Harmonic reducer angle measuring device

Abstract

The utility model discloses a harmonic reducer angle measuring device, which relates to the technical field of reducer performance testing and comprises a magnetic powder brake, an angle measuring assembly, a harmonic transmission assembly and two sliding seat assemblies. The angle measuring assembly comprises a first L-shaped positioning seat, a first connecting flange, a scale indicating assembly and a first adapter shaft, and one end of the first adapter shaft is connected with the magnetic powder brake through a first coupler; the harmonic transmission assembly comprises a harmonic reducer, and an output shaft of the harmonic reducer is connected with the other end of the first adapter shaft through a second coupler. The two sliding seat assemblies are horizontally installed under the angle measuring assembly and the harmonic transmission assembly respectively, and the angle measuring assembly and the harmonic transmission assembly are adjustably installed on the corresponding sliding seat assemblies so that the torque of the magnetic powder brake can be transmitted to the harmonic transmission assembly through the angle measuring assembly. According to the utility model, the rotation angle of the harmonic reducer can be effectively detected so as to judge the working performance of the reducer.

Description

Technical Field

[0001] The utility model relates to the technical field of speed reducer performance testing, in particular to a harmonic speed reducer angle measuring device. Background Art

[0002] The harmonic reducer is mainly composed of three main basic components: wave generator, flexible wheel and rigid wheel. The harmonic reducer is a new transmission structure in the gear reducer. It uses flexible gears to generate controllable elastic deformation waves, causing the teeth of the rigid wheel and the flexible wheel to be staggered relative to each other to transmit power and motion. The harmonic reducer is widely used in aerospace, energy, navigation, shipbuilding, bionic machinery and transportation due to its advantages such as large transmission ratio, strong load-bearing capacity, high transmission accuracy and high transmission efficiency.

[0003] After the harmonic reducer is manufactured, the performance of the manufactured harmonic reducer needs to be tested to ensure that the harmonic reducer can be used reliably. The traditional manual torque loading method, that is, personnel use manual loading weights to control the torque size, to test the dynamic characteristics of the harmonic reducer, requires multiple installations, is time-consuming and labor-intensive, and this test method has low accuracy and poor reliability.

[0004] In addition, traditional detection devices usually require operators to perform a large number of operations during the inspection process and have a low degree of automation. Utility Model Content

[0005] The main purpose of the utility model is to provide a harmonic reducer angle measurement device, aiming to solve the technical problems of low automation, low precision and poor reliability of traditional harmonic reducer angle testing methods.

[0006] In order to achieve the above object, the utility model proposes a harmonic reducer angle measurement device, comprising:

[0007] Magnetic powder brake;

[0008] An angle measuring assembly, comprising a first L-shaped positioning seat, a first connecting flange sleeved in the first L-shaped positioning seat, a scale indicating assembly installed in the first connecting flange, and a first adapter shaft rotatably inserted through the scale indicating assembly, wherein one end of the first adapter shaft close to the magnetic powder brake is connected to the magnetic powder brake through a first coupling;

[0009] A harmonic drive assembly, comprising a harmonic reducer, wherein an output shaft of the harmonic reducer is connected to the other end of the first adapter shaft via a second coupling;

[0010] Two sliding seat assemblies are horizontally installed directly below the angle measuring assembly and the harmonic drive assembly, respectively, and the angle measuring assembly and the harmonic drive assembly are adjustably installed on the corresponding sliding seat assemblies, so that the torque of the magnetic powder brake is transmitted to the harmonic drive assembly through the angle measuring assembly, and the rotation angle of the harmonic drive assembly is reversely measured and identified by the angle measuring assembly.

[0011] Optionally, the first L-shaped positioning seat includes a first connecting plate and a second connecting plate vertically connected to each other and a first triangular rib plate vertically connected between the first connecting plate and the second connecting plate, a first circular hole is opened at the center of the second connecting plate, a first external stop is provided at the center of the first connecting flange, and the first external stop is suitable for being inserted into the first circular hole, and the first connecting plate is suitable for being slidably connected to the sliding seat assembly.

[0012] Optionally, the scale indication assembly includes a scale needle locked on the outer end face of the first connecting flange and a scale dial locked on the first adapter shaft, and the scale dial is suitable for being installed in the inner hole of the first connecting flange, and the scale needle is suitable for pointing to the outer end face of the scale dial.

[0013] Optionally, the first adapter shaft is rotatably mounted on the second connecting plate via a first bearing.

[0014] Optionally, the harmonic drive assembly further includes a second L-shaped positioning seat arranged opposite to the first L-shaped positioning seat and a second connecting flange sleeved on the second L-shaped positioning seat, and the second coupling and the harmonic reducer are respectively located on both sides of the second L-shaped positioning seat.

[0015] Optionally, the second L-shaped positioning seat includes a third connecting plate and a fourth connecting plate vertically connected to each other and a second triangular rib plate vertically connected between the third connecting plate and the fourth connecting plate, a second circular hole is opened at the center of the fourth connecting plate, a second external stop is provided at the center of the second connecting flange, and the second external stop is suitable for being inserted into the second circular hole, and the third connecting plate is suitable for being slidably connected to the sliding seat assembly.

[0016] Optionally, the sliding seat assembly includes a base plate, two linear guide rails installed parallel to the upper surface of the base plate, a slider correspondingly slidably installed on the linear guide rails, and a connecting plate connected to the upper surfaces of the two linear guide rails, and the upper surface of the connecting plate is connected to the bottom of the first connecting plate, and the slider is fixed by a limit handle.

[0017] Optionally, the bottom of the third connecting plate is slidably connected to the other end of the other sliding seat assembly relative to the first connecting plate, and the other sliding seat assembly is adjusted and fixed by an adjusting component.

[0018] Optionally, the adjustment component includes an adjustment base fixed on the base plate, an adjustment block connected to one side of the third connecting plate, and an adjustment screw threadedly connected between the adjustment base and the adjustment block, and the axial direction of the adjustment screw is parallel to the linear guide rail.

[0019] Optionally, the connecting plate is provided with a horizontally penetrating adjustment hole, and the adjustment hole includes a group of countersunk screw holes located below and a group of positioning holes located above. The connecting plate is connected and fixed to the base plate via the countersunk screw holes. The first connecting plate is adjusted to a horizontal position by a bolt threadedly connected to the positioning hole, and is connected and fixed.

[0020] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0021] In the technical solution of the utility model, the angle measuring device of the harmonic reducer is composed of a magnetic powder brake, an angle measuring component, a harmonic drive component and two sliding seat components. The magnetic powder brake is used to generate a torque; the angle measuring component is used to transmit the torque of the magnetic powder brake to the harmonic drive component and simultaneously measure the rotation angle of the harmonic drive component. The angle measuring component is composed of a first L-shaped positioning seat, a first connecting flange, a scale indicating component, a first adapter shaft and a first coupling, wherein the first L-shaped positioning seat is an L-shaped structure, the bottom part of which is connected to the sliding seat component, the upper part is vertically arranged, the first connecting flange is embedded in the upper part of the first L-shaped positioning seat, and the scale indicating component is installed in the first connecting flange, the first adapter shaft is horizontally penetrated in the center of the scale indicating component, and the first adapter shaft is horizontally rotated and installed on the first L-shaped positioning seat through a bearing. When the first adapter shaft rotates, the scale indicating component can measure the rotation angle of the first adapter shaft in real time. Since the end of the first adapter shaft close to the magnetic powder brake is connected to the magnetic powder brake through the first coupling, the output shaft of the harmonic reducer is connected to the other end of the first adapter shaft through the second coupling, so that the rotational torque of the magnetic powder brake will be transmitted to the first adapter shaft, and then the output torque of the first adapter shaft is further transmitted to the harmonic reducer, so that the scale indicator component can reversely measure the output rotation angle of the harmonic reducer to further analyze the performance of the harmonic reducer. Compared with the traditional angle test method of the harmonic reducer, the angle measurement device of the harmonic reducer in this embodiment replaces the manual loading torque method, which saves time and labor, and improves the test accuracy and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of the structure of a harmonic reducer angle measurement device in one direction provided in one embodiment of the utility model;

[0024] Figure 2 This is a schematic diagram of the structure in another direction of the harmonic reducer angle measurement device provided in one embodiment of the utility model.

[0025] Description of reference numerals:

[0026] 1-Magnetic powder brake;

[0027] 11-mounting base; 12-first locking member;

[0028] 2- Angle measurement component;

[0029] 21-first L-shaped positioning seat;

[0030] 211-first connecting plate; 212-second connecting plate; 213-first triangular rib plate;

[0031] 22-first connecting flange; 221-first outer stop;

[0032] 23- scale indicating assembly; 231- scale needle; 232- scale dial;

[0033] 24-first transfer shaft; 241-first bearing;

[0034] 25- first coupling;

[0035] 3- Harmonic drive components;

[0036] 31- harmonic reducer;

[0037] 32- second L-shaped positioning seat;

[0038] 321-third connecting plate; 322-fourth connecting plate; 323-second triangular rib plate;

[0039] 33-second connecting flange; 331-second outer stop;

[0040] 34- second coupling;

[0041] 4-sliding seat assembly;

[0042] 41- bottom plate;

[0043] 42-Linear guide;

[0044] 43-slider; 431-limit handle;

[0045] 44-connecting plate; 441-adjustment hole; 4411-countersunk screw hole; 4412-positioning hole;

[0046] 45- positioning seat;

[0047] 5-Adjustment components;

[0048] 51 - adjusting base; 52 - adjusting block; 53 - adjusting screw. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0050] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0052] See also Figure 1-2 As shown, the utility model provides a harmonic reducer angle measuring device, which includes a magnetic powder brake 1, an angle measuring component 2, a harmonic transmission component 3 and two sliding seat components 4, wherein:

[0053] The magnetic powder brake 1 is used to provide a torque to the harmonic drive component 3. The magnetic powder brake 1 in this embodiment is an automatic control component with superior performance. It uses magnetic powder as a working medium and excitation current as a control means to achieve the purpose of smoothly controlling variable braking or variable transmission torque. Its output torque and excitation current have a good linear relationship, and the brake torque changes smoothly with the change of voltage and current, and has the advantages of sensitive response speed and simple structure.

[0054] The angle measuring assembly 2 includes a first L-shaped positioning seat 21, a first connecting flange 22, a scale indicating assembly 23 and a first adapter shaft 24. The first connecting flange 22 is sleeved in the first L-shaped positioning seat 21, the scale indicating assembly 23 is installed in the first connecting flange 22, the first adapter shaft 24 is rotatably penetrated on the scale indicating assembly 23, and one end of the first adapter shaft 24 close to the magnetic powder brake 1 is connected to the magnetic powder brake 1 through a first coupling 25.

[0055] The harmonic drive component 3 includes a harmonic reducer 31, the output shaft of the harmonic reducer 31 is connected to the other end of the first adapter shaft 24 through a second coupling 34; two sliding seat assemblies 4 are horizontally installed directly below the angle measurement component 2 and the harmonic drive component 3, and the angle measurement component 2 and the harmonic drive component 3 are adjustably installed on the corresponding sliding seat assemblies 4, so that the torque of the magnetic powder brake 1 is transmitted to the harmonic drive component 3 through the angle measurement component 2, and the rotation angle of the harmonic drive component 3 is reversely measured and identified by the angle measurement component 2.

[0056] In the specific scheme of this embodiment, the magnetic powder brake 1 is horizontally fixed on the mounting base 11 by a plurality of evenly distributed first locking members 12, so as to generate a rotational torque; the angle measuring component 2 is used to transmit the rotational torque of the magnetic powder brake 1 to the harmonic transmission component 3, and to measure the rotation angle of the harmonic transmission component 3 at the same time. As a preferred embodiment of this embodiment, the angle measuring assembly 2 is composed of a first L-shaped positioning seat 21, a first connecting flange 22, a scale indicating assembly 23, a first adapter shaft 24 and a first coupling 25, wherein the first L-shaped positioning seat 21 is an L-shaped structure, the bottom part of which is connected to the sliding seat assembly 4, and the upper part is vertically arranged, the first connecting flange 22 is embedded in the upper part of the first L-shaped positioning seat 21, and the scale indicating assembly 23 is installed in the first connecting flange 22, the first adapter shaft 24 is horizontally penetrated through the center of the scale indicating assembly 23, and the first adapter shaft 24 is horizontally rotatably installed on the first L-shaped positioning seat 21 through a bearing. When the first adapter shaft 24 rotates, the scale indicating assembly 23 can measure the rotation angle of the first adapter shaft 24 in real time. Since one end of the first adapter shaft 24 close to the magnetic powder brake 1 is connected to the magnetic powder brake 1 through the first coupling 25, the output shaft of the harmonic reducer 31 is connected to the other end of the first adapter shaft 24 through the second coupling 34, so that the rotational torque of the magnetic powder brake 1 will be transmitted to the first adapter shaft 24, and then the output torque of the first adapter shaft 24 will be further transmitted to the harmonic reducer 31, so that the scale indication component 23 can reversely measure the output rotation angle of the harmonic reducer 31 to further analyze the performance of the harmonic reducer 31.

[0057] Compared with the traditional angle test method of the harmonic reducer, the harmonic reducer angle measurement device in this embodiment replaces the manual loading torque method, which saves time and labor and improves the test accuracy and reliability.

[0058] Furthermore, the first L-shaped positioning seat 21 includes a first connecting plate 211, a second connecting plate 212 and a first triangular rib plate 213. The first connecting plate 211 and the second connecting plate 212 are vertically connected to each other. The first triangular rib plate 213 is vertically connected between the first connecting plate 211 and the second connecting plate 212. A first circular hole is opened at the center of the second connecting plate 212. A first external stop 221 is provided at the center of the first connecting flange 22, and the first external stop 221 is suitable for being inserted into the first circular hole. The first connecting plate 211 is suitable for being slidably connected to the sliding seat assembly 4.

[0059] See also Figure 1As shown, in the specific scheme of this embodiment, the first L-shaped positioning seat 21 is composed of a first connecting plate 211, a second connecting plate 212 and a first triangular rib plate 213. The second connecting plate 212 is vertically connected to one side of the first connecting plate 211 to form an L-shaped structure with the assembly. Considering the connection strength between the first connecting plate 211 and the second connecting plate 212, two first triangular rib plates 213 are further arranged between the first connecting plate 211 and the second connecting plate 212. The two first triangular rib plates 213 are respectively located on both sides of the first connecting plate 211 and the second connecting plate 212, so as to further ensure the structural strength.

[0060] In addition, since the first connecting flange 22 needs to be installed on the second connecting plate 212, a first circular hole is opened in the center of the second connecting plate 212, and a first outer stop 221 is provided in the center of the first connecting flange 22, and the first outer stop 221 is suitable for being inserted into the first circular hole, that is, the outer diameter of the first outer stop 221 matches the first circular hole, so that the first connecting flange 22 can be connected to the second connecting plate 212.

[0061] Furthermore, the scale indicating assembly 23 includes a scale needle 231 and a dial 232, the scale needle 231 is locked on the outer end face of the first connecting flange 22, the dial 232 is locked on the first adapter shaft 24, and the dial 232 is suitable for being installed in the inner hole of the first connecting flange 22, and the scale needle 231 is suitable for pointing to the outer end face of the dial 232.

[0062] See also Figure 1 As shown, in the specific scheme of this embodiment, the scale indicating assembly 23 is composed of a scale needle 231 and a dial 232. In order to enable the scale indicating assembly 23 to accurately reflect the rotation angle, the first adapter shaft 24 is locked and fixed at the center position of the dial 232, and the scale needle 231 is fixedly connected to the outer end surface of the first connecting flange 22, and the scale needle 231 points in the direction of the dial 232.

[0063] Furthermore, the first transfer shaft 24 is rotatably mounted on the second connecting plate 212 via a first bearing 241 .

[0064] See also Figure 1 As shown, in the specific scheme of this embodiment, the two ends of the first adapter shaft 24 are used to connect the magnetic powder brake 1 and the harmonic transmission component 3. Therefore, the rotation of the first adapter shaft 24 must be guaranteed. By installing the first bearing 241 on the second connecting plate 212, the stability of the rotation of the first adapter shaft 24 can be guaranteed.

[0065] Furthermore, the harmonic drive assembly 3 also includes a second L-shaped positioning seat 32 and a second connecting flange 33. The second L-shaped positioning seat 32 is arranged opposite to the first L-shaped positioning seat 21. The second connecting flange 33 is sleeved on the second L-shaped positioning seat 32. The second coupling 34 and the harmonic reducer 31 are respectively located on both sides of the second L-shaped positioning seat 32.

[0066] See also Figure 1 As shown, in the specific scheme of this embodiment, the harmonic drive assembly 3 also includes a second L-shaped positioning seat 32 and a second connecting flange 33. The second L-shaped positioning seat 32 is used to provide support for installing the harmonic reducer 31. The second connecting flange 33 is also embedded in the second L-shaped positioning seat 32 to ensure the stability of both ends of the first adapter shaft 24. The output shaft of the harmonic reducer 31 is penetrated by the second connecting flange 33 and faces one side of the first L-shaped positioning seat 21. The output shaft of the harmonic reducer 31 is connected to the first adapter shaft 24 through the second coupling 34.

[0067] Furthermore, the second L-shaped positioning seat 32 includes a third connecting plate 321, a fourth connecting plate 322 and a second triangular rib plate 323. The third connecting plate 321 and the fourth connecting plate 322 are vertically connected to each other. The second triangular rib plate 323 is vertically connected between the third connecting plate 321 and the fourth connecting plate 322. A second circular hole is opened at the center of the fourth connecting plate 322. A second outer stop 331 is opened at the center of the second connecting flange 33, and the second outer stop 331 is suitable for being inserted into the second circular hole. The third connecting plate 321 is suitable for being slidably connected to the sliding seat assembly 4.

[0068] See also Figure 1 As shown, in the specific solution of this embodiment, the second L-shaped positioning seat 32 is composed of a third connecting plate 321, a fourth connecting plate 322 and a second triangular rib plate 323. It should be particularly noted that the structure of the second L-shaped positioning seat 32 in this embodiment is exactly the same as that of the first L-shaped positioning seat 21, so the specific structure of the second L-shaped positioning seat 32 is not described in detail here. The advantage of this arrangement is that the number of parts is reduced and the production cost is reduced.

[0069] Furthermore, the sliding seat assembly 4 includes a base plate 41, two linear guide rails 42, a slider 43 and a connecting plate 44. The two linear guide rails 42 are installed in parallel on the upper surface of the base plate 41, and the slider 43 is correspondingly slidably installed on the linear guide rails 42. The connecting plate 44 is connected to the upper surfaces of the two linear guide rails 42, and the upper surface of the connecting plate 44 is connected to the bottom of the first connecting plate 211. The slider 43 is fixed by a limit handle 431.

[0070] See also Figure 1As shown, in the specific scheme of this embodiment, the sliding seat assembly 4 is composed of a base plate 41, two linear guide rails 42, a slider 43 and a connecting plate 44, wherein the directions of the two linear guide rails 42 are parallel to the first adapter shaft 24, and are located on both sides directly below the first adapter shaft 24, and the two sliders 43 are respectively installed on the two linear guide rails 42, and the first L-shaped positioning seat 21 is connected and fixed to the slider 43 through the connecting plate 44.

[0071] Furthermore, the bottom of the third connecting plate 321 is slidably connected to the other end of the other sliding seat assembly 4 relative to the first connecting plate 211 , and the other sliding seat assembly 4 is adjusted and fixed by the adjusting component 5 .

[0072] See also Figure 1 As shown, in the specific scheme of this embodiment, the second L-shaped positioning seat 32 is used to adjust the position of the harmonic reducer 31. Therefore, when the sliding seat assembly 4 at the bottom of the second L-shaped positioning seat 32 reaches the set position, it is fine-tuned and aligned through the adjustment component 5 and fixed.

[0073] Furthermore, the adjusting component 5 includes an adjusting base 51, an adjusting block 52 and an adjusting screw 53. The adjusting base 51 is fixed on the base plate 41, the adjusting block 52 is connected to one side of the third connecting plate 321, the adjusting screw 53 is threadedly connected between the adjusting base 51 and the adjusting block 52, and the axial direction of the adjusting screw 53 is parallel to the linear guide rail 42.

[0074] See also Figure 1 As shown, in the specific solution of this embodiment, the adjustment component 5 is composed of an adjustment base 51 , an adjustment block 52 and an adjustment screw 53 , which is used to achieve alignment adjustment between the harmonic reducer 31 and the first adapter shaft 24 .

[0075] Furthermore, a horizontally penetrating adjustment hole 441 is provided on the connecting plate 44, and the adjustment hole 441 includes a group of countersunk screw holes 4411 located at the bottom and a group of positioning holes 4412 located at the top. The connecting plate 44 and the base plate 41 are connected and fixed via the countersunk screw holes 4411, and the first connecting plate 211 is adjusted to a horizontal position via a bolt threadedly connected to the positioning hole 4412, and is connected and fixed.

[0076] See also Figure 1 As shown, in the specific solution of this embodiment, the setting of the adjustment hole 441 on the connecting plate 44 is used to fine-tune the first L-shaped positioning seat 21 in the horizontal direction to ensure the alignment between the first adapter shaft 24 and the magnetic powder brake 1.

[0077] Although the utility model is disclosed as above, the protection scope of the utility model is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A harmonic reducer angle measurement device, characterized in that: include: Magnetic powder brake (1); The angle measuring assembly (2) comprises a first L-shaped positioning seat (21), a first connecting flange (22) sleeved in the first L-shaped positioning seat (21), a scale indicating assembly (23) installed in the first connecting flange (22), and a first adapter shaft (24) rotatably inserted into the scale indicating assembly (23), wherein one end of the first adapter shaft (24) close to the magnetic powder brake (1) is connected to the magnetic powder brake (1) via a first coupling (25); A harmonic drive assembly (3) comprises a harmonic reducer (31), wherein an output shaft of the harmonic reducer (31) is connected to the other end of the first adapter shaft (24) via a second coupling (34); Two sliding seat assemblies (4) are horizontally mounted directly below the angle measuring assembly (2) and the harmonic drive assembly (3), respectively, and the angle measuring assembly (2) and the harmonic drive assembly (3) are adjustably mounted on the corresponding sliding seat assemblies (4), so that the torque of the magnetic powder brake (1) is transmitted to the harmonic drive assembly (3) via the angle measuring assembly (2), and the rotation angle of the harmonic drive assembly (3) is reversely measured and identified by the angle measuring assembly (2).

2. The harmonic reducer angle measuring device according to claim 1, characterized in that: The first L-shaped positioning seat (21) comprises a first connecting plate (211) and a second connecting plate (212) vertically connected to each other, and a first triangular rib plate (213) vertically connected between the first connecting plate (211) and the second connecting plate (212); a first circular hole is provided at the center of the second connecting plate (212); a first outer stop (221) is provided at the center of the first connecting flange (22), and the first outer stop (221) is suitable for being inserted into the first circular hole; and the first connecting plate (211) is suitable for being slidably connected to the sliding seat assembly (4).

3. The harmonic reducer angle measuring device according to claim 1, characterized in that: The scale indicating assembly (23) comprises a scale needle (231) locked on the outer end surface of the first connecting flange (22) and a scale disk (232) locked on the first adapter shaft (24), and the scale disk (232) is suitable for being installed in the inner hole of the first connecting flange (22), and the scale needle (231) is suitable for pointing to the outer end surface of the scale disk (232).

4. The harmonic reducer angle measuring device according to claim 2, characterized in that: The first transfer shaft (24) is rotatably mounted on the second connecting plate (212) via a first bearing (241).

5. The harmonic reducer angle measuring device according to claim 2, characterized in that: The harmonic drive assembly (3) further comprises a second L-shaped positioning seat (32) arranged opposite to the first L-shaped positioning seat (21) and a second connecting flange (33) sleeved on the second L-shaped positioning seat (32); the second coupling (34) and the harmonic reducer (31) are respectively located on both sides of the second L-shaped positioning seat (32).

6. The harmonic reducer angle measuring device according to claim 5, characterized in that: The second L-shaped positioning seat (32) includes a third connecting plate (321) and a fourth connecting plate (322) vertically connected to each other and a second triangular rib plate (323) vertically connected between the third connecting plate (321) and the fourth connecting plate (322), a second circular hole is provided at the center of the fourth connecting plate (322), a second outer stop (331) is provided at the center of the second connecting flange (33), and the second outer stop (331) is suitable for being inserted into the second circular hole, and the third connecting plate (321) is suitable for being slidably connected to the sliding seat assembly (4).

7. The harmonic reducer angle measuring device according to claim 6, characterized in that: The sliding seat assembly (4) comprises a base plate (41), two linear guide rails (42) mounted in parallel on the upper surface of the base plate (41), a slider (43) mounted correspondingly and slidably on the linear guide rails (42), and a connecting plate (44) connected to the upper surfaces of the two linear guide rails (42), wherein the upper surface of the connecting plate (44) is connected to the bottom of the first connecting plate (211), and the slider (43) is fixed by a limiting handle (431).

8. The harmonic reducer angle measuring device according to claim 7, characterized in that: The bottom of the third connecting plate (321) is slidably connected to the other end of the other sliding seat assembly (4) relative to the first connecting plate (211), and the other sliding seat assembly (4) is adjusted and fixed by an adjusting component (5).

9. The harmonic reducer angle measuring device according to claim 8, characterized in that: The adjusting component (5) comprises an adjusting base (51) fixed on the bottom plate (41), an adjusting block (52) connected to one side of the third connecting plate (321), and an adjusting screw (53) threadedly connected between the adjusting base (51) and the adjusting block (52), and the axial direction of the adjusting screw (53) is parallel to the linear guide rail (42).

10. The harmonic reducer angle measuring device according to claim 9, characterized in that: The connecting plate (44) is provided with an adjustment hole (441) which passes through horizontally, and the adjustment hole (441) includes a group of countersunk screw holes (4411) located at the bottom and a group of positioning holes (4412) located at the top. The connecting plate (44) and the base plate (41) are connected and fixed via the countersunk screw holes (4411). The first connecting plate (211) is adjusted to a horizontal position via a bolt which is threadedly connected to the positioning hole (4412) and is connected and fixed.

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