CN111120621B - Harmonic reducer capable of reducing vibration and manufacturing method thereof - Google Patents
Harmonic reducer capable of reducing vibration and manufacturing method thereof Download PDFInfo
- Publication number
- CN111120621B CN111120621B CN202010069568.4A CN202010069568A CN111120621B CN 111120621 B CN111120621 B CN 111120621B CN 202010069568 A CN202010069568 A CN 202010069568A CN 111120621 B CN111120621 B CN 111120621B
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- Prior art keywords
- inner ring
- harmonic reducer
- ball bearing
- shallow groove
- gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
- B29C39/10—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles incorporating preformed parts or layers, e.g. casting around inserts or for coating articles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Support Of The Bearing (AREA)
Abstract
The invention discloses a harmonic reducer capable of damping and a manufacturing method thereof. The manufacturing steps are as follows: preparing a harmonic reducer, wherein the outer end surface of the inner ring is provided with a shallow groove; coating a foam meshing agent after degreasing treatment of the shallow groove; pouring raw rubber material into the shallow groove to enable the preformed raw rubber blank layer to be attached and fixed; firstly, adding a zinc oxide vulcanizing agent and a tetramethylthiuram disulfide accelerator into a raw rubber blank layer for vulcanization treatment; finally, the crisscrossed ball bearing is assembled into the harmonic reducer. The harmonic reducer obtained by the method has the advantages that the output end of the harmonic reducer can slow down the transmission of the vibration source of the harmonic reducer to the rigid transmission part, and the elasticity and the ageing resistance of the rubber layer are improved.
Description
[ field of technology ]
The invention relates to a harmonic reducer capable of reducing vibration and a manufacturing method thereof, belonging to the technical field of manufacturing of harmonic reducers.
[ background Art ]
The application of automatic indexing turntable and SCARA robot in industrial production is becoming popular, and the motion joint is basically provided with a harmonic reducer for improving the precision. However, in the actual operation process, different degrees of vibration can be generated between the harmonic speed reducer and the rigid transmission part driving the indexing turntable to rotate or between the harmonic speed reducer and the rigid transmission part driving the motion joint of the robot to move, so that the turntable platform or the working platform of the SCARA robot can vibrate to different degrees, even noise is generated, the product accuracy is reduced, and the customer also rejects the reliability of the product in sense.
In the running process of the harmonic speed reducer, the output of torque is carried out when the gears are meshed, certain vibration and noise generated by the vibration are inevitably generated, and the vibration and noise are also large or small due to the fact that the size of the vibration and the noise depends on the gear meshing stability of the speed reducer and the assembly precision of various parts and components.
[ invention ]
The invention aims to provide a harmonic reducer capable of reducing vibration, and the output end of the harmonic reducer can reduce the transmission of a vibration source of the harmonic reducer to a certain extent.
The invention also provides a manufacturing method of the harmonic reducer capable of reducing vibration.
Therefore, the invention provides the following technical scheme:
the utility model provides a but harmonic reducer of vibration damping, including cross ball bearing, the rigid gear, flexspline and ripples generator, cross ball bearing includes the outer lane, the inner circle, the rigid gear has the ring gear, flexspline has outer ring gear, outer lane and rigid gear fixed connection, the ripples generator is located flexspline and is equipped with flexible bearing between the two, flexspline and rigid gear intermeshing, inner circle and flexspline fixed connection, the inner circle is the output, its improvement point is offered shallow groove at the outer terminal surface of inner circle, be fixed with the damping piece in the shallow groove, this damping piece outstanding in the outer terminal surface of inner circle, the damping piece is the rubber layer that adheres to in shallow groove.
The flexible wheel is fixedly connected with the inner ring through a flexible inner cushion block and a fastener.
The harmonic reducer capable of reducing vibration is realized through the following manufacturing steps:
a) Preparing a harmonic reducer, wherein the cross ball bearing is not assembled;
b) A shallow groove is formed in the outer end face of the inner ring of the crossed ball bearing;
c) Firstly degreasing the shallow groove with a degreasing agent, and then coating a foam-engaging agent on the shallow groove;
d) Pouring 12.5g of raw rubber material into the shallow groove in a pouring mode, and enabling a preformed raw rubber blank layer to be attached and fixed on the inner ring of the crossed ball bearing;
e) Vulcanization treatment
Firstly, adding a zinc oxide vulcanizing agent with the dosage of 5g and a tetramethylthiuram disulfide accelerator with the dosage of 5g into a raw rubber blank layer, and then, vulcanizing the crisscross ball bearing with the raw rubber blank layer under the conditions of: the pressure is 16 MPa-21 MPa, the temperature is 180 ℃ and the time is 2min, and after the vulcanization treatment, the rubber layer protruding out of the outer end surface of the inner ring is completely fixed on the crossed ball bearing;
f) And e), assembling the crossed ball bearing with the inner ring provided with the rubber layer, which is obtained in the step e), into the harmonic reducer.
Compared with the prior art, the invention has the following beneficial effects:
1. the harmonic reducer with vibration reduction function has the advantages that the wave generator is an input end, the cross ball bearing is an output end, the damping piece is additionally arranged on the outer end face of the cross ball bearing and is a rubber layer, after the direct contact between the cross ball bearing and the rigid transmission piece is isolated through the damping piece, the output end of the harmonic reducer can alleviate the transmission of a vibration source of the harmonic reducer to the rigid transmission piece to a certain extent, so that the vibration quantity and the vibration noise are effectively reduced, and the working efficiency, the bearing capacity and the service life of the harmonic reducer are improved;
2. the crossed ball bearing is fixed with a rubber layer protruding out of the outer end face (output end face) of the inner ring, and the rubber layer is optimized by a vulcanization process, so that the elasticity and the ageing resistance of the rubber layer are improved.
[ description of the drawings ]
FIG. 1 is a cross-sectional view of a vibration-damped harmonic reducer of the present invention;
FIG. 2 is a cross-sectional view of a cross ball bearing machined with shallow grooves;
fig. 3 is a plan view of a cross ball bearing.
[ detailed description ] of the invention
Referring to fig. 1, 2 and 3, a harmonic reducer capable of damping vibration includes a cross ball bearing 5, a rigid gear 4, a flexible gear 3 and a wave generator 1, wherein the cross ball bearing 5 includes an outer ring 52 and an inner ring 51, the rigid gear 4 has an inner gear ring, the flexible gear 3 has an outer gear ring, the outer ring 52 is fixedly connected with the rigid gear 4, the wave generator 1 is an input end, the wave generator 1 is positioned in the flexible gear 3, the flexible bearing 2 is installed between the wave generator 1 and the flexible gear 3, the flexible gear 3 is meshed with the rigid gear 4, the inner ring 51 is fixedly connected with the flexible gear 3, the inner ring 51 is an output end, the improvement point is that a shallow groove 510 is formed in the outer end face of the inner ring 51, a damping member 6 is fixed in the shallow groove 510, the damping member 6 protrudes out of the outer end face of the inner ring 51, and the damping member 6 is a rubber layer attached to the shallow groove 510.
The type of the crisscross ball bearing 5 is: LSS-20; the outer ring 52 is of a split type, and the two outer rings 52 are fixedly connected together through an outer ring connecting screw K2.
The vibration source is produced by a harmonic reducer during the speed reducing engagement transmission.
The flexible wheel 3 is fixedly connected with the inner ring 51 through the flexible inner cushion block 7 and the fastening piece K1.
The manufacturing method of the harmonic reducer capable of reducing vibration comprises the following steps:
a) A harmonic reducer (known) is prepared in which the crisscross ball bearing 5 is not assembled.
b) A shallow groove 510 is formed in the outer end surface of the inner ring 51 of the cross ball bearing 5.
c) Degreasing the shallow groove 510 with a degreasing agent to increase adhesiveness, wherein the degreasing agent is absolute ethyl alcohol, and then coating a meshing agent on the bottom surface and the side wall of the shallow groove 510, wherein the meshing agent is isocyanate.
d) 12.5g of raw rubber stock was poured into the shallow groove 510 as a cast form, and the preformed raw rubber stock layer was attached and fixed to the inner race 51 of the cross ball bearing 5.
The rubber sizing material adopts natural rubber and chloroprene rubber, wherein the natural rubber accounts for 10g; neoprene comprises 2.5g.
e) Vulcanization treatment
Firstly, adding a zinc oxide vulcanizing agent with the dosage of 5g and a tetramethylthiuram disulfide accelerator with the dosage of 5g into a raw rubber blank layer, and then putting the crisscross ball bearing 5 with the raw rubber blank layer into a vulcanizing chamber of a vulcanizing machine for vulcanization, wherein the vulcanization conditions are as follows: the pressure is 16 MPa-21 MPa, the temperature is 180 ℃ and the time is 2min (minutes), and after the vulcanization treatment, the cross ball bearing 5 is completely fixed with a rubber layer protruding out of the outer end face of the inner ring 51.
A pressure of more than 21MPa results in rubber mucous membrane, while a pressure of less than 16MPa results in rubber foaming.
f) The crossed ball bearing 5 with the rubber layer on the inner ring obtained in the step e) is assembled into a harmonic reducer.
Claims (1)
1. The manufacturing method of the harmonic reducer capable of reducing vibration is characterized by comprising the following steps:
a) Preparing a harmonic reducer, wherein the cross ball bearing is not assembled;
b) A shallow groove is formed in the outer end face of the inner ring of the crossed ball bearing;
c) Firstly degreasing the shallow groove with a degreasing agent, and then coating a meshing agent on the shallow groove, wherein the meshing agent adopts isocyanate;
d) Pouring 12.5g of raw rubber material into the shallow groove in a pouring mode, and enabling a preformed raw rubber blank layer to be attached and fixed on the inner ring of the crossed ball bearing, wherein the raw rubber material adopts natural rubber and chloroprene rubber, the natural rubber accounts for 10g, and the chloroprene rubber accounts for 2.5g;
e) Vulcanization treatment
Firstly, adding a zinc oxide vulcanizing agent with the dosage of 5g and a tetramethylthiuram disulfide accelerator with the dosage of 5g into a raw rubber blank layer, and then, vulcanizing the crisscross ball bearing with the raw rubber blank layer under the conditions of: the pressure is 16 MPa-21 MPa, the temperature is 180 ℃ and the time is 2min, and after the vulcanization treatment, the rubber layer protruding out of the outer end surface of the inner ring is completely fixed on the crossed ball bearing;
f) Assembling the crossed ball bearing with the inner ring provided with the rubber layer obtained in the step e) into a harmonic reducer;
the harmonic reducer capable of damping comprises a cross ball bearing, a rigid gear, a flexible gear and a wave generator, wherein the cross ball bearing comprises an outer ring and an inner ring, the rigid gear is provided with an inner gear ring, the flexible gear is provided with an outer gear ring, the outer ring is fixedly connected with the rigid gear, the wave generator is positioned in the flexible gear, the flexible bearing is arranged between the outer ring and the rigid gear, the flexible gear is meshed with the rigid gear, the inner ring is fixedly connected with the flexible gear, the inner ring is an output end, a shallow groove is formed in the outer end face of the inner ring, a damping piece is fixed in the shallow groove and protrudes out of the outer end face of the inner ring but does not protrude out of an inner hole of the inner ring, and the damping piece is a rubber layer attached to the shallow groove; the flexible gear is fixedly connected with the inner ring through a flexible inner cushion block and a fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010069568.4A CN111120621B (en) | 2020-01-10 | 2020-01-10 | Harmonic reducer capable of reducing vibration and manufacturing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010069568.4A CN111120621B (en) | 2020-01-10 | 2020-01-10 | Harmonic reducer capable of reducing vibration and manufacturing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111120621A CN111120621A (en) | 2020-05-08 |
| CN111120621B true CN111120621B (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010069568.4A Active CN111120621B (en) | 2020-01-10 | 2020-01-10 | Harmonic reducer capable of reducing vibration and manufacturing method thereof |
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| Country | Link |
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| CN (1) | CN111120621B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005233299A (en) * | 2004-02-19 | 2005-09-02 | Koyo Seiko Co Ltd | Roller bearing |
| JP2005308032A (en) * | 2004-04-19 | 2005-11-04 | Ntn Corp | Vibration-damping bearing |
| CN202914532U (en) * | 2012-11-26 | 2013-05-01 | 宁波三泰轴承有限公司 | Vibration-reduction sealing bearing |
| CN103254510A (en) * | 2012-02-20 | 2013-08-21 | 中国石油化工股份有限公司 | Ethylene-propylene-diene monomer damping material |
| CN105387159A (en) * | 2015-12-14 | 2016-03-09 | 山东帅克机械制造股份有限公司 | Robot harmonic reducer device |
| CN105840765A (en) * | 2016-05-25 | 2016-08-10 | 浙江来福谐波传动股份有限公司 | Delta-tooth-shaped harmonic reducer |
| CN107337825A (en) * | 2017-07-31 | 2017-11-10 | 常州杰轩纺织科技有限公司 | A kind of preparation method of yielding rubber |
| CN110513414A (en) * | 2019-09-04 | 2019-11-29 | 浙江三力汽车零部件有限公司 | A kind of rubber composite bush and preparation method thereof |
-
2020
- 2020-01-10 CN CN202010069568.4A patent/CN111120621B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005233299A (en) * | 2004-02-19 | 2005-09-02 | Koyo Seiko Co Ltd | Roller bearing |
| JP2005308032A (en) * | 2004-04-19 | 2005-11-04 | Ntn Corp | Vibration-damping bearing |
| CN103254510A (en) * | 2012-02-20 | 2013-08-21 | 中国石油化工股份有限公司 | Ethylene-propylene-diene monomer damping material |
| CN202914532U (en) * | 2012-11-26 | 2013-05-01 | 宁波三泰轴承有限公司 | Vibration-reduction sealing bearing |
| CN105387159A (en) * | 2015-12-14 | 2016-03-09 | 山东帅克机械制造股份有限公司 | Robot harmonic reducer device |
| CN105840765A (en) * | 2016-05-25 | 2016-08-10 | 浙江来福谐波传动股份有限公司 | Delta-tooth-shaped harmonic reducer |
| CN107337825A (en) * | 2017-07-31 | 2017-11-10 | 常州杰轩纺织科技有限公司 | A kind of preparation method of yielding rubber |
| CN110513414A (en) * | 2019-09-04 | 2019-11-29 | 浙江三力汽车零部件有限公司 | A kind of rubber composite bush and preparation method thereof |
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| Publication number | Publication date |
|---|---|
| CN111120621A (en) | 2020-05-08 |
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