阅读说明：本技术 波发生器装配装置 (Wave generator assembly quality ) 是由 陈毅强 单杰 于 2019-09-27 设计创作，主要内容包括：本发明涉及一种波发生器装配装置,包括：第一装配机构和第二装配机构。第一装配机构包括：第一定位座、垂直穿设于第一定位座上的压爪、连接压爪的第一驱动器、以及连接压爪的第二驱动器；第二装配机构包括：平行于第一定位座设置的第二定位座、位于第二定位座的相对侧的夹爪、以及连接夹爪的第三驱动器。上述波发生器装配装置,利用第一装配机构对凸轮进行定位,利用第二装配机构对柔性轴承进行定位和形态改变,并且,通过第一装配机构将凸轮压入到达到装配需求形态的柔性轴承中,降低装配的难度,降低对作业人员技术要求,克服装配偏心、装配效率低、装配一致性差等缺陷,并且降低柔性轴承压伤及损坏的风险。(The present invention relates to a wave generator assembly device, comprising: a first assembly mechanism and a second assembly mechanism. The first fitting mechanism includes: the device comprises a first positioning seat, a pressing claw vertically penetrating the first positioning seat, a first driver connected with the pressing claw, and a second driver connected with the pressing claw; the second fitting mechanism includes: the clamping jaw is arranged on the first positioning seat and comprises a second positioning seat parallel to the first positioning seat, a clamping jaw positioned on the opposite side of the second positioning seat and a third driver connected with the clamping jaw. Above-mentioned wave generator assembly quality utilizes first assembly devices to fix a position the cam, utilizes second assembly devices to fix a position and form change flexible bearing to, impress the cam through first assembly devices to the flexible bearing who reaches assembly demand form, reduce the degree of difficulty of assembly, reduce the technical requirement to the operating personnel, overcome assembly off-centre, assembly efficiency is low, the assembly uniformity is poor, and reduce the risk that flexible bearing crushed damage and damage.)

1. A wave generator assembly device characterized by: the method comprises the following steps:

a first assembly mechanism; the first fitting mechanism includes: the device comprises a first positioning seat, a pressing claw vertically penetrating the first positioning seat, a first driver connected with the pressing claw, and a second driver connected with the pressing claw; the first positioning seat is used for placing a cam of the wave generator; the first driver is used for driving the pressing claw to open and close along the direction parallel to the first positioning seat so as to limit the cam on the first positioning seat; the second driver is used for driving the pressing claw to move along the direction vertical to the first positioning seat so as to extrude the cam; and

a second assembly mechanism; the second fitting mechanism includes: the clamping jaw is positioned on the opposite side of the second positioning seat, and the third driver is connected with the clamping jaw; the second positioning seat is used for placing a flexible bearing of the wave generator; the third driver is used for driving the clamping jaw to open and close along the direction parallel to the second positioning seat so as to lock the flexible bearing on the second positioning seat.

2. The wave generator assembly device of claim 1, wherein the first positioning seat is provided with a positioning projection; the positioning lug is matched with the positioning groove of the cam.

3. The wave generator assembling device according to claim 1, wherein said pressing claw is provided with a sliding groove arranged in a direction perpendicular to said first positioning seat; the first driver is provided with a driving block which is in sliding connection with the sliding groove.

4. The wave generator assembly device according to claim 1, wherein the second driver is provided with a slider vertically penetrating the first positioning seat; the sliding block is sleeved with the pressing claw and is provided with a slideway for the pressing claw to slide; the slide way is arranged along the direction parallel to the first positioning seat.

5. The wave generator assembly device according to claim 1, wherein the second positioning seat is provided with a guide rod; the guide rod penetrates through the clamping jaw.

6. The wave generator assembly device of claim 1, wherein the second positioning socket is provided with a stop; the stop is located on an adjacent side of the jaw.

7. Wave generator assembly device according to claim 1, characterized in that the clamping jaws are provided on their inner side with abutment blocks; the abutting block is arranged in an adjustable mode in the direction parallel to the second positioning seat.

8. The wave generator assembly device of claim 1, wherein an elastic member is disposed between the first positioning seat and the second positioning seat; the elastic piece is used for generating a resetting force in a direction perpendicular to the first positioning piece.

9. The wave generator assembly device of claim 1, further comprising: a detection mechanism; the detection mechanism includes: a first sensor and a second sensor; the first sensor is used for detecting a cam placed on the first positioning seat; the second sensor is used for detecting the flexible bearing placed on the second positioning seat.

10. The wave generator assembly device of claim 1, further comprising: a robot; the robot is used for realizing the feeding of the cam, the feeding of the flexible bearing and the discharging of the wave generator.

Technical Field

The invention relates to the technical field of harmonic speed reducers, in particular to a wave generator assembling device.

Background

The harmonic speed reducer is mainly composed of three basic components, namely a wave generator, a flexible gear and a rigid gear, and is a gear transmission structure which drives the flexible gear to generate controllable elastic deformation through the wave generator and is meshed with the rigid gear to transmit motion and power. The harmonic speed reducer is widely applied in various fields, and particularly in a servo system with high dynamic performance, the harmonic speed reducer is adopted as a transmission part to show the superiority.

Aiming at the harmonic reducer for the industrial robot, a wave generator of the harmonic reducer is assembled by a cam and a flexible bearing. When the wave generator is assembled, the rigid part, the wave generator cam and the flexible part, and the flexible bearing are pressed into each other, so that the outer ring of the cam is tightly matched with the inner ring of the flexible bearing. The assembly process has great inconvenience, and the defects of difficult cam assembly, high technical requirement on operators, eccentric assembly, low assembly efficiency, poor assembly consistency and the like easily occur. In addition, because the cam and the flexible bearing are in interference fit, if the cam and the flexible bearing are not assembled properly, the flexible bearing is easily crushed to damage the cam and the flexible bearing.

Disclosure of Invention

Based on the above, the invention provides a wave generator assembling device, which utilizes a first assembling mechanism to position a cam, utilizes a second assembling mechanism to position and change the form of a flexible bearing, and presses the cam into the flexible bearing reaching the assembling required form through the first assembling mechanism, thereby reducing the assembling difficulty, lowering the technical requirements on operators, solving the defects of eccentric assembling, low assembling efficiency, poor assembling consistency and the like, and reducing the risk of crushing and damaging the flexible bearing.

A wave generator assembly device comprising:

a first assembly mechanism; the first fitting mechanism includes: the device comprises a first positioning seat, a pressing claw vertically penetrating the first positioning seat, a first driver connected with the pressing claw, and a second driver connected with the pressing claw; the first positioning seat is used for placing a cam of the wave generator; the first driver is used for driving the pressing claw to open and close along the direction parallel to the first positioning seat so as to limit the cam on the first positioning seat; the second driver is used for driving the pressing claw to move along the direction vertical to the first positioning seat so as to extrude the cam; and

a second assembly mechanism; the second fitting mechanism includes: the second positioning seat is arranged in parallel to the first positioning seat, the clamping jaw is positioned on the opposite side of the second positioning seat, and the third driver is connected with the clamping jaw; the second positioning seat is used for placing a flexible bearing of the wave generator; the third driver is used for driving the clamping jaw to open and close along the direction parallel to the second positioning seat so as to lock the flexible bearing on the second positioning seat.

When the wave generator assembling device works, the cam is placed on the first positioning seat for positioning. Then, the first driver drives the pressing claw to open so as to limit the cam on the first positioning seat and prevent the cam from being separated from the first positioning seat. And the flexible bearing is placed on the second positioning seat for positioning. Then, the third driver draws the jaws together to grip the outer side of the flexible bearing and force the flexible bearing to deform to achieve the desired elliptical state for assembly with the cam. Then, the second driver drives the pressing claw to move towards the second positioning seat, and the pressing claw is utilized to press the cam into the inner hole of the flexible bearing, so that the cam and the flexible bearing are assembled together to obtain the wave generator. Above-mentioned design utilizes first assembly devices to fix a position the cam, utilizes second assembly devices to fix a position and the form changes flexible bearing to, impress the cam through first assembly devices to the flexible bearing who reaches assembly demand form, reduce the degree of difficulty of assembly, reduce the technical requirement to the operating personnel, overcome assembly off-centre, assembly efficiency hangs down, the assembly uniformity is poor etc. defect, and reduce the risk that flexible bearing crushed and damaged.

In one embodiment, the first positioning seat is provided with a positioning lug; the positioning lug is matched with the positioning groove of the cam. The positioning lug is matched with the positioning groove of the cam, so that the lug can be accurately positioned.

In one embodiment, the pressing claw is provided with a sliding groove arranged along the direction perpendicular to the first positioning seat; the first driver is provided with a driving block which is connected with the sliding chute in a sliding way. By means of the transmission mode of the sliding groove and the driving block, on the premise that the first driver drives the pressing claw to open and close, the second driver can drive the pressing claw to move in the direction perpendicular to the first positioning seat.

In one embodiment, the second driver is provided with a slide block vertically penetrating through the first positioning seat; the sliding block is sleeved with the pressing claw and is provided with a slideway for the pressing claw to slide; the slide way is arranged along the direction parallel to the first positioning seat. The mode that utilizes the slider to cup joint the pressure claw can be so that the second driver with press the connection between the claw compacter to the movable range that the claw was pressed in the slider still can restrict, guarantees to press the state of claw when the extrusion cam more stable.

In one embodiment, the second positioning seat is provided with a guide rod; the guide rod is arranged on the clamping jaw in a penetrating way. The guide rod can improve the stability of the action of the clamping jaw, and is favorable for improving the assembly precision of the cam and the flexible bearing.

In one embodiment, the second positioning seat is provided with a stop block; the stop is located on the adjacent side of the jaw. In the process that the clamping jaws clamp the flexible bearing to force the flexible bearing to deform, the stop block can limit the deformation amplitude of the flexible bearing and prevent the flexible bearing from being separated from the second positioning seat.

In one embodiment, the inner side of the clamping jaw is provided with an abutting block; the abutting block is arranged in an adjustable mode along the direction parallel to the second positioning seat. The clamping amplitude of the flexible bearing can be changed by adjusting the extension of the abutting block on the premise of not changing the stroke of the third driver.

In one embodiment, an elastic piece is arranged between the first positioning seat and the second positioning seat; the elastic element is used for generating a resetting force in a direction perpendicular to the first positioning element. The cam is pressed into the flexible bearing by the pressing claw, the first positioning seat is driven to be close to the second positioning seat, and the elastic piece can provide driving force for resetting of the first positioning seat.

In one embodiment, the wave generator mounting apparatus further comprises: a detection mechanism; the detection mechanism includes: a first sensor and a second sensor; the first sensor is used for detecting a cam placed on the first positioning seat; the second sensor is used for detecting the flexible bearing placed on the second positioning seat. The first sensor is used for detecting whether the cam is placed in place, the second sensor is used for detecting whether the flexible bearing is placed in place, the positioning accuracy of the cam and the flexible bearing is improved, the first sensor can be used for generating starting signals of the first driver and the second driver, and the automatic operation is facilitated.

In one embodiment, the wave generator mounting apparatus further comprises: a robot; the robot is used for realizing the feeding of the cam, the feeding of the flexible bearing and the blanking of the wave generator. The robot can be used for realizing the automatic operation of feeding and discharging in the assembly process of the wave generator, thereby realizing the full-automatic assembly of the wave generator.

Drawings

Fig. 1 is a schematic view of a wave generator mounting apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view from another perspective of the wave generator assembly device shown in FIG. 1;

fig. 3 is a schematic view of a first fitting mechanism in the wave generator fitting device shown in fig. 1;

FIG. 4 is a partial view of the first assembly mechanism shown in FIG. 3;

fig. 5 is a schematic view of a combination of a second fitting mechanism and a detection mechanism in the wave generator fitting device shown in fig. 1;

FIG. 6 is a schematic view of another perspective of the second mounting mechanism and detection mechanism combination shown in FIG. 5;

fig. 7 is a partial view of the second assembly mechanism shown in fig. 6.

The meaning of the reference symbols in the drawings is:

100-wave generator assembly means;

10-a first assembly mechanism, 11-a first positioning seat, 111-a positioning lug, 12-a pressing claw, 121-a pressing block, 122-a sliding chute, 13-a first driver, 131-a driving block, 14-a second driver, 141-a sliding block and 142-a connecting block;

20-a second assembly mechanism, 21-a second positioning seat, 211-a guide rod, 212-a stop block, 213-a spacing hole, 22-a clamping jaw, 221-a clamping block, 222-a butting block, 223-a screw, 23-a third driver and 24-an elastic piece;

30-detection mechanism, 31-first sensor, 32-second sensor.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1 to 7, a wave generator mounting device 100 according to an embodiment of the present invention is provided.

As shown in fig. 1 and 2, the wave generator assembling apparatus 100 includes: a first mounting mechanism 10 and a second mounting mechanism 20. Wherein the first assembly means 10 is for locating and pressing the cam of the wave generator into the compliant bearing of the wave generator and the second assembly means 20 is for locating and clamping deforming the compliant bearing to a required configuration for assembly with the cam.

It should be noted that, in the present embodiment, the first mounting mechanism 10 and the second mounting mechanism 20 are arranged to intersect with each other, and the purpose is to make the device parts more compact. In other embodiments, the second assembling mechanism 20 and the second assembling mechanism 20 may be arranged in parallel.

The wave generator described above will be further explained below with reference to fig. 3 to 7 on the basis of fig. 1 and 2.

As shown in fig. 3, the first fitting mechanism 10 includes: the device comprises a first positioning seat 11, a pressing claw 12 vertically penetrating the first positioning seat 11, a first driver 13 connected with the pressing claw 12, and a second driver 14 connected with the pressing claw 12. Wherein the first positioning seat 11 is used for placing a cam of the wave generator. The first driver 13 is used for driving the pressing claw 12 to open and close along a direction parallel to the first positioning seat 11 so as to limit the cam on the first positioning seat 11. The second driver 14 is used for driving the pressing claw 12 to move along the direction perpendicular to the first positioning seat 11 so as to press the cam. When the pressing claw 12 is closed, the pressing claw 12 can pass through the inner ring of the cam, and when the pressing claw 12 is opened, the end of the pressing claw 12 can extend to the outer side of the inner ring, so that the cam cannot be separated from the first positioning seat 11.

As shown in fig. 3, in the present embodiment, the first positioning seat 11 is provided in a disc structure, and has a diameter smaller than or equal to the outer diameter of the cam and larger than the inner diameter of the cam.

Further, in the present embodiment, the first positioning seat 11 is provided with a positioning protrusion 111. The positioning projection 111 is matched with the positioning groove of the cam. The positioning lug 111 is matched with a positioning groove of the cam, so that the lug can be accurately positioned.

As shown in fig. 4, in the present embodiment, the pressing claw 12 includes: two compacts 121 of inverted L-shaped configuration. The two pressing pieces 121 are arranged oppositely and the hook parts of the two pressing pieces face outwards.

Further, in the present embodiment, the pressing claw 12 is provided with the slide groove 122 provided in a direction perpendicular to the first positioning seat 11. The first driver 13 is provided with a driving block 131 slidably connected to the slide groove 122. The width of the sliding chute 122 in the direction parallel to the first positioning seat 11 matches the width of the driving block 131, and the length of the sliding chute 122 in the direction perpendicular to the first positioning seat 11 is greater than the height of the driving block 131, which can ensure that the first driver 13 can drive the pressing claw 12 to open and close in the direction parallel to the first positioning seat 11, but the pressing claw 12 cannot be jammed due to the existence of the first driver 13 when moving in the direction perpendicular to the first positioning seat 11. By means of the transmission of the sliding slot 122 and the driving block 131, on the premise that the first driver 13 drives the pressing claw 12 to open and close, the second driver 14 can drive the pressing claw 12 to move in the direction perpendicular to the first positioning seat 11.

It should be noted that, in some embodiments, the sliding slot 122 may be disposed on the first driver 13, and the driving block 131 may be disposed on the pressing claw 12.

In this embodiment, the first actuator 13 is a finger clamping cylinder, and two fingers of the finger clamping cylinder are respectively connected to one of the pressing blocks 121.

In addition, in the present embodiment, the first driver 13 is disposed horizontally, and in other embodiments, the first driver may be disposed vertically, or disposed at an angle.

As shown in fig. 3, in the present embodiment, the second driver 14 is provided with a slider 141 vertically penetrating the first positioning seat 11. The sliding block 141 is sleeved with the pressing claw 12 and is provided with a slide way for the pressing claw 12 to slide. The slide is arranged in a direction parallel to the first positioning seat 11. The slider 141 is equivalent to a sleeve structure that accommodates the pressing claw 12 therein, and can drive the pressing claw 12 to extrude the cam without hindering the opening and closing of the pressing claw 12. The slider 141 is sleeved on the pressing claw 12, so that the connection between the second driver 14 and the pressing claw 12 is more compact, the slider 141 can limit the movable range of the pressing claw 12, and the state of the pressing claw 12 when extruding the cam is more stable.

In this embodiment, the second driver 14 is a piston cylinder, which is hinged to an end of the sliding block 141 away from the first positioning seat 11 through a connecting block 142. In addition, in the present embodiment, the second driver 14 is vertically disposed, and in other embodiments, after the corresponding direction-changing transmission member is disposed, the second driver 14 may also be laterally disposed, or disposed in a posture of another angle.

As shown in fig. 5 and 6, the second fitting mechanism 20 includes: a second positioning seat 21 arranged parallel to the first positioning seat 11, a clamping jaw 22 located at the opposite side of the second positioning seat 21, and a third driver 23 connected to the clamping jaw 22. The second positioning seat 21 is used for placing a flexible bearing of the wave generator. The third driver 23 is used for driving the clamping jaw 22 to open and close along a direction parallel to the second positioning seat 21 so as to lock the flexible bearing on the second positioning seat 21.

As shown in fig. 5, the second positioning seat 21 is a platform with a square structure as a whole. The clamping jaws 22 are located on opposite sides of the second positioning socket 21.

Further, as shown in fig. 5, in the present embodiment, the second positioning seat 21 is provided with a guide rod 211. The guide rod 211 is inserted through the jaw 22. The guide rod 211 can improve the stability of the action of the clamping jaw 22, and is favorable for improving the assembly precision of the cam and the flexible bearing.

In addition, in the present embodiment, the second positioning seat 21 is provided with a stopper 212. Stop 212 is located on an adjacent side of jaw 22. The stopper 212 can limit the magnitude of the deformation of the flexible bearing during the process of clamping the flexible bearing by the clamping jaw 22 to force the flexible bearing to deform, and prevent the flexible bearing from being disengaged from the second positioning seat 21. For example, as shown in fig. 5, in the present embodiment, the stoppers 212 are two in number and are distributed on opposite sides of the second positioning block. The two stops 212 together with the clamping jaws 22 form a positioning mechanism which can enclose the flexible bearing.

As shown in fig. 1 and fig. 2, in the present embodiment, an elastic member 24 is disposed between the first positioning seat 11 and the second positioning seat 21. The elastic member 24 serves to generate a restoring force in a direction perpendicular to the first positioning member. The pressing claw 12 also drives the first positioning seat 11 to move close to the second positioning seat 21 in the process of pressing the cam into the flexible bearing, and the elastic element 24 can provide driving force for the first positioning seat 11 to reset.

Further, in the present embodiment, the elastic member 24 is a coil spring, and in other embodiments, the elastic member 24 may also be a spring plate, an elastic rubber block, or a gas spring.

In addition, in the embodiment, the second positioning seat 21 is provided with a clearance hole 213 for the slider 141 to pass through. When the sliding block 141 moves, the avoiding hole 213 of the second positioning seat 21 can also limit the moving track of the sliding block 141, so that the stability and the precision of the movement of the sliding block 141 and the first positioning seat 11 are higher, and the distribution of parts of the equipment is more compact, and the occupied space of the compression equipment is facilitated.

As shown in fig. 7, in the present embodiment, the holding jaw 22 includes: two parallel oppositely arranged clamping blocks 221.

Further, as shown in fig. 5 and 7, in the present embodiment, the inner side of the holding jaw 22 is provided with an abutting block 222. The abutting block 222 is adjustably disposed along a direction parallel to the second positioning seat 21. The clamping amplitude of the compliant bearing can be varied by adjusting the amount of protrusion (or thickness) of the abutment block 222 without changing the stroke of the third actuator 23. For example, as shown in FIG. 5, abutment block 222 is removably attached to the inside of jaw 22 by screws 223.

In this embodiment, the third actuator 23 is a finger clamping cylinder, and two fingers of the finger clamping cylinder are respectively connected to one of the clamping blocks 221.

In addition, in the present embodiment, the third driver 23 is disposed horizontally, and in other embodiments, it may be disposed vertically, or disposed in a posture of other angle.

As shown in fig. 5, in the present embodiment, the wave generator assembling apparatus 100 further includes: and a detection mechanism 30, wherein the detection mechanism 30 is used for detecting whether the cam and the flexible bearing are placed at a preset position.

For example, as shown in fig. 5, in the present embodiment, the detection mechanism 30 includes: a first sensor 31 and a second sensor 32. The first sensor 31 is used to detect the cam placed on the first nest 11. The second sensor 32 is used for detecting the flexible bearing placed on the second positioning seat 21. The first sensor 31 is used for detecting whether the cam is placed in place or not, and the second sensor 32 is used for detecting whether the flexible bearing is placed in place or not, so that the positioning accuracy of the cam and the flexible bearing is improved, and the starting signals of the first driver 13 and the second driver 14 can be generated, and the automatic operation is facilitated.

Further, in the present embodiment, the first sensor 31 and the second sensor 32 are both connected to the second positioning seat 21, for example, the first sensor 31 and the second sensor 32 are mounted on one of the stoppers 212, and the first sensor 31 is disposed above the second sensor 32 according to the relative position of the first positioning seat 11 and the second positioning seat 21 of the present embodiment.

In addition, in the present embodiment, the first sensor 31 and the second sensor 32 are both laser sensors, and in other embodiments, they may also be contact type mechanical sensors, or other types of contact type or non-contact type sensors.

In order to further improve the automation degree of the equipment, the automatic control system can also be used in combination with a robot. For example, in other embodiments, the wave generator assembly device 100 further comprises: and the robot is used for realizing the feeding of the cam, the feeding of the flexible bearing and the blanking of the wave generator. The robot can be used for realizing the automatic operation of feeding and discharging in the assembly process of the wave generator, thereby realizing the full-automatic assembly of the wave generator.

The operation flow of the wave generator assembling apparatus of the present embodiment is as follows:

s10: the cam of the wave generator is placed on the first positioning seat 11, and the positioning lug 111 on the first positioning seat 11 is matched with the positioning groove of the cam.

S20: whether the cam is placed in place or not is detected through the first sensor 31, when the cam is placed in place, the first driver 13 drives the pressing claw 12 to open, and the pressing claw 12 stays on the upper end surface of the cam after opening (taking the horizontally placed posture of the cam as an example), so that the cam is prevented from jumping out of the first positioning seat 11.

S30: the flexible bearing of the wave generator is placed on the second positioning seat 21, the second sensor 32 detects whether the flexible bearing is placed in place, when the flexible bearing is placed in place, the third driver 23 drives the clamping jaw 22 to clamp the outer side of the flexible bearing, so that the flexible bearing is forced to deform, the clamping deformation amount of the flexible bearing can be adjusted by changing the extending amount (or the thickness) of the abutting block 222, and the stop block 212 limits the movement of the flexible bearing.

S40: the second driver 14 drives the pressing claw 12 to move downwards through the slider 141, and the pressing claw 12 presses the cam and the first positioning seat 11 to the second positioning seat 21 together, so that the cam is pressed into the flexible bearing.

S50: the third actuator 23 opens the jaws 22 to release the flexible bearing.

S60: the second driver 14 drives the slider 141 to move upward, and the pressing claw 12 moves upward together with the slider 141. The elastic element 24 drives the first positioning seat 11 to reset.

S70: the first driver 13 drives the pressing claw 12 to fold so as to retract to the inner circle range of the cam.

S80: and taking out the assembled wave generator.

In addition, in the operation process, the cam is placed, the flexible bearing is placed, and the live air is played and taken out, and the operation can be automatically carried out through the four-axis industrial robot or the six-axis industrial robot.

When the wave generator assembling device 100 works, the cam is placed on the first positioning seat 11 for positioning. Then, the first driver 13 drives the pressing claw 12 to open to restrain the cam on the first positioning seat 11, and prevents the cam from being disengaged from the first positioning seat 11. And the flexible bearing is placed on the second positioning seat 21 for positioning. The third actuator 23 then draws the jaws 22 together to grip the outside of the compliant bearing and force the compliant bearing to deform to achieve the desired elliptical state for assembly with the cam. Then, the second driver 14 drives the pressing claw 12 to move toward the second positioning seat 21, and the cam is pressed into the inner hole of the flexible bearing by using the pressing claw 12, so that the cam and the flexible bearing are assembled together to obtain the wave generator. Above-mentioned design utilizes first assembly devices 10 to fix a position the cam, utilizes second assembly devices 20 to fix a position and the form changes flexible bearing to, impress the cam through first assembly devices 10 to the flexible bearing who reaches assembly demand form, reduce the degree of difficulty of assembly, reduce the technical requirement to the operating personnel, overcome assembly off-centre, assembly efficiency is low, assembly uniformity subalternation defect, and reduce flexible bearing crushing and the risk of damage.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples are merely illustrative of one or more embodiments of the present invention, and the description is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.