different sizes of fixture seats 320, second support plates 312, and first support plates 311 can be set according to different models of cams 430 and flexible bearings 420. These components slide through the T-shaped block in the T-shaped groove 311b, align with and are fixed to the T-shaped slider through the mounting holes 312b on the second support plate 312, allowing for flexible placement on the first support plate 311.

[0053] Understandably, the second support plate 312 has multiple positioning holes 312c on the side away from the first support plate 311, and the third support plate 313 has positioning posts 313b on the side facing the second support plate 312. The positioning posts 313b are inserted into the positioning holes 312c. In this way, the third support plate 313 and the second support plate 312 are radially positioned through the insertion of the positioning posts 313b into the positioning holes 312c, ensuring the coaxiality of the third support plate 313 and the second support plate 312. In this embodiment, since the second support plate 312 is coaxial with the first support plate 311 through the insertion and engagement of the central fixing hole 311a and the positioning protrusion 312a, and the third support plate 313 is coaxial with the second support plate 312 through the insertion and engagement of the positioning post 313b and the positioning hole 312c, a coaxial positioning chain is formed between the first support plate 311, the second support plate 312 and the third support plate 313, which ultimately ensures the coaxiality between the jig seat 320 set on the third support plate 313 and the lower pressure head 210, and avoids the cam 430 or flexible bearing 420 from being misaligned during the pressing process due to the accumulation of assembly errors between the support plates.

[0054] Understandably, since the dimensions of the cam 430 and flexible bearing 420 corresponding to different models of wave generators are different, the required specifications of the jig seat 320 are also different. By arranging the connecting holes 313a on the third support plate 313 diagonally, different models of jig seats 320 can be fixedly connected by selecting the corresponding connecting hole 313a according to the position of the mounting hole 312b on their bottom, thus realizing the shared use of the support assembly 310 for multiple models. When it is necessary to change the product model, it is only necessary to remove the current jig seat 320 from the third support plate 313 and then fix the jig seat 320 of another model on the third support plate 313 through the corresponding connecting hole 313a to complete the model change operation; in this way, it is not necessary to replace the entire support assembly 310, but only to replace the jig seat 320 to adapt to different models of wave generators, improving the versatility and model change efficiency of the equipment.

[0055] Optionally, a positioning post 313b can also be provided at the bottom of the second support plate 312, and a positioning hole 312c is provided at the top of the first support plate 311. The radial positioning between the two support plates is achieved by the insertion and cooperation of the positioning post 313b and the positioning hole 312c.

[0056] Optionally, the bottom of the first support plate 311 may also be provided with a positioning protrusion 312a, and the frame 100 is provided with a corresponding central fixing hole 311a or positioning hole 312c. Through the insertion and cooperation of the positioning protrusion 312a with the central fixing hole 311a or positioning hole 312c, the radial positioning between the first support plate 311 and the frame 100 is realized, thereby further ensuring the coaxiality of the entire support assembly 310 and the frame 100, and ensuring the coaxial accuracy of the fixture seat 320 and the lower pressure head 210.

[0057] This invention also proposes a press-fitting method for a wave generator, see reference. Figure 7 The wave generator press-fitting method uses the aforementioned wave generator press-fitting equipment, comprising: triggering a press-fitting operation when the flexible bearing 420 is placed in the contour positioning groove 321; responding to a first mode switching command of the press-fitting operation, driving the first press head 211 to press down, causing the flexible expansion fixture 411 to press into the inner hole of the flexible bearing 420 until the inner hole of the flexible bearing 420 expands into an ellipse with a target ellipticity, thereby obtaining a pre-assembled part 410; responding to a second mode switching command of the press-fitting operation, driving the second press head 212 to press down the cam 430, causing the cam 430 to press into the pre-assembled part 410, and causing the flexible expansion fixture 411 of the pre-assembled part 410 to separate from the flexible bearing 420, thereby obtaining a wave generator; wherein, the wave generator press-fitting equipment is configured to perform either the first mode or the second mode; or, the wave generator press-fitting equipment is configured to trigger a second mode switching command when the pre-assembled part 410 is placed in the contour positioning groove 321.

[0058] It should be noted that the triggering of the pressing operation refers to the operator issuing a corresponding mode switching command to the equipment via the control panel or host computer according to the pressing process to be executed. It can be understood that when the expansion process of the flexible bearing 420 needs to be executed, the operator issues a first mode switching command; when the pressing process of the cam 430 needs to be executed, the operator issues a second mode switching command. Optionally, the mode switching command can be triggered via a touch screen, physical buttons, or remote control signals; this invention does not impose any limitations on this.

[0059] Understandably, the first mode is used to perform the expansion operation of the flexible bearing 420. When the device receives the first mode switching command, the drive component drives the first pressure head 211 to move downward along the height direction. When the first pressure head 211 presses down, its lower end inserts into the groove 411a of the flexible expansion fixture 411, so that the first pressure head 211 and the flexible expansion fixture 411 are aligned and positioned. Then, the pressing force is transmitted to the flexible expansion fixture 411. The flexible expansion fixture 411 moves downward under the drive of the first pressure head 211, and its tapered outer circumferential surface gradually enters the inner hole of the flexible bearing 420, gradually expanding the flexible bearing 420. In this embodiment, the pressing distance and termination position of the first pressure head 211 are precisely controlled by the drive component to ensure that the flexible bearing 420 is expanded to a predetermined ellipticity.

[0060] It should be noted that the target ellipticity refers to the state in which the elliptical shape of the inner hole of the flexible bearing 420 after expansion is consistent with the outer contour of the cam 430. The inner hole shape of the flexible bearing 420 matches the elliptical contour of the cam 430, so that the cam 430 can be pressed into the inner hole of the flexible bearing 420. When the flexible expansion fixture 411 is pressed down to the preset position, the flexible bearing 420 is expanded into an elliptical shape with the target ellipticity. At this time, the flexible bearing 420 and the flexible expansion fixture 411 together form the pre-assembled part 410.

[0061] Understandably, the second mode is used to perform the pressing operation of cam 430. After obtaining the pre-assembled part 410, the operator aligns cam 430 with the elliptical hole of the pre-assembled part 410 and inserts it. When the equipment receives the second mode switching command, the drive component drives the second pressing head 212 to move downward along the height direction. The second pressing head 212 presses down on cam 430 and gradually presses cam 430 into the inner hole of the flexible bearing 420 of the pre-assembled part 410. It should be noted that the contour of the cam 430 is adapted to the contour of the inner hole of the expanded flexible bearing 420, so the cam 430 can fit tightly against the inner wall of the flexible bearing 420 during the pressing process; as the second pressure head 212 continues to press down, the cam 430 gradually enters the inner hole of the flexible bearing 420 and pushes the flexible expansion fixture 411 out from the lower end of the flexible bearing 420; when the cam 430 is pressed into place, the flexible expansion fixture 411 is completely separated from the flexible bearing 420, and the flexible bearing 420 is sleeved on the outer periphery of the cam 430 to form a wave generator.

[0062] In this embodiment, the first mode and the second mode can be flexibly executed according to the equipment configuration. It is understood that when the equipment is only equipped with the first pressure head 211, the method only executes the first mode. After expanding the flexible bearing 420 to obtain the pre-assembled part 410, other equipment completes the pressing operation of the cam 430. When the equipment is only equipped with the second pressure head 212, the method only executes the second mode, pressing the prepared pre-assembled part 410 and the cam 430 into a wave generator. When the equipment is equipped with both the first pressure head 211 and the second pressure head 212, the method can sequentially execute the first mode and the second mode on one piece of equipment to complete the complete pressing process of the wave generator. Users can flexibly choose according to actual production needs and equipment configuration; this invention does not impose any limitations on this.

[0063] In one implementation, see Figure 6 The wave generator pressing equipment has two sets, including a first pressing equipment and a second pressing equipment. The first pressing head 211 and the second pressing head 212 are respectively disposed on the first pressing equipment and the second pressing equipment. The pressing method includes the following steps: On the first pressing equipment, the flexible bearing 420 is placed in the contour positioning groove 321, and the first pressing head 211 is driven to press down the flexible expansion fixture 411, so that the flexible bearing 420 expands into an elliptical shape to obtain a pre-assembled part 410; the pre-assembled part 410 is transferred to the contour positioning groove 321 of the second pressing equipment; on the second pressing equipment, the second pressing head 212 is driven to press down the cam 430, pressing the cam 430 into the pre-assembled part 410, and pushing the flexible expansion fixture 411 out of the flexible bearing 420, so that the flexible expansion fixture 411 is separated from the flexible bearing 420 to obtain the wave generator.

[0064] The difference between this embodiment and the previous embodiment is that this embodiment uses two independent pressing devices to perform the expansion process of the flexible bearing 420 and the pressing process of the cam 430, respectively. It is understood that the first pressing device only has a first pressing head 211 for performing the first mode; the second pressing device only has a second pressing head 212 for performing the second mode. It is understood that by having two independent devices complete the two processes, the two processes can be performed simultaneously. That is, the first pressing device can begin expanding the next flexible bearing 420 after completing the preparation of a pre-assembled part 410, without waiting for the second pressing device to complete the pressing of the cam 430, thereby improving the efficiency of mass production.

[0065] Understandably, the first and second pressing devices operate independently without interfering with each other, thus avoiding the waiting time caused by switching pressing heads on a single set of equipment and improving equipment utilization. Understandably, the transfer of pre-assembled parts 410 between the two sets of equipment is completed manually or through automated conveying devices.

[0066] For example, the operator can simply remove the pre-assembled part 410 from the jig seat 320 of the first pressing equipment and place it in the jig seat 320 of the second pressing equipment to perform the pressing operation of the cam 430.

[0067] In one embodiment, the step of driving the first pressure head 211 to press down on the flexible expansion fixture 411 adopts a position control mode, and the step of driving the second pressure head 212 to press down on the cam 430 adopts a pressure control mode. The position control mode includes preset initial position, pressure initiation position, pressing position, termination position, and pressure holding time. When the first pressure head 211 moves downward to the termination position, it enters the pressure holding state. After holding the pressure for a preset time, the first pressure head 211 is controlled to rise and return. The pressure control mode includes preset initial position, pressure initiation position, pressing position, termination pressure value, and pressure holding time. When the pressure value borne by the second pressure head 212 reaches the termination pressure value, it enters the pressure holding state. After holding the pressure for a preset time, the second pressure head 212 is controlled to rise and return.

[0068] It should be noted that the position control mode refers to a control method that uses the displacement of the pressure head as the control target, and the stroke of the pressure head is determined by preset position parameters.

[0069] It should be noted that in the expansion process of the flexible bearing 420, the flexible bearing 420 needs to be expanded to a target ellipticity that is consistent with the outer contour of the cam 430. The target ellipticity corresponds to a certain pressing depth of the flexible expansion fixture 411.

[0070] Understandably, in the position control mode, the initial position is the height position of the first pressure head 211 at the start of pressing; the pressure-initiating position is the position where the first pressure head 211 begins to contact the flexible expansion jig 411 and begins to apply pressing force, which is usually slightly higher than the upper end face of the flexible expansion jig 411; the pressing position is the position where the first pressure head 211 switches from rapid feed to slow feed, that is, after reaching this position, the first pressure head 211 switches from rapid descent to slow descent to reduce pressing impact; the termination position is the target position reached by the first pressure head 211 when it completes pressing; and the pressure holding time is the time for the first pressure head 211 to maintain constant pressure after reaching the termination position.

[0071] For example, in position control mode, the first pressure head 211 first descends rapidly from the initial position to the pressure-increasing position, and then continues to descend at a slower speed. When it reaches the pressing position, it switches to the working speed until it descends to the termination position.

[0072] It should be noted that when the first pressure head 211 reaches the pressing position, it begins to enter the inner hole of the flexible bearing 420 and gradually expands it. When the first pressure head 211 reaches the termination position, the flexible bearing 420 is expanded to the target ellipticity. At this point, it enters a pressure-holding state, and the first pressure head 211 remains at the termination position for a preset pressure-holding time before rising and returning. It can be understood that by setting the pressure-holding time, the elastic deformation of the flexible bearing 420 can be ensured to be sufficiently stable after expansion, avoiding ellipticity deviation due to stress rebound.

[0073] Optionally, when the device reaches the termination position but the pressure value detected by the pressure sensor exceeds the predetermined range, the device can issue an alarm signal to prompt the operator to check for any abnormalities in the workpiece.

[0074] It should be noted that the pressure control mode refers to a control method that uses the pressure value borne by the pressure head as the control target, that is, the pressing action of the pressure head is completed when the pressure value reaches a preset value.

[0075] Understandably, in the pressure control mode, the initial position is the height position of the second pressure head 212 at the start of pressing; the pressure-initiating position is the position where the second pressure head 212 begins to contact the cam 430 and begins to apply pressing force, which is usually slightly higher than the upper end face of the cam 430; the pressing position is the position where the second pressure head 212 switches from rapid feed to slow feed to reduce pressing impact; the termination pressure value is the target pressure value for determining the completion of pressing; and the holding pressure time is the time that the pressure value borne by the second pressure head 212 remains unchanged after reaching the termination pressure value.

[0076] For example, in pressure control mode, the second pressure head 212 first descends rapidly from the initial position to the starting pressure position, and then continues to descend at a slower speed. When it reaches the pressing position, it switches to the working speed, and the second pressure head 212 continues to press down until the pressure value it bears reaches the termination pressure value. At this time, it enters the pressure holding state, and the second pressure head 212 stays at the current position for a preset pressure holding time before rising back. It can be understood that when the pressure value borne by the second pressure head 212 reaches the termination pressure value, it indicates that the cam 430 has been completely pressed into the pre-installed part 410, and the flexible bearing 420 has been tightly fitted onto the outer periphery of the cam 430. By setting the pressure holding time, the stable fit between the cam 430 and the flexible bearing 420 can be ensured, avoiding gaps or misalignments between the cam 430 and the flexible bearing 420 caused by the springback generated after the instantaneous pressing force is removed.

[0077] Optionally, when the second pressure head 212 reaches the termination position, if the pressure value detected by the pressure sensor does not reach the termination pressure value, it is determined that the pressing is not in place. At this time, the equipment can output an alarm signal or perform a pressure compensation operation. When the pressure value exceeds the termination pressure value, the equipment can immediately stop pressing and alarm to prevent damage to the cam 430 or the flexible bearing 420 due to excessive pressure.

[0078] In one embodiment, after driving the first pressure head 211 to press down, it is detected whether the upper end face of the flexible expansion fixture 411 is parallel and coincident with the end face of the first pressure head 211, and whether the long axis direction of the flexible expansion fixture 411 is in a predetermined orientation. Based on the detection results, it is determined whether the flexible bearing 420 has undergone a predetermined elliptical deformation. After driving the second pressure head 212 to complete the pressing, it is detected whether the cam 430 and the flexible bearing 420 are aligned. Based on the detection results, it is determined whether the pressing is completed.

[0079] It is understandable that before the first pressure head 211 is driven to press down, the flexible expansion fixture 411 has not yet been pressed into the inner hole of the flexible bearing 420, and the state detected at this time is before pre-assembly; after the first pressure head 211 completes the pressing down and rises back, the flexible expansion fixture 411 has been pressed into the inner hole of the flexible bearing 420. At this time, it is detected whether the upper end face of the flexible expansion fixture 411 is parallel and coincident with the end face of the first pressure head 211. It can be determined whether the flexible expansion fixture 411 is pressed in straight along the predetermined direction, thereby determining whether the flexible bearing 420 has undergone uniform elliptical deformation.

[0080] Understandably, by inspecting the end face condition of the flexible expansion fixture 411 after press-fitting, it is possible to promptly detect whether the flexible bearing 420 has become skewed or deformed unevenly during the expansion process, thereby ensuring the quality consistency of the pre-assembled parts 410.

[0081] It should be noted that the parallel coincidence refers to the upper end face of the flexible expansion fixture 411 and the end face of the first pressure head 211 being parallel to each other in space and on the same plane. If the upper end face of the flexible expansion fixture 411 and the end face of the first pressure head 211 are parallel and coincident, it indicates that the flexible expansion fixture 411 has not tilted during the pressing process, and the flexible bearing 420 is uniformly expanded into an elliptical shape. If the two are not parallel, it indicates that the flexible expansion fixture 411 has tilted during the pressing process, and the flexible bearing 420 may be over-expanded on one side and under-expanded on the other side.

[0082] It should be noted that whether the long axis direction is in the predetermined orientation refers to whether the long axis direction of the elliptical shape of the flexible expansion fixture 411 is consistent with the preset reference direction. If the long axis direction of the flexible expansion fixture 411 deviates from the predetermined orientation, it will cause the cam 430 to fail to be correctly aligned with the elliptical orifice of the flexible bearing 420 when it is pressed in, thereby affecting the pressing quality.

[0083] It should be noted that "alignment" means that the end face of the cam 430 and the end face of the flexible bearing 420 are on the same plane. In this embodiment, if the cam 430 and the flexible bearing 420 are aligned, it indicates that the cam 430 has been fully pressed into the flexible bearing 420 and its axial position is correct, and the pressing is complete; if the cam 430 and the flexible bearing 420 are not aligned, it indicates that the pressing depth of the cam 430 is insufficient or excessive, and the pressing is unqualified. Optionally, the method for detecting whether the cam 430 and the flexible bearing 420 are aligned is as follows: use a measuring tool to measure the end face of the cam 430 and the end face of the flexible bearing 420 respectively, and determine whether they are on the same plane based on the measured values ​​of the two end faces. For example, the measuring tool is a dial indicator or a micrometer.

[0084] In this embodiment, by detecting the alignment of the cam 430 and the flexible bearing 420 after pressing, defective products can be detected in a timely manner, preventing unqualified wave generators from flowing into subsequent processes, and further ensuring the yield and reliability of the products.

[0085] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A pressing device for a wave generator, characterized in that, include: frame; The pressing mechanism includes a drive assembly mounted on the frame and a lower pressing head drivenly connected to the drive assembly. The drive assembly is used to drive the lower pressing head to reciprocate along the height direction. The lower pressing head includes at least one of a first pressing head and a second pressing head. The support mechanism includes a support assembly and a fixture seat disposed on the support assembly. The support assembly is disposed below the lower pressure head and is movably disposed on the frame in a horizontal direction to adjust the position of the fixture seat relative to the lower pressure head. The wave generator includes a cam and a flexible bearing. The fixture seat is provided with an elliptical contour positioning groove for mounting the flexible bearing. A flexible expansion fixture is detachably disposed within the contour positioning groove; The pressing device for the wave generator has a first mode and a second mode, wherein the first pressing head is used to execute the first mode and the second pressing head is used to execute the second mode. In the first mode, the first pressure head presses down on the flexible expansion fixture to expand the flexible bearing in the fixture seat into an elliptical shape, thereby obtaining a pre-assembled part consisting of the flexible bearing and the flexible expansion fixture; In the second mode, the second pressure head presses down on the cam to press the cam into the pre-assembled part to obtain a wave generator, and the flexible expansion fixture separates from the flexible bearing.

2. The pressing equipment for the wave generator as described in claim 1, characterized in that, The contour positioning groove is provided with a recessed platform, which divides the contour positioning groove into a first positioning groove and a second positioning groove. The first positioning groove is located above the second positioning groove. The diameter of the first positioning groove is larger than the outer diameter of the flexible bearing, and the diameter of the second positioning groove is smaller than the outer diameter of the flexible bearing, so that the flexible bearing can be placed into the first positioning groove and supported by the recessed platform.

3. The pressing equipment for the wave generator as described in claim 2, characterized in that, Along the height direction of the frame, the outer diameter of the flexible expansion fixture gradually decreases from the upper end to the lower end. The flexible expansion fixture is provided with a groove, the inner diameter of which is adapted to the outer diameter of the first pressure head for insertion of the first pressure head. When the flexible expansion fixture is placed in the contour positioning groove, the upper outer circumferential surface of the flexible expansion fixture abuts against the inner wall of the flexible bearing; the maximum outer diameter of the upper end of the flexible expansion fixture is greater than the aperture of the second positioning groove, so that the flexible expansion fixture in its natural state is partially locked in the contour positioning groove and partially extends out of the second positioning groove.

4. The pressing equipment for the wave generator as described in claim 1, characterized in that, The cam has a first wheel portion and a second wheel portion connected along the height direction. The first wheel portion is located at the upper end of the second wheel portion. The second pressure head is provided with a clearance groove. The clearance groove is adapted to the outer diameter of the first wheel portion and is used to press down and adapt to the cam.

5. The pressing equipment for the wave generator as described in claim 1, characterized in that, The fixture seat is also provided with a material discharge channel, which is connected to the bottom of the contour positioning groove, and is used to allow the flexible expansion fixture to fall into and be taken out after the flexible expansion fixture separates from the flexible bearing.

6. The pressing equipment for the wave generator as described in claim 1, characterized in that, The support assembly includes a first support plate, a second support plate, and a third support plate. The first support plate has a central fixing hole, and the bottom of the second support plate has a positioning protrusion. The second support plate is disposed on the first support plate so that the positioning protrusion can be inserted and engaged with the central fixing hole. The first support plate has T-shaped grooves on both sides of the central fixing hole, and T-shaped sliders are provided in the T-shaped grooves. The second support plate has multiple mounting holes at the positions corresponding to the T-shaped grooves, and each mounting hole is fixedly connected to the T-shaped slider in the corresponding T-shaped groove by fasteners. The second support plate has multiple positioning holes on the side away from the first support plate, and the third support plate has positioning posts on the side facing the second support plate, with the positioning posts engaging with the positioning holes. The third support plate is rectangular in shape and has multiple diagonally distributed connection holes for detachable and fixed connection with different types of fixture seats.

7. A method for press-fitting a wave generator, characterized in that, The press-fitting equipment using the wave generator as described in any one of claims 1 to 6 includes the following steps: When the flexible bearing is placed in the conformal positioning groove, the press-fit operation is triggered; In response to the first mode switching command of the press-fit operation, the first press head is driven to press down, so that the flexible expansion fixture is pressed into the inner hole of the flexible bearing until the inner hole of the flexible bearing expands into an ellipse with the target ellipticity, and a pre-assembled part is obtained. In response to the second mode switching command of the press-fit operation, the second press head is driven to press down the cam, so that the cam is pressed into the pre-assembled part and the flexible expansion fixture of the pre-assembled part is separated from the flexible bearing to obtain the wave generator; The press-fitting device for the wave generator is configured to perform either the first mode or the second mode. Alternatively, the press-fitting device for the wave generator is configured to trigger a second mode switching command when a pre-assembled part is placed in the contour positioning slot.

8. The pressing method for the wave generator as described in claim 7, characterized in that, The wave generator pressing equipment has two sets, including a first pressing equipment and a second pressing equipment. The first pressing head and the second pressing head are respectively disposed on the first pressing equipment and the second pressing equipment. The pressing method includes the following steps: On the first pressing device, the flexible bearing is placed in the contour positioning groove, and the first pressing head is driven to press down on the flexible expansion fixture, so that the flexible bearing expands into an ellipse to obtain a pre-assembled part; The pre-assembled component is transferred into the contour positioning groove of the second pressing equipment; On the second pressing device, the second pressing head is driven to press down the cam, pressing the cam into the pre-assembled part, and pushing the flexible expansion fixture out of the flexible bearing, so that the flexible expansion fixture is separated from the flexible bearing, thus obtaining the wave generator.

9. The pressing method for the wave generator as described in claim 8, characterized in that, The step of driving the first pressure head to press down the flexible expansion fixture adopts a position control mode, and the step of driving the second pressure head to press down the cam adopts a pressure control mode. The position control mode includes a preset initial position, a pressure-initiating position, a pressing position, a termination position, and a pressure-holding time. When the first pressure head moves downward to the termination position, it enters the pressure-holding state. After a preset pressure-holding time, the first pressure head is controlled to rise and return. The pressure control mode includes a preset initial position, a pressure initiation position, a pressing position, a termination pressure value, and a pressure holding time. When the pressure value borne by the second pressure head reaches the termination pressure value, it enters the pressure holding state. After a preset pressure holding time, the second pressure head is controlled to rise and return.

10. The pressing method for the wave generator as described in claim 7, characterized in that, Also includes: After driving the first pressure head to press down, it is detected whether the upper end face of the flexible expansion fixture is parallel and coincident with the end face of the first pressure head, and whether the long axis direction of the flexible expansion fixture is in a predetermined orientation. Based on the detection results, it is determined whether the flexible bearing has undergone a predetermined elliptical deformation. After the second pressure head is driven to complete the pressing, it is detected whether the cam and the flexible bearing are aligned, and the pressing is determined based on the detection result.

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