Automatic chamfering device for wave generator of harmonic reducer

Abstract

The utility model provides an automatic chamfering device for a wave generator of a harmonic reducer. The automatic chamfering device comprises a workbench, a motion trail module and a cutter module, the motion trail module comprises a first base, a first driving motor and an elastic piece; a first transmission shaft and a second transmission shaft are connected to the first base, a to-be-machined cam a is connected to the first transmission shaft, and a driven wheel is connected to the second transmission shaft. The first base is slidably connected to the workbench. The first driving motor is in transmission connection with the first transmission shaft. The cutter module comprises a cross-shaped sliding table assembly a and a second base arranged on the cross-shaped sliding table assembly a, a milling assembly a, a second driving motor and a third transmission shaft are arranged on the second base, a to-be-machined cam b is connected to the third transmission shaft, and the to-be-machined cam b abuts against the driven wheel and rotates at the same rotating speed as the to-be-machined cam a on the first transmission shaft. The device can realize uniform machining of chamfers of a long shaft and a short shaft on the cam to be machined, and is uniform in machining and high in efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of wave generator processing, in particular to an automatic chamfering device for a wave generator of a harmonic reducer. Background Art

[0002] The principle of the harmonic reducer is to utilize the relative motion of the rigid wheel, the flexible wheel and the wave generator. The elliptical cam in the wave generator rotates inside the flexible wheel to cause the flexible wheel to produce controllable elastic deformation, thereby transmitting motion and power. The harmonic reducer has the advantages of high transmission accuracy, high bearing capacity, small size and smooth transmission.

[0003] The wave generator of the harmonic reducer is composed of a cam and a flexible bearing. The inner ring of the flexible bearing needs to be matched with the elliptical cylindrical surface of the cam. When assembling the wave generator, a special press-fitting tool is usually required for assembly. Therefore, in order to ensure the assembly accuracy of the wave generator and the safety of the flexible bearing, in addition to cleaning the flexible bearing before assembly, the elliptical cylindrical surface of the cam needs to be chamfered and deburred. The chamfer can play a guiding role, making assembly easier, and the mating surface can also ensure a certain degree of assembly accuracy after removing the burrs. Therefore, the chamfering and deburring of the elliptical cylindrical surface of the cam is an indispensable process before the assembly of the entire harmonic reducer.

[0004] Since the chamfer of the cam is on the elliptical cylinder, it is usually not possible to use a CNC lathe for chamfering. When using a machining center for chamfering, it is necessary to take points on the major and minor axes of the ellipse, and the difference between the major and minor axes of the cam of the wave generator is only a few millimeters. Therefore, if a machining center is used for chamfering, a dedicated fixture needs to be customized, and a lot of time is needed to find points and take coordinates. The processing efficiency is low and cannot meet the needs of large-scale operations. At present, in order to pursue efficiency, workers usually use scrapers to chamfer and deburr the cam before assembling the wave generator, but this method obviously cannot guarantee the uniformity and aesthetics of the chamfer size, and the workers will also increase the risk of injury during operation. Therefore, this method cannot meet the needs of large-scale cam chamfering operations in the long term. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a wave generator automatic chamfering device with uniform chamfering and high processing efficiency.

[0006] The technical solution of the utility model is to provide an automatic chamfering device for a wave generator of a harmonic reducer having the following structure:

[0007] It includes a workbench and a motion track module and a tool module arranged on the workbench;

[0008] The motion trajectory module includes a first base, a first driving motor and an elastic member; the first base is rotatably connected to two mutually parallel first transmission shafts and a second transmission shaft, the first transmission shaft is connected to a cam a to be processed, and the second transmission shaft is connected to a driven wheel; the first base is slidably connected to a workbench, and the sliding direction of the first base is perpendicular to the axial direction of the first transmission shaft and the second transmission shaft; the first driving motor is transmission-connected to the first transmission shaft, and is used to drive the cam a to be processed on the first transmission shaft to rotate; one end of the elastic member is connected to the first base, and the other end is connected to the workbench, and is used to apply a force along the sliding direction of the first base to the first base;

[0009] The tool module includes a cross slide assembly a and a second base arranged on the cross slide assembly a, the second base is provided with a milling assembly a, a second drive motor and a third transmission shaft, the third transmission shaft is arranged parallel to the second transmission shaft, and the end of the third transmission shaft is connected to a cam b to be processed; the cross slide assembly a is used to drive the milling assembly a on the second base to move to the milling station, and make the cam b to be processed on the third transmission shaft abut against the driven wheel, the milling assembly a is used to mill the cam a to be processed on the first transmission shaft, the second drive motor is connected to the third transmission shaft for driving the cam b to be processed on the third transmission shaft to rotate at the same speed as the cam a to be processed on the first transmission shaft.

[0010] After adopting the above structure, the automatic chamfering device of the wave generator of the harmonic reducer of the utility model has the following advantages compared with the prior art:

[0011] The cam b to be processed on the third transmission shaft can be driven to rotate by the second driving motor. Since the major axis D2 of the cam b to be processed is greater than the minor axis D1, when the cam b to be processed rotates from its major axis elliptical surface contacting the driven wheel to its minor axis elliptical surface contacting the driven wheel, the center distance between the cam b to be processed and the driven wheel will increase, thereby causing a relative displacement between the two. Since the position of the cam b to be processed is fixed, the driven wheel obtains a thrust, which enables the first base to overcome the elastic force of the elastic member and slide along the track on the workbench, and at the same time drives the cam a to be processed on the first base to move synchronously, thereby obtaining the processing trajectory of the cam a to be processed, so that the milling component a can evenly process the cam a to be processed.

[0012] This device can achieve uniform processing of the chamfers of the long and short axes on the cam to be processed. Compared with traditional manual processing and milling machines, the processing effect is better and the processing time is shorter. In addition, this device captures the motion trajectory of the cam to be processed according to the specifications of the cam to be processed, so different types of cams can be processed by simply replacing the corresponding specifications of the driven wheel.

[0013] Preferably, the first drive motor is fixedly connected to the workbench, and the output end of the first drive motor is connected to a bevel gear a through a spline coupling, and the first transmission shaft is connected to a bevel gear b, and the bevel gear a is meshed with the bevel gear b. When the driven wheel obtains a rightward thrust, the first base will slide to the right synchronously, and at this time, the spline of the spline coupling will also extend to the right accordingly to prevent the bevel gear a from being disengaged from the bevel gear b.

[0014] Preferably, a baffle is provided on the workbench, one end of the elastic member is connected to a side wall of the first base facing the baffle, and the other end is connected to the baffle.

[0015] Preferably, the elastic member is composed of four groups of springs. The four groups of springs are symmetrically arranged in pairs, which can provide elastic force more evenly and ensure that the first base slides smoothly along the track on the workbench.

[0016] Preferably, the cross slide assembly a includes a horizontal drive motor, a vertical drive motor, a horizontal slide rail and a vertical slide rail, and the horizontal slide rail and the vertical slide rail are arranged perpendicular to each other; a horizontal slide is slidably connected to the horizontal slide rail, and the second base is connected to the horizontal slide rail, and the horizontal drive motor is transmission connected to the horizontal slide rail, and is used to drive the horizontal slide and the second base to slide along the horizontal slide rail; a vertical slide is slidably connected to the vertical slide rail, and the horizontal slide rail is connected to the vertical slide, and the vertical drive motor is transmission connected to the vertical slide rail, and is used to drive the vertical slide and the horizontal slide rail to slide along the vertical slide rail.

[0017] Preferably, the milling assembly a comprises a fourth transmission shaft rotatably connected to the second base, a dovetail milling cutter a is connected to the fourth transmission shaft, and the second drive motor is transmission-connected to the fourth transmission shaft for driving the dovetail milling cutter a to rotate.

[0018] Preferably, the output shaft of the second drive motor is connected to two coaxially arranged bevel gears c and d, the end of the fourth transmission shaft away from the dovetail milling cutter a is connected to the bevel gear e, and the end of the third transmission shaft away from the cam b to be processed is connected to the bevel gear f, and the bevel gear c and bevel gear d are respectively meshed with the bevel gear e and bevel gear f for transmission.

[0019] After such arrangement, the dovetail milling cutter a and the cam to be processed b with different rotation speeds can be driven simultaneously by the second driving motor, thereby saving equipment costs.

[0020] Preferably, the end of the first transmission shaft away from the cam a to be processed is connected to the cam c to be processed, a cross slide assembly b is provided at a position corresponding to the cam c to be processed on the workbench, a milling assembly b is connected to the cross slide assembly b, the cross slide assembly b is used to drive the milling assembly b to move to the milling station, and the milling assembly b is used to mill the cam c to be processed on the first transmission shaft. With this arrangement, two cams of the same specification can be processed at the same time, and the processing efficiency is more efficient.

[0021] Preferably, the milling assembly b comprises a third driving motor and a dovetail milling cutter b, and the output end of the third driving motor is connected to the dovetail milling cutter b for driving the dovetail milling cutter b to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the utility model.

[0023] Figure 2 It is a schematic diagram of the structure of the utility model when viewed from above.

[0024] Figure 3 It is a structural schematic diagram of the workbench and motion trajectory module in the utility model.

[0025] Figure 4 It is a structural schematic diagram of the tool module in the utility model.

[0026] Figure 5 It is a structural schematic diagram of the cross slide assembly a in the utility model.

[0027] Figure 6 It is a structural schematic diagram of the cross slide assembly b and the milling assembly b in the utility model.

[0028] Description of reference numerals:

[0029] 1. Workbench, 11. Baffle, 2. Motion track module, 21. First base, 211. First transmission shaft, 2111. Bevel gear b, 212. Second transmission shaft, 213. Driven wheel, 22. First drive motor, 221. Spline coupling, 222. Bevel gear a, 23. Elastic member, 3. Tool module, 31. Cross slide assembly a, 311. Horizontal drive motor, 312. Vertical drive motor, 313. Horizontal slide rail, 314. Vertical slide rail, 315. Horizontal slide seat, 31 6. Vertical slide, 32. Second base, 321. Third transmission shaft, 3211. Bevel gear f, 33. Milling assembly a, 331. Fourth transmission shaft, 3311. Bevel gear e, 332. Dovetail milling cutter a, 34. Second drive motor, 341. Bevel gear c, 342. Bevel gear d, 35. Cross slide assembly b, 36. Milling assembly b, 361. Third drive motor, 362. Dovetail milling cutter b, 4. Cam to be processed a, 5. Cam to be processed b, 6. Cam to be processed c. DETAILED DESCRIPTION

[0030] The utility model is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. At the same time, the terms "first", "second" and the like are only used to distinguish the names of the components, and have no primary or secondary relationship, and therefore cannot be understood as a limitation on the present invention.

[0032] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown;

[0033] The utility model discloses an automatic chamfering device for a wave generator of a harmonic reducer, comprising a workbench 1 and a motion track module 2 and a tool module 3 arranged on the workbench 1 .

[0034] The motion trajectory module 2 includes a first base 21, a first drive motor 22 and an elastic member 23. The first base 21 is rotatably connected to two mutually parallel first transmission shafts 211 and second transmission shafts 212, the first transmission shaft 211 is connected to a cam a to be processed, and the second transmission shaft 212 is connected to a driven wheel 213; a track is provided on the workbench 1, the first base 21 is slidably connected to the track of the workbench 1, and the sliding direction of the first base 21 is perpendicular to the axial direction of the first transmission shaft 211 and the second transmission shaft 212. The first drive motor 22 is transmission-connected to the first transmission shaft 211, and is used to drive the cam a to be processed on the first transmission shaft 211 to rotate; one end of the elastic member 23 is connected to the first base 21, and the other end is connected to the workbench 1, and is used to apply a force along the sliding direction of the first base 21 to the first base 21.

[0035] The first drive motor 22 is fixedly connected to the workbench 1, and the output end of the first drive motor 22 is connected to the bevel gear a through the spline coupling 221, and the first transmission shaft 211 is connected to the bevel gear b, and the bevel gear a is meshed with the bevel gear b for transmission.

[0036] When the driven wheel 213 obtains a rightward thrust, the first base 21 will slide to the right synchronously. At this time, the spline of the spline coupling 221 will also extend to the right accordingly to prevent the bevel gear a222 from being disengaged from the bevel gear b. Similarly, when the first base 21 is reset to the left, the spline of the spline coupling 221 will also reset to the left accordingly to always keep the bevel gear a222 engaged with the bevel gear b.

[0037] A baffle 11 is disposed on the workbench 1 , and the elastic member 23 is composed of four groups of springs. One end of the four groups of springs in the same direction is connected to the baffle 11 , and the other end is connected to a side wall of the first base 21 facing the baffle 11 .

[0038] The four groups of springs are symmetrically arranged in pairs, which can provide elastic force more evenly and ensure that the first base 21 can slide smoothly along the track on the workbench 1.

[0039] The tool module 3 includes a cross slide assembly a31 and a second base 32 arranged on the cross slide assembly a31, and a milling assembly a33, a second drive motor 34 and a third transmission shaft 321 are provided on the second base 32. The third transmission shaft 321 is arranged parallel to the second transmission shaft 212, and the end of the third transmission shaft 321 is connected to the cam b to be processed; the cross slide assembly a31 is used to drive the milling assembly a33 on the second base 32 to move to the milling station, and make the cam b5 to be processed on the third transmission shaft 321 abut against the driven wheel 213, and the milling assembly a33 is used to mill the cam a4 to be processed on the first transmission shaft 211. The second drive motor 34 is connected to the third transmission shaft 321 for driving the cam b to be processed on the third transmission shaft 321 to rotate at the same speed as the cam a to be processed on the first transmission shaft 211.

[0040] The cross slide assembly a31 includes a horizontal drive motor 311, a vertical drive motor 312, a horizontal slide rail 313 and a vertical slide rail 314, and the horizontal slide rail 313 and the vertical slide rail 314 are arranged perpendicular to each other.

[0041] A horizontal slide 315 is slidably connected to the horizontal slide rail 313 , the second base 32 is connected to the horizontal slide 315 , and a horizontal drive motor 311 is transmission-connected to the horizontal slide 315 for driving the horizontal slide 315 and the second base 32 to slide along the horizontal slide rail 313 .

[0042] A vertical slide 316 is slidably connected to the vertical slide rail 314 , the horizontal slide rail 313 is connected to the vertical slide 316 , and the vertical drive motor 312 is transmission-connected to the vertical slide 316 for driving the vertical slide 316 and the horizontal slide rail 313 to slide along the vertical slide rail 314 .

[0043] The horizontal drive motor 311 and the vertical drive motor 312 are both stepper motors, which drive the corresponding horizontal slide 315 and the vertical slide 316 to move by driving the lead screw. This is the prior art and will not be described in detail here.

[0044] The milling assembly a33 includes a fourth transmission shaft 331 rotatably connected to the second base 32, a dovetail milling cutter a332 is connected to the fourth transmission shaft 331, and a second drive motor 34 is transmission-connected to the fourth transmission shaft 331 for driving the dovetail milling cutter a332 to rotate.

[0045] The output shaft of the second drive motor 34 is connected to two coaxially arranged bevel gears c and d, the end of the fourth transmission shaft 331 away from the dovetail milling cutter a332 is connected to the bevel gear e, and the end of the third transmission shaft 321 away from the cam b to be processed is connected to the bevel gear f, and the bevel gear c and the bevel gear d are respectively meshed with the bevel gear e and the bevel gear f for transmission.

[0046] After such arrangement, the dovetail milling cutter a332 and the cam b to be processed with different rotation speeds can be driven simultaneously by the second driving motor 34, thereby saving equipment costs.

[0047] A cam c to be processed is connected to the end of the first transmission shaft 211 away from the cam a to be processed, and a cross slide assembly b35 is provided at a position corresponding to the cam c to be processed on the workbench 1. A milling assembly b36 is connected to the cross slide assembly b35. The cross slide assembly b35 is used to drive the milling assembly b36 to move to the corresponding milling station. The milling assembly b36 is used to mill the cam c to be processed on the first transmission shaft 211. In this way, two cams of the same specification can be processed at the same time, and the processing efficiency is more efficient.

[0048] The milling assembly b36 includes a third driving motor 361 and a dovetail milling cutter b362. The output end of the third driving motor 361 is connected to the dovetail milling cutter b362 for driving the dovetail milling cutter b362 to rotate.

[0049] The first drive motor 22, the second drive motor 34 and the third drive motor 361 mentioned above are all stepper motors. The structure of the cross slide assembly b35 is the same as that of the cross slide assembly a31, and will not be described in detail here.

[0050] The specific operation process of the automatic chamfering device of the wave generator of the harmonic reducer of the utility model is as follows:

[0051] Before the device is put into operation, the milling assembly a is located on the left side of the cam a to be processed, and the milling assembly b is located on the right side of the cam c to be processed. Before starting the chamfering process, the inner holes of the cam a to be processed and the cam c to be processed are first matched with the two ends of the first transmission shaft respectively. Since the short axis of the cam (i.e., the cam a to be processed, the cam b to be processed, and the cam c to be processed) is coaxial with the threaded hole on the cam surface, the axis of the threaded hole and the bottom plate must be kept as horizontal as possible during assembly, so that the short axis of the cam and the bottom plate of the workbench are in a nearly horizontal position relationship, and then the workpiece to be processed (i.e., the cam a to be processed, and the cam c to be processed) is locked with a nut. After completing the installation of the workpiece to be processed, the inner hole of the cam b to be processed is then matched with the third transmission shaft. Similarly, the short axis of the cam b to be processed and the base plate need to be in a nearly horizontal position, and then the cam b to be processed is locked with a nut; the cam b to be processed is a cam used for capturing the trajectory, so during installation, a cam of the same specification as the workpiece to be processed (i.e., cam a to be processed, cam c to be processed) needs to be used. After the installation of the cam is completed, the workpiece installation steps before processing are completed.

[0052] Since the cutting method of this equipment is similar to that of a machining center machine tool, milling is performed by rotating the tool and slowly changing the cutting surface angle of the workpiece to achieve the processing purpose. Therefore, the second drive motor and the third drive motor are used to drive the dovetail milling cutter to rotate, and the first drive motor is used to change the contact surface angle between the cam to be processed and the tool.

[0053] When the equipment starts working, the cross slide assembly a drives the milling assembly a on the second base to move to the milling station. When designing the tool module, first make the short axis of the cam b to be processed assembled on the third transmission shaft and the short axis of the cam a to be processed assembled on the first transmission shaft parallel to the base plate, then make the short axis elliptical surface of the cam b to be processed contact with the driven wheel, and then calculate the center distance between the dovetail milling cutter a and the third transmission shaft according to the processing size of the chamfer. Therefore, when the short axis elliptical surface of the cam b to be processed in the tool module moves to the position in contact with the driven wheel, the dovetail milling cutter a reaches the working position, and the cutting edge of the dovetail milling cutter a is above the chamfer. In the same way, the cross slide assembly b is started to make the milling assembly b reach its designated working position, and the cutting edge of the dovetail milling cutter b is also above the chamfer of the cam c to be processed.

[0054] Then the first drive motor, the second drive motor and the third drive motor are started at the same time. At this time, the cam a to be processed, the cam b to be processed, the cam c to be processed, the dovetail milling cutter a and the dovetail milling cutter b begin to rotate. The speed of the motor is adjusted to make the speed of the first drive motor consistent with the speed of the third transmission shaft. Since the bevel gear a and the bevel gear b are meshed with the same number of teeth, the speed does not change. At this time, the speed and direction of the cam a to be processed, the cam c to be processed and the cam b to be processed are consistent.

[0055] Since the short axis diameter of the cam ellipse is equal to the diameter of the driven wheel, both are D1. Therefore, according to the principle of cam transmission, when the short axis elliptical surface of the cam b to be processed contacts the surface of the driven wheel, the center distance between the cam b to be processed and the driven wheel is also D1. At this time, the two are in a state of relative rolling, so the first base of the motion trajectory module does not move laterally (i.e., move along the track direction) at this time. Since the initial installation positions of the short axes of the three cams to be processed are consistent and the rotation speeds are also consistent, when the short axis elliptical surface of the cam b to be processed slides relative to the driven wheel, the cutting edge of the dovetail milling cutter performs chamfering processing on the corresponding cam. When the cam b to be processed completes the short axis contact with the driven wheel, the chamfers on the short axis surfaces of the cams a to be processed and the cam c to be processed have been processed.

[0056] The cam b to be processed continues to rotate. When its long-axis elliptical surface contacts the driven wheel, since the long axis D2 is greater than the driven wheel diameter D1, the center distance between the two wheels is (D1+D2) / 2, which is greater than the center distance D1 when the short-axis elliptical surface contacts the surface. When the center distance between the two wheels increases, the two wheels will produce relative displacement. Since the screw rods of the cross slide assembly of this equipment are all planetary ball screws, the ball screws have good self-locking ability, so the position of the cam b to be processed is locked and immovable, and the driven wheel obtains a thrust to move to the right. In the motion trajectory module,

[0057] The bottom of the first base is slidably connected to the track on the bottom plate of the workbench. Four sets of springs are arranged between the right side of the first base and the baffle on the right side of the workbench. Therefore, when the driven wheel obtains a thrust to the right, the first base slides to the right, and the spline of the spline coupling also extends to the right accordingly. Since the cam a to be processed and the cam c to be processed are both fixed in the first base, they will also move to the right. When the long-axis elliptical surface of the cam b to be processed contacts the driven wheel, the long-axis elliptical surfaces of the cam a to be processed and the cam c to be processed will also contact the cutting edge of the corresponding dovetail milling cutter, and the chamfering of the long-axis elliptical surface of the cam will be processed accordingly.

[0058] Due to the existence of four groups of springs, when the first base moves to the right, it will compress the four groups of springs on the right. When the long-axis elliptical surface contact ends and the thrust disappears, the spring releases the previously stored thrust to bounce the first base back to the left. At this time, a new round of short-axis elliptical surface contact movement will begin. Continuous reciprocation can achieve uniform chamfering of the cam. When the chamfering work is completed, the cross slide assembly returns to the initial state position, and the processed cam can be removed.

[0059] This device can achieve uniform processing of the chamfers of the long axis and the short axis on the cam to be processed. Compared with traditional manual processing and milling machines, the processing effect is better and the processing time is shorter; two sets of milling components are set up, two cams of the same specifications can be processed at the same time, and the processing efficiency is higher; in addition, this device captures the motion trajectory of the cam to be processed according to the specifications of the cam to be processed, so different types of cams can be processed by simply replacing the corresponding driven wheel specifications.

[0060] The above description is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic chamfering device for a wave generator of a harmonic reducer, characterized in that: It comprises a workbench (1), and a motion track module (2) and a tool module (3) arranged on the workbench (1); The motion track module (2) comprises a first base (21), a first drive motor (22) and an elastic member (23); the first base (21) is rotatably connected to two mutually parallel first transmission shafts (211) and second transmission shafts (212); the first transmission shaft (211) is connected to a cam a (4) to be processed, and the second transmission shaft (212) is connected to a driven wheel (213); the first base (21) is slidably connected to a workbench (1), and the sliding direction of the first base (21) is perpendicular to the axial direction of the first transmission shaft (211) and the second transmission shaft (212); the first drive motor (22) is transmission-connected to the first transmission shaft (211) and is used to drive the cam a (4) to be processed on the first transmission shaft (211) to rotate; one end of the elastic member (23) is connected to the first base (21), and the other end is connected to the workbench (1), and is used to apply a force along the sliding direction of the first base (21) to the first base (21); The tool module (3) comprises a cross slide assembly a (31) and a second base (32) arranged on the cross slide assembly a (31); the second base (32) is provided with a milling assembly a (33), a second drive motor (34) and a third transmission shaft (321); the third transmission shaft (321) is arranged parallel to the second transmission shaft (212), and the end of the third transmission shaft (321) is connected to a cam b (5) to be processed; the cross slide assembly a (31) is used to drive the second base (32) The milling assembly a (33) on the first transmission shaft (211) is moved to the milling station and causes the cam b (5) to be processed on the third transmission shaft (321) to abut against the driven wheel (213). The milling assembly a (33) is used for milling the cam a (4) to be processed on the first transmission shaft (211). The second drive motor (34) is connected to the third transmission shaft (321) in a transmission manner and is used for driving the cam b (5) to be processed on the third transmission shaft (321) to rotate at the same speed as the cam a (4) to be processed on the first transmission shaft (211).

2. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 1, characterized in that: The first drive motor (22) is fixedly connected to the workbench (1), and the output end of the first drive motor (22) is connected to a bevel gear a (222) via a spline coupling (221), and the first transmission shaft (211) is connected to a bevel gear b (2111), and the bevel gear a (222) is meshed with the bevel gear b (2111) for transmission.

3. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 2, characterized in that: A baffle (11) is provided on the workbench (1); one end of the elastic member (23) is connected to a side wall of the first base (21) facing the baffle (11), and the other end is connected to the baffle (11).

4. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 3, characterized in that: The elastic member (23) is composed of four groups of springs.

5. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 1, characterized in that: The cross slide assembly a (31) comprises a horizontal drive motor (311), a vertical drive motor (312), a horizontal slide rail (313) and a vertical slide rail (314), wherein the horizontal slide rail (313) and the vertical slide rail (314) are arranged perpendicular to each other; a horizontal slide seat (315) is slidably connected to the horizontal slide rail (313), the second base (32) is connected to the horizontal slide seat (315), and the horizontal drive motor (311) and the horizontal slide seat (314) are connected to each other. 15) transmission connection, used for driving the horizontal slide (315) and the second base (32) to slide along the horizontal slide rail (313); the vertical slide rail (314) is slidably connected with a vertical slide (316), the horizontal slide rail (313) is connected to the vertical slide (316), and the vertical drive motor (312) is transmission connected with the vertical slide (316), used for driving the vertical slide (316) and the horizontal slide rail (313) to slide along the vertical slide rail (314).

6. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 5, characterized in that: The milling assembly a (33) comprises a fourth transmission shaft (331) rotatably connected to the second base (32); a dovetail milling cutter a (332) is connected to the fourth transmission shaft (331); and the second drive motor (34) is transmission-connected to the fourth transmission shaft (331) for driving the dovetail milling cutter a (332) to rotate.

7. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 6, characterized in that: The output shaft of the second driving motor (34) is connected to two coaxially arranged bevel gears c (341) and d (342); the end of the fourth transmission shaft (331) away from the dovetail milling cutter a (332) is connected to the bevel gear e (3311); the end of the third transmission shaft (321) away from the cam b (5) to be processed is connected to the bevel gear f (3211); the bevel gear c (341) and the bevel gear d (342) are respectively meshed with the bevel gear e (3311) and the bevel gear f (3211) for transmission.

8. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 1, characterized in that: A cam c (6) to be processed is connected to one end of the first transmission shaft (211) away from the cam a (4) to be processed; a cross slide assembly b (35) is provided at a position on the workbench (1) corresponding to the cam c (6) to be processed; a milling assembly b (36) is connected to the cross slide assembly b (35); the cross slide assembly b (35) is used to drive the milling assembly b (36) to move to a milling station; and the milling assembly b (36) is used to mill the cam c (6) to be processed on the first transmission shaft (211).

9. The automatic chamfering device for a wave generator of a harmonic reducer according to claim 8, characterized in that: The milling assembly b (36) comprises a third driving motor (361) and a dovetail milling cutter b (362), wherein the output end of the third driving motor (361) is connected to the dovetail milling cutter b (362) for driving the dovetail milling cutter b (362) to rotate.

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