CN112128342A - Harmonic speed reducer machine connection structure and capsule endoscope controller - Google Patents
Harmonic speed reducer machine connection structure and capsule endoscope controller Download PDFInfo
- Publication number
- CN112128342A CN112128342A CN202011102071.4A CN202011102071A CN112128342A CN 112128342 A CN112128342 A CN 112128342A CN 202011102071 A CN202011102071 A CN 202011102071A CN 112128342 A CN112128342 A CN 112128342A
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- China
- Prior art keywords
- speed reducer
- harmonic speed
- positioning sleeve
- connecting shaft
- harmonic
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 48
- 239000002775 capsule Substances 0.000 title claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000004519 grease Substances 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Images
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
- A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
- F16D23/02—Arrangements for synchronisation, also for power-operated clutches
-
- 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
-
- 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
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H57/035—Gearboxes for gearing with endless flexible members
Abstract
The invention discloses a harmonic speed reducer connecting structure and a capsule endoscope controller, wherein the harmonic speed reducer connecting structure comprises a connecting shaft, one end of the connecting shaft is connected with a wave generator, and the other end of the connecting shaft is connected with a synchronous belt pulley. The harmonic speed reducer connecting structure shortens the axial installation space of the power input end of the harmonic speed reducer, has a simple structure, and reduces the occurrence of motion interference; meanwhile, the radial stress of the wave generator is separated from the radial stress of the synchronous belt wheel, so that the wave generator is more stably positioned in the radial direction, and the service life of the harmonic speed reducer is prolonged; furthermore, the capsule endoscope controller of the invention does not generate motion interference and runs more stably.
Description
Technical Field
The invention relates to a mechanical connection structure, in particular to a harmonic speed reducer connection structure and a capsule endoscope controller.
Background
In some specific technical fields, such as the technical field of medical instruments, the installation space of the instrument is limited, for example, a motion control mechanism in a bed body of a capsule endoscope controller is used, because the structural space is very compact, the whole arrangement of a rotating mechanism needs to be completed in the limited space, and a standard transmission element can generate motion interference according to a conventional connection mode, wherein the connection structure comprises a harmonic reducer. The connection mode of the harmonic speed reducer in the prior art is as follows: and finally, the motor, the input fixing flange and the rigid gear and flexible gear combination of the harmonic speed reducer are connected together for transmission and speed reduction. In the motion control mechanism in the capsule endoscope controller bed body, the existing connection technology of the harmonic speed reducer is adopted, the structural size of the input end of the harmonic speed reducer cannot meet the requirement of the whole space of the motion control mechanism in the capsule endoscope controller bed body, and motion interference can occur.
Therefore, those skilled in the art have made an effort to develop a harmonic reducer connecting structure and a capsule endoscope controller capable of shortening an axial space.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a harmonic reducer connecting structure and a capsule endoscope controller that can shorten an axial space.
In order to achieve the purpose, the invention provides a harmonic speed reducer connecting structure which comprises a connecting shaft, wherein one end of the connecting shaft is connected with a wave generator, and the other end of the connecting shaft is connected with a synchronous belt pulley.
Preferably, the synchronous pulley, the connecting shaft and the wave generator are connected by a first screw.
Preferably, a positioning sleeve is arranged between the inner ring and the outer ring of the synchronous pulley, and the positioning sleeve is connected with a steel wheel flexible gear combination of the harmonic reducer.
Preferably, a first bearing is arranged between the outer ring and the positioning sleeve; and a second bearing is arranged between the inner ring and the positioning sleeve.
Preferably, the synchronous pulley and the positioning sleeve are respectively provided with a limiting part for limiting the first bearing and the second bearing.
Preferably, the number of the second bearings is 2, and the second bearings are arranged in a front-back manner.
Preferably, a first sealing ring is sleeved outside one end of the synchronous belt wheel on the connecting shaft; and a second sealing ring is sleeved outside one end of the positioning sleeve, which is combined with the steel wheel flexible gear.
Preferably, the positioning sleeve and the steel wheel flexible gear combination are connected through a second screw and fixed on a fixing plate of the harmonic reducer through the second screw.
The invention also provides a capsule endoscope controller which comprises the harmonic speed reducer connecting structure.
The invention has the beneficial effects that: the harmonic speed reducer connecting structure shortens the axial installation space of the power input end of the harmonic speed reducer, has a simple structure, and reduces the occurrence of motion interference; meanwhile, the radial stress of the wave generator is separated from the radial stress of the synchronous belt wheel, so that the wave generator is more stably positioned in the radial direction, and the service life of the harmonic speed reducer is prolonged; furthermore, the capsule endoscope controller of the invention does not generate motion interference and runs more stably.
Drawings
Fig. 1 is a schematic structural diagram of a harmonic reducer connection structure according to an embodiment of the present invention.
Fig. 2 is an explosion structure diagram of an embodiment of the connection structure of the harmonic reducer according to the present invention.
FIG. 3 is a schematic structural diagram of an embodiment of the integral rotating component of the capsule endoscope controller in the invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, wherein the terms "upper", "lower", "left", "right", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular manner, and thus should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 and 2, a harmonic reducer connecting structure includes a connecting shaft 8, one end of the connecting shaft 8 is connected to a wave generator 12, and the other end is connected to a synchronous pulley 2. In this embodiment, the synchronous pulley 2 and the connecting shaft 8 are connected by a rectangular spline, and the synchronous pulley 2, the connecting shaft 8 and the wave generator 12 are also connected by a first screw 1. The structure enables the wave generator 12 to become the power input end of the harmonic speed reducer, and the synchronous belt wheel 2, the connecting shaft 8 and the wave generator 12 are used as the rotating motion parts of the input end of the harmonic speed reducer together.
A positioning sleeve 5 is arranged between the inner ring and the outer ring of the synchronous belt wheel 2, and the positioning sleeve 5 is connected with a steel wheel flexible gear combination 10 of the harmonic reducer. The positioning sleeve 5 and the steel wheel flexible gear combination 10 are connected through a second screw 4 and fixed on a fixing plate 11 of the harmonic reducer through the second screw 4. The steel wheel flexible gear combination 10 is a steel wheel flexible gear of a conventional harmonic speed reducer. The positioning sleeve 5 is used as an input end fixed support of the harmonic speed reducer in the invention and bears radial and axial forces.
A first bearing 3 is arranged between the outer ring and the positioning sleeve 5, and a second bearing 6 is arranged between the inner ring and the positioning sleeve 5. The number of the second bearings 6 is 2, and the bearings are arranged in a front-back manner. The first bearing 3 is installed at the outer surface of the positioning sleeve 5 and serves as a radial load bearing of the synchronous belt pulley 2, the second bearing 6 is installed inside the positioning sleeve 5 and serves as a radial positioning righting bearing of the wave generator 12, and the first bearing 3 and the second bearing 6 jointly complete axial positioning of an input end moving part, so that power input of the harmonic speed reducer is more stable.
The synchronous belt wheel 2 and the locating sleeve 5 are both provided with a limiting part for limiting the first bearing 3 and the second bearing 6. Wherein, the first limit part 21 arranged at the inner side of the synchronous pulley 2 and the second limit part 51 arranged at the periphery of the positioning sleeve 5 limit the first bearing 3 in the axial direction and the radial direction. The third stopper portion 52 provided inside the positioning sleeve and the fourth stopper portion 22 provided inside the timing pulley 2 perform axial and radial stopper operations on the second bearing. The cross sections of the first stopper portion 21, the second stopper portion 51, the third stopper portion 52 and the fourth stopper portion 22 are right angles as shown in fig. 2.
A first sealing ring 7 is sleeved outside one end of the synchronous belt wheel 2 on the connecting shaft 8, and a second sealing ring 9 is sleeved outside one end of the positioning sleeve 5 on the steel wheel flexible gear combination 10. The first sealing ring 7 and the second sealing ring 9 are used as lubricating grease sealing rings of the harmonic reducer to prevent lubricating grease from leaking.
The transmission mode of the harmonic speed reducer connecting structure is as follows: the synchronous belt wheel 2 transmits the torque to the connecting shaft 8, the connecting shaft 8 is connected with the wave generator 12 through screws so as to transmit the torque to the wave generator 12, and the power input of the harmonic speed reducer is realized.
The invention also provides a capsule endoscope controller which comprises the harmonic speed reducer connecting structure. The speed reducer connecting structure is arranged on the integral rotating part 13 of the capsule endoscope controller shown in figure 3, so that the occupied space of the integral rotating part 13 can be greatly reduced, and the integral rotating part can not generate motion interference when rotating.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. The utility model provides a harmonic speed reducer machine connection structure which characterized by: the device comprises a connecting shaft (8), wherein one end of the connecting shaft (8) is connected with a wave generator (12), and the other end of the connecting shaft is connected with a synchronous belt wheel (2).
2. The harmonic reducer attachment structure according to claim 1, wherein: the synchronous belt wheel (2), the connecting shaft (8) and the wave generator (12) are connected through a first screw (1).
3. The harmonic reducer attachment structure according to claim 1, wherein: and a positioning sleeve (5) is arranged between the inner ring and the outer ring of the synchronous belt wheel (2), and the positioning sleeve (5) is connected with a steel wheel flexible gear combination (10) of the harmonic reducer.
4. A harmonic reducer attachment structure according to claim 3, wherein: a first bearing (3) is arranged between the outer ring and the positioning sleeve (5); and a second bearing (6) is arranged between the inner ring and the positioning sleeve (5).
5. The harmonic reducer attachment structure according to claim 4, wherein: and the synchronous belt wheel (2) and the positioning sleeve (5) are respectively provided with a limiting part for limiting the first bearing (3) and the second bearing (6).
6. The harmonic reducer attachment structure according to claim 4, wherein: the number of the second bearings (6) is 2, and the second bearings are arranged in a front-back mode.
7. A harmonic reducer attachment structure according to claim 3, wherein: a first sealing ring (7) is sleeved outside one end of the synchronous belt wheel (2) on the connecting shaft (8); and a second sealing ring (9) is sleeved outside one end of the positioning sleeve (5) of the steel wheel flexible gear combination (10).
8. A harmonic reducer attachment structure according to claim 3, wherein: the positioning sleeve (5) is connected with the steel wheel flexible gear combination (10) through a second screw (4), and the second screw (4) is fixed on a fixing plate (11) of the harmonic reducer.
9. A capsule endoscope controller is characterized in that: the harmonic reducer connecting structure according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011102071.4A CN112128342A (en) | 2020-10-15 | 2020-10-15 | Harmonic speed reducer machine connection structure and capsule endoscope controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011102071.4A CN112128342A (en) | 2020-10-15 | 2020-10-15 | Harmonic speed reducer machine connection structure and capsule endoscope controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112128342A true CN112128342A (en) | 2020-12-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011102071.4A Pending CN112128342A (en) | 2020-10-15 | 2020-10-15 | Harmonic speed reducer machine connection structure and capsule endoscope controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112128342A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5054332A (en) * | 1987-07-07 | 1991-10-08 | Mitsubishi Denki K.K. | Articulated robot |
| US20080210182A1 (en) * | 2004-02-25 | 2008-09-04 | Schaeffler Kg | Electric Camshaft Adjuster |
| CN104238445A (en) * | 2014-08-18 | 2014-12-24 | 南京大地水刀股份有限公司 | Five-axis water cutting head posture control device provided with horizontally mounted swing shaft |
| CN107363825A (en) * | 2017-08-25 | 2017-11-21 | 安徽大学 | A kind of drive lacking 2R robot arm devices based on harmonic reduction |
| CN109773768A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of drive mechanism of stable support terminal of manipulator |
| CN109771038A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of movable type mechanical hand |
| CN211448684U (en) * | 2020-01-20 | 2020-09-08 | 安丘市华星机械设备有限公司 | Driving wheel load eliminating device |
-
2020
- 2020-10-15 CN CN202011102071.4A patent/CN112128342A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5054332A (en) * | 1987-07-07 | 1991-10-08 | Mitsubishi Denki K.K. | Articulated robot |
| US20080210182A1 (en) * | 2004-02-25 | 2008-09-04 | Schaeffler Kg | Electric Camshaft Adjuster |
| CN104238445A (en) * | 2014-08-18 | 2014-12-24 | 南京大地水刀股份有限公司 | Five-axis water cutting head posture control device provided with horizontally mounted swing shaft |
| CN107363825A (en) * | 2017-08-25 | 2017-11-21 | 安徽大学 | A kind of drive lacking 2R robot arm devices based on harmonic reduction |
| CN109773768A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of drive mechanism of stable support terminal of manipulator |
| CN109771038A (en) * | 2019-03-22 | 2019-05-21 | 重庆金山医疗机器人有限公司 | A kind of movable type mechanical hand |
| CN211448684U (en) * | 2020-01-20 | 2020-09-08 | 安丘市华星机械设备有限公司 | Driving wheel load eliminating device |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20210826 Address after: 401120 1-1, 2-1, 3-1, building 5, No. 18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Applicant after: Chongqing Jinshan Medical Technology Research Institute Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Applicant before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |
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