Assembly tool for wave generator of harmonic reducer

Abstract

The utility model provides a wave generator assembly tool of a harmonic reducer. The wave generator assembly tool comprises a press-fitting base and a guide shaft arranged on the press-fitting base. The guide shaft comprises a first guide part and a second guide part, the first guide part is used for being connected with the cam, and the cam can slide in the axial direction of the first guide part; the second guide part is sleeved with a guide sleeve, and the guide sleeve can slide in the axial direction of the second guide part. A positioning part protruding in the radial direction is arranged on the peripheral wall of the guide sleeve, and the first guide part, the second guide part and the positioning part are coaxially arranged; the positioning part is used for being connected with the flexible bearing in a sleeving mode, and the peripheral wall of the positioning part is attached to the inner wall of the flexible bearing. In the assembling process, the cam pushes the guide sleeve downwards, the positioning part is made to retreat from the inner ring of the flexible bearing, meanwhile, the cam is extruded into the flexible bearing from the upper portion, in the process, the cam and the flexible bearing are kept coaxial all the time, the assembling requirement of the wave generator is met, secondary deformation of the flexible bearing is avoided, and then the product quality is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of wave generator processing technology, specifically to a wave generator assembly fixture for a harmonic reducer. Background Technology

[0002] In recent years, with the rapid development of humanoid robots in China, the market demand for harmonic reducers has been increasing daily, which presents both opportunities and challenges for harmonic reducer manufacturers. The principle of a harmonic reducer is to utilize the relative motion of a rigid wheel, a flexible wheel, and a wave generator. An elliptical cam inside the wave generator rotates within the flexible wheel, causing it to undergo controllable elastic deformation, thereby transmitting motion and power. Harmonic reducers have advantages such as high transmission accuracy, high load-bearing capacity, small size, and smooth transmission.

[0003] Because harmonic reducers are precision components, mass assembly of harmonic reducers suffers from inconsistent assembly precision, particularly in the wave generator assembly. The wave generator of a harmonic reducer consists of a cam and a flexible bearing. The inner ring of the flexible bearing requires the elliptical cylindrical surface of the cam for mating. Currently, the mainstream assembly method involves placing the flexible bearing in a specific deformation block, applying force to the outer ring of the flexible bearing to force its inner ring to deform into an elliptical shape that matches the cam, and then forcibly pressing the cam into the inner ring of the flexible bearing. A significant drawback of this assembly method is that during mass assembly, due to operator inattention, the long axis of the cam may not be fully aligned with the long axis of the flexible bearing's inner ring before pressing it in. This can cause the cam to slip into the inner ring of the flexible bearing during pressing, resulting in secondary deformation of the flexible bearing. This leads to wear on both the inner and outer rings of the flexible bearing, causing abnormal noise during operation of the harmonic reducer, reducing the lifespan of the flexible bearing, and resulting in economic losses. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a wave generator assembly fixture for a harmonic reducer that improves assembly accuracy and avoids secondary deformation of the flexible bearing.

[0005] The technical solution of this utility model is to provide a wave generator assembly fixture for a harmonic reducer having the following structure:

[0006] The device includes a press-fit base and a guide shaft vertically mounted on the press-fit base. The guide shaft includes a first guide portion and a second guide portion arranged sequentially from top to bottom. The first guide portion is used for cam connection, and the cam can slide along the axial direction of the first guide portion. A guide sleeve is fitted on the second guide portion, and the guide sleeve can slide along the axial direction of the second guide portion. A radially protruding positioning portion is provided on the outer peripheral wall of the guide sleeve. The first guide portion, the second guide portion, and the positioning portion are arranged coaxially. The positioning portion is used for flexible bearing to fit, and the outer peripheral wall of the positioning portion fits against the inner wall of the flexible bearing.

[0007] With the above structure, the wave generator assembly fixture of the harmonic reducer of this utility model has the following advantages compared with the prior art:

[0008] During assembly, the flexible bearing is first placed on top of the press base and then fitted onto the positioning part of the guide sleeve. At this time, the flexible bearing and the positioning part are coaxial. Then, the first guide part is passed through the center hole of the cam. At this time, the cam and the first guide part are coaxial. During the process of the press driving the cam to press down, since the first guide part, the second guide part and the positioning part are coaxial, the cam and the flexible bearing are also coaxial.

[0009] During the downward pressing process, the lower end face of the cam abuts against the upper end face of the guide sleeve, pushing the guide sleeve downward and causing the positioning part to exit the inner ring of the flexible bearing. At the same time, the cam directly squeezes into the inner ring of the flexible bearing from above, completing one extrusion molding. During this process, the cam and the flexible bearing always remain coaxial, which meets the assembly requirements of the wave generator, avoids secondary deformation of the flexible bearing, and thus ensures the quality of the product.

[0010] Preferably, the height from the top of the guide sleeve to the bottom of the positioning part is less than the thickness of the flexible bearing. With this configuration, before the cam presses down on the guide sleeve and the positioning part completely exits the inner ring of the flexible bearing, a small portion of the lower end of the cam has already entered the inner ring of the flexible bearing, ensuring that the cam and the flexible bearing remain coaxial during the compression assembly.

[0011] Preferably, the press-fit base is provided with an annular placement groove that extends vertically downward and is coaxial with the guide shaft, the annular placement groove being used to accommodate the guide sleeve.

[0012] Preferably, the height of the guide sleeve is the same as the depth of the annular mounting groove. This ensures that when the cam presses the guide sleeve down to abut against the bottom wall of the annular mounting groove, the cam is fully fitted into the inner ring of the flexible bearing.

[0013] Preferably, a spring is fitted onto the guide shaft, with one end of the spring connected to the guide sleeve and the other end connected to the inner bottom wall of the annular mounting groove. After the cam is pressed into the flexible bearing, the press releases the applied pressure, and under the elastic force of the spring, the guide sleeve resets, lifting the assembled wave generator for easy removal by the user.

[0014] Preferably, the lower end of the inner circumferential wall of the guide sleeve is provided with an annular recess, and one end of the spring is connected to the annular recess. When the guide sleeve is pressed down until its lower end face abuts against the inner bottom wall of the annular recess, the annular recess can accommodate the compressed spring, preventing the spring from being damaged.

[0015] Preferably, the device also includes a pressure block, the upper end of which has a connecting portion for connecting to a press head, and the lower end of which has a groove with an open bottom for accommodating the upper end of a guide shaft. When the press head drives the pressure block downwards, pressing the cam into the flexible bearing, the top of the guide shaft abuts against the inner top wall of the groove. The connecting portion of the pressure block facilitates connection to the press head, the groove accommodates the upper end of the guide shaft, and ensures that the cam is precisely pressed into the flexible bearing when the top of the guide shaft abuts against the inner top wall of the groove. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model before pressing.

[0017] Figure 2 This is a schematic diagram of the structure of this utility model during the pressing process.

[0018] Figure 3 This is a schematic diagram of the structure of this utility model after pressing.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Press-fit base; 11. Annular positioning groove; 2. Guide shaft; 21. First guide part; 22. Second guide part; 3. Cam; 4. Guide sleeve; 41. Positioning part; 42. Annular recess; 5. Flexible bearing; 6. Spring; 7. Pressure block; 71. Connecting part; 72. Groove. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0022] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. At the same time, the terms "first", "second", etc., are only used to distinguish the names of various components and do not have a primary or secondary relationship. Therefore, they should not be construed as limitations on this utility model.

[0023] like Figure 1 , Figure 2 and Figure 3 As shown;

[0024] This utility model discloses a wave generator assembly fixture for a harmonic reducer: including a press base 1 and a guide shaft 2 vertically arranged on the press base 1.

[0025] The guide shaft 2 includes a first guide portion 21 and a second guide portion 22 arranged sequentially from top to bottom. The first guide portion 21 is used for connecting the cam 3, and the cam 3 can slide along the axial direction of the first guide portion 21. A guide sleeve 4 is fitted on the second guide portion 22, and the guide sleeve 4 can slide along the axial direction of the second guide portion 22. A radially protruding positioning portion 41 is provided on the outer peripheral wall of the guide sleeve 4. The positioning portion 41 is circular and is adapted to fit the inner ring of the flexible bearing 5. The positioning portion 41 is used for fitting the flexible bearing 5, and the outer peripheral wall of the positioning portion 41 fits against the inner wall of the flexible bearing 5. The first guide portion 21, the second guide portion 22, and the positioning portion 41 are arranged coaxially, so that the cam 3 and the flexible bearing 5 can also be coaxial.

[0026] During assembly, the flexible bearing 5 is first placed on top of the press base 1 and fitted onto the positioning part 41 of the guide sleeve 4. At this time, the flexible bearing 5 and the positioning part 41 are coaxial. Then, the first guide part 21 is passed through the center hole of the cam 3. At this time, the cam 3 and the first guide part 21 are coaxial. During the process of the press driving the cam 3 to press down, since the first guide part 21, the second guide part 22 and the positioning part 41 are coaxial, the cam 3 and the flexible bearing 5 are also coaxial.

[0027] During the downward pressing process, the lower end face of cam 3 abuts against the upper end face of guide sleeve 4, pushing guide sleeve 4 downward and causing positioning part 41 to exit the inner ring of flexible bearing 5. At the same time, cam 3 directly squeezes into the inner ring of flexible bearing 5 from above, completing one extrusion molding. During this process, cam 3 and flexible bearing 5 always maintain coaxiality, which meets the assembly requirements of wave generator, avoids secondary deformation of flexible bearing 5, and thus ensures product quality.

[0028] The height dimension from the top of the guide sleeve 4 to the bottom of the positioning part 41 can be slightly smaller than the thickness dimension of the flexible bearing 5. With this setting, before the cam 3 presses down on the guide sleeve 4 and the positioning part 41 completely exits the inner ring of the flexible bearing 5, a small part of the lower end of the cam 3 has already entered the inner ring of the flexible bearing 5, ensuring that the cam 3 and the flexible bearing 5 are always coaxial during the extrusion assembly.

[0029] The press-fit base 1 is provided with an annular placement groove 11 that extends vertically downward and is coaxial with the guide shaft 2. The annular placement groove 11 is used to accommodate the guide sleeve 4.

[0030] The height of the guide sleeve 4 is the same as the depth of the annular groove 11. When the cam 3 presses the guide sleeve 4 down to abut against the inner bottom wall of the annular groove 11, the cam 3 is just fully assembled into the inner ring of the flexible bearing 5, which conforms to the assembly principle of the wave generator.

[0031] A spring 6 is also fitted onto the guide shaft 2. One end of the spring 6 is connected to the guide sleeve 4, and the other end is connected to the inner bottom wall of the annular mounting groove 11. After the cam 3 is pressed into the flexible bearing 5, the press releases the applied pressure. Under the elastic force of the spring 6, the guide sleeve 4 returns to its original position and lifts the assembled wave generator, making it easy for the user to remove.

[0032] The lower end of the inner circumferential wall of the guide sleeve 4 is provided with an annular recess 42, and one end of the spring 6 is connected to the annular recess 42. When the guide sleeve 4 is pressed down until its lower end face abuts against the inner bottom wall of the annular groove 11, the annular recess 42 can accommodate the compressed spring 6, thus preventing the spring 6 from being damaged.

[0033] The wave generator assembly fixture of the harmonic reducer of this utility model also includes a pressure block 7. The upper end of the pressure block 7 is provided with a connecting part 71 for connecting the press head of the press machine. The lower end of the pressure block 7 is provided with a groove 72 with an open bottom for accommodating the upper end of the guide shaft 2.

[0034] When the press head drives the press block 7 to press down, pressing the cam 3 into the flexible bearing 5, the top of the guide shaft 2 abuts against the inner top wall of the groove 72. The connecting part 71 of the press block 7 facilitates the connection of the press head, and the groove 72 can accommodate the upper end of the guide shaft 2. When the top of the guide shaft 2 abuts against the inner top wall of the groove 72, it ensures that the cam 3 is just pressed into the flexible bearing 5.

[0035] The assembly process of this utility model is as follows:

[0036] During assembly, the flexible bearing 5 is first placed on top of the press base 1 and fitted onto the positioning part 41 of the guide sleeve 4. Then, the first guide part 21 passes through the center hole of the cam 3, so that the lower end face of the cam 3 abuts against the top of the guide sleeve 4. Next, the pressure block 7 is placed above the cam 3, and the press drives the cam 3 to press down through the pressure block 7, pressing the guide sleeve 4 downward into the annular positioning groove 11. During this process, the cam 3 presses into the inner ring of the flexible bearing 5 and the positioning part 41 exits from the inner ring of the flexible bearing 5. When the lower end of the guide sleeve 4 abuts against the inner bottom wall of the annular positioning groove 11, the cam 3 is just fully pressed into the inner ring of the flexible bearing 5. At this time, the top of the guide shaft 2 also abuts against the inner top wall of the groove 72, which plays a secondary positioning role. After the press is completed, the press removes the applied force, and under the elastic force of the spring 6, the guide sleeve 4 returns to its original position and lifts up the assembled wave generator for easy removal by the user.

[0037] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A wave generator assembly fixture for a harmonic reducer, characterized in that: The device includes a press-fit base (1) and a guide shaft (2) vertically arranged on the press-fit base (1); the guide shaft (2) includes a first guide part (21) and a second guide part (22) arranged sequentially from top to bottom. The first guide part (21) is used for connecting a cam (3), and the cam (3) can slide along the axial direction of the first guide part (21); a guide sleeve (4) is sleeved on the second guide part (22), and the guide sleeve (4) can slide along the axial direction of the second guide part (22); a radially protruding positioning part (41) is provided on the outer peripheral wall of the guide sleeve (4), and the first guide part (21), the second guide part (22) and the positioning part (41) are arranged coaxially; the positioning part (41) is used for fitting a flexible bearing (5), and the outer peripheral wall of the positioning part (41) is in contact with the inner wall of the flexible bearing (5).

2. The wave generator assembly fixture for a harmonic reducer according to claim 1, characterized in that: The height dimension from the top of the guide sleeve (4) to the bottom of the positioning part (41) is smaller than the thickness dimension of the flexible bearing (5).

3. The wave generator assembly fixture for a harmonic reducer according to claim 1, characterized in that: The press base (1) is provided with an annular placement groove (11) that extends vertically downward and is coaxial with the guide shaft (2). The annular placement groove (11) is used to accommodate the guide sleeve (4).

4. The wave generator assembly fixture for a harmonic reducer according to claim 3, characterized in that: The height dimension of the guide sleeve (4) is the same as the depth dimension of the annular placement groove (11).

5. The wave generator assembly fixture for a harmonic reducer according to claim 3, characterized in that: A spring (6) is sleeved on the guide shaft (2). One end of the spring (6) is connected to the guide sleeve (4), and the other end is connected to the inner bottom wall of the annular groove (11).

6. The wave generator assembly fixture for a harmonic reducer according to claim 5, characterized in that: The lower end of the inner circumferential wall of the guide sleeve (4) is provided with an annular recess (42), and one end of the spring (6) is connected to the annular recess (42).

7. The wave generator assembly fixture for a harmonic reducer according to claim 1, characterized in that: It also includes a pressure block (7), the upper end of which is provided with a connecting part (71) for connecting the press head of the press machine, and the lower end of the pressure block (7) is provided with a groove (72) with an open bottom, the groove (72) for accommodating the upper end of the guide shaft (2); when the press head of the press machine drives the pressure block (7) to press down and press the cam (3) into the flexible bearing (5), the top of the guide shaft (2) abuts against the inner top wall of the groove (72).

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