CN113523759A

CN113523759A - Automatic press-fitting device for camshaft bearing of harmonic reducer

Info

Publication number: CN113523759A
Application number: CN202110958017.8A
Authority: CN
Inventors: 王广; 胡秋实; 杨雪娇; 刘锦玉; 张新; 赵蓓蓓
Original assignee: Guohua Qingdao Intelligent Equipment Co ltd
Current assignee: Guohua Qingdao Intelligent Equipment Co ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2021-10-22

Abstract

The invention discloses an automatic press-fitting device for a camshaft bearing of a harmonic reducer, which comprises a press-fitting mechanism and a camshaft support, wherein a vertical rotating mechanism is arranged between the camshaft supports of the press-fitting mechanism and fixedly connected with the press-fitting mechanism, the vertical rotating mechanism comprises a bearing lock head used for clamping a bearing, the camshaft support is used for placing a camshaft, the camshaft is opposite to and coaxial with the bearing, and the press-fitting mechanism can push the vertical rotating mechanism to horizontally move towards the camshaft support. The automatic press-fitting device for the camshaft bearing of the harmonic reducer, disclosed by the invention, realizes the automatic press-fitting of camshafts and bearings of different specifications, and meets the requirements of high efficiency and high quality of automatic production.

Description

Automatic press-fitting device for camshaft bearing of harmonic reducer

Technical Field

The invention belongs to the field of automatic assembling equipment of harmonic reducers, and particularly relates to an automatic press-fitting device for a camshaft bearing of a harmonic reducer.

Background

The harmonic reducer is a common reducer device, has the advantages of large transmission speed ratio, high bearing capacity, high transmission precision, high transmission efficiency, convenience in installation and the like, and is widely applied to the fields of aerospace, precise medical instruments, industrial robots and the like. The harmonic reducer is used as an important part at the joint of the industrial robot, so that the robot is more stable and accurate in behavior and motion.

The robot joint harmonic reducer realizes the speed reduction function by means of continuous rotation of an internal camshaft, and in order to realize high-speed rotation of the camshaft, a pair of bearings are required to be installed at shaft shoulders on two sides of each camshaft to support rotation. The traditional harmonic reducer assembly process is that an operator generally presses a bearing on a camshaft by using a spinning mechanism, so that the problems of low press-fitting efficiency, high technical requirement on the operator, high labor cost, high rejection rate and the like exist, and the requirement of the industrialized automatic assembly process of the harmonic reducer cannot be met.

Based on the above description, need urgently for a harmonic speed reducer ware camshaft bearing automatic pressure equipment device, can be automatic or semi-automatic completion harmonic speed reducer ware camshaft bearing pressure equipment's work to improve pressure equipment efficiency, improve the pressure equipment quality, reduce the pressure equipment cost, and can be applicable to the harmonic speed reducer ware camshaft and the bearing of different specifications.

Disclosure of Invention

The invention aims to provide an automatic press-fitting device for a camshaft bearing of a harmonic reducer, and aims to solve the problems of low efficiency and unstable quality of traditional manual press-fitting.

In order to solve the technical problem, the invention discloses an automatic press-fitting device for a camshaft bearing of a harmonic reducer, which has the following specific technical scheme:

the utility model provides an automatic pressure equipment device of harmonic reduction gear camshaft bearing, includes pressure equipment mechanism and camshaft support, is equipped with perpendicular rotary mechanism between the pressure equipment mechanism camshaft support, perpendicular rotary mechanism and pressure equipment mechanism fixed connection, perpendicular rotary mechanism include the bearing tapered end for clip the bearing, the camshaft support is used for placing the camshaft, the camshaft is relative and coaxial with the bearing, pressure equipment mechanism can promote perpendicular rotary mechanism to camshaft support horizontal motion, wherein, perpendicular rotary mechanism is equipped with the swivel mount, the swivel mount can be followed with camshaft axis vertically horizontal axis rotation, bearing tapered end detachably fixes on the swivel mount, the rotary mechanism below is equipped with positioning mechanism for the location bearing with push into the bearing tapered end with the bearing.

Furthermore, the automatic press-fitting device for the camshaft bearing of the harmonic reducer further comprises a feeding mechanism and a feeding mechanism, the feeding mechanism is used for automatically feeding and feeding the bearing, the feeding mechanism comprises a feeding end and a discharging end, the feeding end is communicated with the feeding mechanism, and the discharging end is communicated with the positioning mechanism.

Further, the vertical rotating mechanism envelops the rotating frame power transmission unit and is used for driving the rotating frame to rotate along the horizontal axis, and the vertical rotating mechanism further comprises a limiting screw and is used for limiting the rotating frame to rotate between the vertical downward direction and the horizontal direction facing the cam shaft support.

Further, the press-fitting mechanism comprises a pressure rod guide seat, a through hole is formed in the pressure rod guide seat, a bearing pressure rod is arranged in the through hole, one end of the bearing pressure rod is fixedly connected with the rotating frame, the other end of the bearing pressure rod is fixedly connected with a gas-liquid pressure cylinder, and the gas-liquid pressure cylinder can drive the bearing pressure rod to slide in the pressure rod guide seat.

Further, the camshaft support comprises a support bracket, the support bracket is sequentially provided with a front end V-shaped seat, a rear end V-shaped seat and a tail end baffle plate from the direction perpendicular to the rotating mechanism, and V-shaped grooves are formed in the upper ends of the front end V-shaped seat and the rear end V-shaped seat respectively.

Further, positioning mechanism includes bearing push rod and bearing dog, be equipped with push rod recess and dog recess on bearing push rod and the bearing dog respectively, can hold the bearing in push rod recess and the dog recess, and set up relatively, the bearing can be followed feeding mechanism and gets into in the push rod recess, the fixed setting of bearing dog, fixedly connected with rodless cylinder on the bearing push rod, rodless cylinder can drive the bearing push rod and compress tightly the bearing to the motion of bearing dog, be equipped with flexible push rod below the bearing that is compressed tightly by bearing push rod and bearing dog, flexible push rod is connected with miniature cylinder, miniature cylinder can drive flexible push rod up-and-down motion.

Further, feed mechanism includes the material loading passageway, and the vertical setting of material loading passageway sets up the discharge opening below the material loading passageway, and the discharge opening below sets up 1 or 2 cams, and feed mechanism still includes cam power transmission unit, and cam power transmission unit is connected with the cam, drives the cam and rotates, and the discharge opening can be closed or opened in the cam rotation.

Furthermore, the feeding channel is formed by vertically enclosing 3 to 6 guide rods, a guide rod support is arranged below each guide rod, the guide rods are adjustably fixed on the guide rod supports, and the diameter of an inscribed circle formed by enclosing can be changed by adjusting the positions of the guide rods.

Furthermore, a pressure lever limit switch is arranged on the pressure lever guide seat and used for limiting the displacement of the bearing pressure lever.

And further, a bearing push rod photoelectric switch is arranged on the bearing push rod and used for detecting whether a bearing enters a push rod groove of the bearing push rod or not.

The automatic press-fitting device for the camshaft bearing of the harmonic reducer, disclosed by the invention, has the following advantages:

1. the vertical rotating mechanism can enable the bearing to rotate 90 degrees from horizontal placement to vertical placement, thereby facilitating the realization of automatic feeding and feeding of the bearing in a horizontal mode and solving the problem that the bearing is prone to toppling after vertical feeding or feeding is easy to roll.

2. The positioning mechanism of the invention can accurately control the position of the bearing by pressing the bearing through the bearing push rod and the bearing stop block, and ensure that the bearing smoothly enters the vertical rotating mechanism, thereby ensuring the stable operation of the automatic press mounting device of the camshaft bearing of the harmonic reducer.

3. The press rod guide seat is provided with the press rod limit switch, so that the displacement of the bearing press rod can be limited, the press-in depth of the bearing is controlled, the bearing press rod is prevented from excessively pressing the bearing, the bearing is protected, the press-mounting quality is improved, and the rejection rate is reduced.

4. The position of the guide rod is adjustable, the bearing lock head is detachably mounted, the V-shaped groove of the camshaft support is formed, the device can be suitable for bearings and camshafts of different specifications, and the applicability and the universality of the automatic press-mounting device for the camshaft bearing of the harmonic reducer are improved.

5. According to the invention, through the combination of the feeding mechanism, the positioning mechanism, the vertical rotating mechanism, the press-mounting mechanism and the camshaft support, the automatic press-mounting of the camshaft bearing of the harmonic reducer is realized, and the requirement of the robot joint harmonic reducer on automatic production is met.

Drawings

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a schematic view of a feeding mechanism of the present invention;

FIG. 5 is a schematic view of a feed mechanism of the present invention;

FIG. 6 is a schematic view of the positioning mechanism of the present invention;

FIG. 7 is a schematic view of a vertical rotation mechanism of the present invention;

FIG. 8 is a schematic view of a press-fit mechanism of the present invention;

FIG. 9 is a schematic view of a camshaft support of the present invention.

In the figure:

1. a feeding mechanism; 1.1, a guide rod; 1.2, a top limit switch; 1.3, a cam synchronous belt wheel; 1.4, a guide rod support; 1.5, a cam; 1.6, a motor photoelectric switch; 1.7, a motor synchronous belt wheel; 1.8, a synchronous belt tensioning wheel; 2. a feeding mechanism; 2.1, synchronous belts; 2.2, a bearing guide edge; 2.3, a photoelectric switch is horizontally arranged; 2.4, bearing flanges; 2.5, mounting a bracket for the motor; 2.6, tensioning the jackscrew by a synchronous belt; 3. a positioning mechanism; 3.1, bearing push rods; 3.2, a bearing rod-in photoelectric switch; 3.3, a rodless cylinder; 3.4, a micro cylinder; 3.5, a telescopic push rod; 3.6, bearing stop blocks; 4. a vertical rotation mechanism; 4.1, a rack cylinder; 4.2, a rack; 4.3, gears; 4.4, a limit screw; 4.5, a rotating frame; 4.6, bearing lock head; 4.7, a ball plunger; 5. a press-fitting mechanism; 5.1, a gas-liquid pressure cylinder; 5.2, a compression bar limit switch; 5.3, a compression bar guide seat; 5.4, bearing compression bar; 5.5, pressing and assembling the mechanism bracket; 6. a camshaft support; 6.1, a support bracket; 6.2, a tail end baffle plate; 6.3, a rear end V-shaped seat; 6.4, a camshaft; 6.5, a front end V-shaped seat; 6.6, bearing.

Detailed Description

In order to better understand the control system and the control method thereof of the present invention, the following describes an automatic press-fitting device for a camshaft bearing of a harmonic reducer in detail with reference to the accompanying drawings.

As shown in fig. 1 to 3, the automatic press-fitting device for the camshaft bearing of the harmonic reducer comprises a feeding mechanism 1 and a feeding mechanism 2, wherein the feeding mechanism 2 comprises a feeding end and a discharging end, the feeding end is correspondingly arranged below the feeding mechanism 1, and the feeding mechanism 1 and the feeding mechanism 2 are used for automatically feeding and feeding the bearing. The blanking end of the feeding mechanism 2 is provided with a positioning mechanism 3, a vertical rotating mechanism 4 is correspondingly arranged above the positioning mechanism 3, the positioning mechanism 3 is used for moving and fixing a bearing 6.6 at a determined position and pushing the bearing into the vertical rotating mechanism 4, the vertical rotating mechanism 4 can vertically place the bearing 6.6 from a horizontal placement to a vertical placement, after the bearing 6.6 is vertically placed, one end of the bearing of the vertical rotating mechanism 4 is correspondingly provided with a camshaft support 6, the other end of the vertical rotating mechanism 4 is provided with a pressing mechanism 5, the vertical rotating mechanism 4 is fixedly connected with the pressing mechanism 5, the camshaft support 6 is used for fixing a camshaft 6.4, and the pressing mechanism 5 is used for pressing the bearing 6.6 onto the cam 6.4, so that the automatic pressing work of the camshaft bearing of the harmonic reducer is completed.

It is conceivable that the camshaft 6.4 is on the same axis as the vertical rotation mechanism 4, i.e. the bearing 6.6, and the press-fit mechanism 5, as shown in fig. 3.

Specifically, as shown in fig. 4, the feeding mechanism 1 includes a feeding channel, the feeding channel is vertically disposed and is used for placing a plurality of bearings with a suitable number, the feeding channel may be disposed in various forms, such as a pipeline or a semi-open pipeline, in this embodiment, the guide rods 1.1 are vertically enclosed, the number of the guide rods may be 3 to 6, and preferably, the embodiment employs 4 guide rods 1.1. The guide rod 1.1 is arranged on the guide rod support 1.4, preferably, the guide rod 1.1 is adjustably fixed on the guide rod support 1.4, and the diameter of an inscribed circle formed by enclosing can be changed by adjusting the position of the guide rod 1.1, so that the guide rod is suitable for bearings with different specifications. A discharge hole is formed below the feeding channel, and the bearing 6.6 can pass through the discharge hole. The cam 1.5 is arranged below the discharge port, the cam 1.5 is connected with the cam synchronous belt pulley 1.3, the cam synchronous belt pulley 1.3 is connected with the motor synchronous belt pulley 1.7 through a belt, and the motor synchronous belt pulley 1.7 is connected with a motor, so that the motor drives the cam 1.5 to rotate. When the cam 1.5 rotates, the discharge hole can be closed or opened. During the use, rotating to the discharge gate and opening as cam 1.5, a bearing drops to feeding mechanism 2 below under the effect of gravity on, the cam continues to rotate, and the discharge gate is closed, and the cam is rotatory a week, and the discharge gate is opened once more, and next bearing drops to feeding mechanism 2 on.

Preferably, in this embodiment, two cams 1.5 are disposed below the discharge port, the motor drives the two cams 1.5 to rotate simultaneously, and the rotation directions of the two cams 1.5 are the same. The two cams 1.5 alternately open or close the discharge port, thereby ensuring that the bearings drop to the feeding mechanism 2 one by one and uniformly.

Preferably, a top end limit switch 1.2 is arranged on the guide rod 1.1 and used for detecting whether the number of the bearings in the feeding channel reaches the required height or not, and when the number of the bearings is insufficient, a signal can be sent to remind that the bearings are placed. A motor photoelectric switch 1.6 is arranged on one side of the cam synchronous belt pulley 1.3 or one side of the motor synchronous belt pulley 1.7 and used for detecting the number of rotating circles of the motor, so that the number of bearings falling to the feeding mechanism 2 is calculated and obtained.

Preferably, a belt tension pulley 1.8 is arranged on one side of the motor synchronous pulley 1.7 for ensuring that the belt between the motor synchronous pulley 1.7 and the cam synchronous pulley 1.3 is in a tension state during working.

Specifically, as shown in fig. 5, feeding mechanism 2 includes hold-in range 2.1, and hold-in range 2.1 is under the drive of motor, from 1 end of feed mechanism to the 3 end horizontal motions of positioning mechanism, is being close to 1 end bearing drop department of feed mechanism, sets up bearing flange 2.2, and is the V font opening to the bearing drop department, along hold-in range direction of motion, sets up bearing flange 2.4 behind the bearing flange 2.2, and the terminal setting of bearing flange 2.4 is close to positioning mechanism 3 department at hold-in range 2.1 end. The bearing drops to hold-in range 2.1 from feed mechanism 1 on, and the translation is forward under hold-in range 2.1's static friction effect, through the open-ended guide effect of the V font of bearing guiding edge 2.2, gets into bearing flange 2.4, then reaches positioning mechanism 3. The bearing rib 2.4 is used to prevent the bearing from shifting or overturning during translation with the belt 2.1.

Preferably, a horizontal strip photoelectric switch 2.3 is arranged at the end of the bearing guide edge 2.2 for monitoring whether the bearing passes the bearing guide edge 2.2 smoothly into the bearing rib 2.4.

Preferably, a timing belt tensioning jackscrew 2.6 is arranged at the side of the timing belt 2.1 for ensuring that the timing belt 2.1 is in a tensioned state during operation.

Specifically, as shown in fig. 6, the positioning mechanism 3 includes a bearing push rod 3.1 and a bearing stopper 3.6, the bearing push rod 3.1 and the bearing stopper 3.6 are respectively provided with a push rod groove and a stopper groove, the bearings can be accommodated in the push rod groove and the stopper groove, and the bearings 6.6 can enter the push rod groove from the synchronous belt 2.1. The bearing stop block 3.6 is fixedly arranged, the bearing push rod 3.1 is fixedly connected with a rodless cylinder 3.3, and the rodless cylinder 3.3 can drive the bearing push rod 3.1 to move towards the bearing stop block 3.6. The bearing push rod 3.1 is also provided with a bearing push rod photoelectric switch 3.2, when the bearing 6.6 reaches the groove of the bearing push rod 3.1, the bearing push rod photoelectric switch 3.2 receives a signal, and the rodless cylinder 3.3 drives the bearing push rod 3.1 to push the bearing 6.6 into the groove of the bearing stop block 3.6 and tightly press the bearing. A telescopic push rod 3.5 is arranged below the bearing pressed by the bearing push rod 3.1 and the bearing stop block 3.6, the telescopic push rod 3.5 is connected with a micro cylinder 3.4, and the micro cylinder 3.4 can push the telescopic push rod 3.5 to move upwards so as to push the bearing 6.6 upwards.

Preferably, the bearing stop 3.6 is arranged as a fixed connection with adjustable position, so as to be suitable for bearings of different specifications.

Specifically, as shown in fig. 7, the vertical rotating mechanism 4 includes a rotating frame 4.5, and a bearing lock head 4.6 is installed on the rotating frame, preferably, the bearing lock head 4.6 is detachably installed on the rotating frame 4.5, so that the bearing lock head suitable for the specification of the bearing 6.6 can be conveniently replaced according to the specification. The rotating frame 4.5 can be rotated 90 degrees from vertical downwards to horizontal direction along the horizontal direction rotating shaft, or vice versa. The rotating frame 4.5 is connected with a rotating frame power transmission unit in the rotating shaft direction, and the rotating frame power transmission unit drives the rotating frame 4.5 to rotate along the horizontal rotating shaft. The rotating frame power transmission unit can adopt any form, in the embodiment, the rotating frame power transmission unit comprises a rack cylinder 4.1, a rack 4.2 and a gear 4.3, the rack cylinder 4.1 can drive the rack 4.2 to translate, the rack 4.2 can drive the gear 4.3 to rotate, and the gear 4.3 further drives the rotating frame 4.5 to rotate along a horizontal rotating shaft. During the use, the swivel mount 4.5 is vertical downwards, and flexible push rod 3.5 upward movement pushes bearing 6.6 in the bearing tapered end 4.6, and bearing tapered end 4.6 presss from both sides tight bearing 6.6, and swivel mount power transmission unit drives swivel mount 4.5 rotatory 90 degrees to the horizontal direction, and bearing 6.6 is placed rotatory 90 degrees to vertical by the level promptly. The bearing lock head 4.6 clamps the bearing 6.6 by arranging an elastic part at the inner ring of the bearing lock head 4.6, and the clamping force of the elastic part on the bearing 6.6 is far less than the friction force of the bearing 6.6 matched with the camshaft 6.4. The elastic component can be in various forms such as spring ball, elastic rubber mat, and this embodiment adopts and radially sets up bulb plunger 4.7 at bearing tapered end 4.7, realizes the clamp of bearing 6.6.

Preferably, a limit screw 4.4 is provided on one side of the rotating frame 4.5 for limiting the rotation of the rotating frame 4.5 between vertically downward and horizontally facing the camshaft support 6, ensuring the accurate positioning of the rotating frame.

Specifically, as shown in fig. 8, the press-fitting mechanism 5 includes a press rod guide seat 5.3 and a press-fitting mechanism support 5.5, the press rod guide seat 5.3 is installed on the press-fitting mechanism support 5.5, a through hole is formed in the press rod guide seat 5.3, a bearing press rod 5.4 is arranged in the through hole, the bearing press rod 5.4 can slide in the through hole of the press rod guide seat 5.3, one end of the bearing press rod 5.4 is fixedly connected with the rotating frame 4.5, the other end of the bearing press rod is fixedly connected with a gas-liquid pressure cylinder 5.1, and the gas-liquid pressure cylinder 5.1 pushes the bearing press rod 5.4 to slide in the press rod guide seat, so as to push the bearing 6.6 on the vertical rotating mechanism 4 forward.

It is conceivable that the bearing strut 5.4 is coaxial with the bearing lock 4.6 when the swivel bracket 4.5 is rotated to the horizontal position, as described above.

Specifically, camshaft support 6 includes support 6.1, and support 6.1 sets gradually front end V type seat 6.5 from perpendicular rotary mechanism 4's direction, rear end V type seat 6.3 and tail end baffle 6.2, and front end V type seat 6.5 and rear end V type seat 6.3 upper end are equipped with V type recess respectively, and the camshaft of different diameters can be stably placed to V type recess, consequently is applicable to the camshaft of different specifications. The front end and the rear end of the camshaft 6.4 are respectively placed on the front end V-shaped seat 6.5 and the rear end V-shaped seat 6.3, and the camshaft and the bearing pressure rod 5.4 are ensured to be on the same axis. The tail end baffle 6.2 is used for limiting the backward horizontal movement of the cam shaft 6.4.

When the device is used, the rotating frame 4.5 drives the bearing 6.6 in the bearing lock head 4.6 to rotate to a horizontal position, namely, the bearing 6.6 is vertically placed with press mounting, the gas-liquid pressure cylinder 5.1 pushes the bearing pressure rod 5.4, so that the vertical rotating mechanism 4 is pushed, the bearing 6.6 in the bearing lock head 4.6 is pressed into the camshaft 6.4, and the press mounting work of the camshaft bearing of the harmonic reducer is completed.

Preferably, a pressure lever limit switch 5.2 can be installed on the pressure lever guide seat 5.3 for limiting the displacement of the bearing pressure lever 5.4, so as to control the pressing depth of the bearing 6.6, prevent the bearing pressure lever 5.4 from excessively pushing the bearing, and protect the bearing.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. An automatic press-fitting device for a camshaft bearing of a harmonic reducer comprises a press-fitting mechanism (5) and a camshaft support (6), wherein a vertical rotating mechanism (4) is arranged between the camshaft support (6) of the press-fitting mechanism (5), the vertical rotating mechanism (4) is fixedly connected with the press-fitting mechanism (5), the vertical rotating mechanism (4) comprises a bearing lock head (4.6) and is used for clamping a bearing, the camshaft support (6) is used for placing the camshaft, the camshaft is opposite to and coaxial with the bearing, the press-fitting mechanism (5) can push the vertical rotating mechanism (4) to horizontally move towards the camshaft support (6), the automatic press-fitting device is characterized in that the vertical rotating mechanism (4) is provided with a rotating frame (4.5), the rotating frame (4.5) can rotate along a horizontal axis vertical to the axis of the camshaft, the bearing lock head (4.6) is detachably fixed on the rotating frame (4.5), and a positioning mechanism (3) is arranged below the rotating mechanism (4), for positioning and pushing the bearing into the bearing lock (4.6).

2. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 1, further comprising a feeding mechanism (1) and a feeding mechanism (2) for automatically feeding and feeding the bearing, wherein the feeding mechanism (2) comprises a feeding end and a discharging end, the feeding end is communicated with the feeding mechanism (1), and the discharging end is communicated with the positioning mechanism (3).

3. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 2, wherein the vertical rotating mechanism (4) envelops the rotating frame power transmission unit and is used for driving the rotating frame (4.5) to rotate along the horizontal axis, and the vertical rotating mechanism (4) further comprises a limiting screw (4.4) used for limiting the rotating frame (4.5) to rotate between the vertical direction downwards and the horizontal direction facing the camshaft support (6).

4. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 3, wherein the press-fitting mechanism (5) comprises a pressure rod guide seat (5.3), a through hole is formed in the pressure rod guide seat (5.3), a bearing pressure rod (5.4) is arranged in the through hole, one end of the bearing pressure rod (5.4) is fixedly connected with the rotating frame (4.5), the other end of the bearing pressure rod is fixedly connected with a gas-liquid pressure cylinder (5.1), and the gas-liquid pressure cylinder (5.1) can drive the bearing pressure rod (5.4) to slide in the pressure rod guide seat (5.3).

5. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 3, wherein the camshaft support (6) comprises a support bracket (6.1), the support bracket (6.1) is provided with a front end V-shaped seat (6.5), a rear end V-shaped seat (6.3) and a tail end baffle (6.2) in sequence from the direction perpendicular to the rotating mechanism (4), and V-shaped grooves are respectively formed in the upper ends of the front end V-shaped seat (6.5) and the rear end V-shaped seat (6.3).

6. The automatic press-fitting device for the camshaft bearing of the harmonic reducer as claimed in claim 2, it is characterized in that the positioning mechanism (3) comprises a bearing push rod (3.1) and a bearing stop block (3.6), a push rod groove and a stop block groove are respectively arranged on the bearing push rod (3.1) and the bearing stop block (3.6), the bearings can be accommodated in the push rod groove and the stop block groove, and are oppositely arranged, the bearing can enter the push rod groove from the feeding mechanism (2), the bearing stop block (3.6) is fixedly arranged, the rodless cylinder (3.3) is fixedly connected on the bearing push rod (3.1), the rodless cylinder (3.3) can drive the bearing push rod (3.1) to move towards the bearing stop block (3.6) and press the bearing tightly, a telescopic push rod (3.5) is arranged below a bearing pressed by a bearing push rod (3.1) and a bearing stop block (3.6), the telescopic push rod (3.5) is connected with a micro cylinder (3.4), and the micro cylinder (3.4) can drive the telescopic push rod (3.5) to move up and down.

7. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 2, wherein the feeding mechanism (1) comprises a feeding channel, the feeding channel is vertically arranged, a discharge hole is formed below the feeding channel, 1 or 2 cams (1.5) are arranged below the discharge hole, the feeding mechanism (1) further comprises a cam power transmission unit, the cam power transmission unit is connected with the cams (1.5) to drive the cams (1.5) to rotate, and the discharge hole can be closed or opened when the cams (1.5) rotate.

8. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 7, wherein the feeding channel is formed by vertically enclosing 3 to 6 guide rods (1.1), a guide rod support (1.4) is arranged below the guide rods, the guide rods (1.1) are adjustably fixed on the guide rod support (1.4), and the diameter of an enclosed inscribed circle can be changed by adjusting the positions of the guide rods (1.1).

9. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 4, wherein a pressure rod limit switch (5.2) is arranged on the pressure rod guide seat (5.3) and used for limiting the displacement of the bearing pressure rod (5.4).

10. The automatic press-fitting device for the camshaft bearing of the harmonic reducer according to claim 6, wherein the bearing push rod (3.1) is provided with a bearing push rod photoelectric switch (3.2) for detecting whether the bearing enters the push rod groove of the bearing push rod (3.1).