CN112833161B - Manufacturing method of lower shell of harmonic reducer with composite ball bearing - Google Patents
Manufacturing method of lower shell of harmonic reducer with composite ball bearing Download PDFInfo
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- CN112833161B CN112833161B CN202110145695.2A CN202110145695A CN112833161B CN 112833161 B CN112833161 B CN 112833161B CN 202110145695 A CN202110145695 A CN 202110145695A CN 112833161 B CN112833161 B CN 112833161B
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- lower shell
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- loading table
- installation
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 42
- 239000002131 composite material Substances 0.000 title claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims description 60
- 238000003825 pressing Methods 0.000 claims description 9
- 150000001875 compounds Chemical class 0.000 claims description 5
- 230000002035 prolonged effect Effects 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011900 installation process Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- 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
-
- 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
- F16H2057/0056—Mounting parts arranged in special position or by special sequence, e.g. for keeping particular parts in his position during 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
- F16H2057/0062—Tools specially adapted for assembly of transmissions
-
- 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
- F16H2057/02017—Gearboxes; Mounting gearing therein characterised by special features related to the manufacturing of the gear case, e.g. special adaptations for casting
-
- 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)
- Retarders (AREA)
Abstract
The invention discloses a harmonic reducer with a composite ball bearing and a manufacturing method of a lower shell. The output load of the harmonic speed reducer can be improved, and the service life is prolonged. The method includes a, clamping an inner load station and an outer load station; b. installing a connecting rod and a bottom bracket; c. installing a lower shell; d. installing a positioning tube; e. installing a sleeve; f. and (5) installing a fixed pipe. The invention sets the locating pipes with the same length and the same position, the sleeve is sleeved on the locating pipes, then the fixing pipes are screwed into the sleeve, when the fixing pipes cannot be screwed, the bottoms of the fixing pipes are propped against the locating pipes at the moment, and the lengths of all the fixing pipes extending out of the sleeve are ensured to be the same.
Description
Technical Field
The invention belongs to the technical field of harmonic speed reducer equipment, and particularly relates to a harmonic speed reducer with a composite ball bearing and a lower shell manufacturing method.
Background
The principle of harmonic gear transmission and deceleration refers to that the motion and power transmission are realized by utilizing the relative motion of a flexible gear, a rigid gear and a wave generator, mainly the controllable elastic deformation of the flexible gear. An elliptical cam in the wave generator rotates in the flexspline to deform the flexspline. When the flexible gear teeth and the rigid gear teeth at the two ends of the long axis of the elliptical cam of the wave generator enter into engagement, the flexible gear teeth and the rigid gear teeth at the two ends of the short axis are disengaged. For teeth between the long shaft and the short shaft of the wave generator, the teeth are in a semi-meshing state gradually entering into meshing along different sections of the circumferences of the flexible wheel and the rigid wheel, which is called meshing; in a semi-engaged state gradually out of engagement, referred to as engaged. When the wave generator continuously rotates, the flexible gear continuously deforms, so that the original working states of the gear teeth of the two gears are continuously changed in the processes of meshing, meshing out and disengaging, staggered tooth movement is generated, and the movement transmission from the active wave generator to the flexible gear is realized.
The conventional harmonic reducer adopts a common ball flexible bearing at the input end, and because the balls are in point-to-point contact with each other, the contact bearing area is small, the wear is easy, and an axial gap exists after the wear, so that the ball flexible bearing is easy to deform after bearing radial and axial force, and the flexible bearing is easy to damage, so that the rigidity of the input end of the harmonic reducer is reduced, the excessive axial impact force cannot be born, and the load and the service life of the harmonic reducer are reduced.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art, and provides the high-torque high-rigidity long-life harmonic reducer which is provided with the composite ball bearing, and the roller and the ball are used in a mixed mode, so that the composite ball bearing can bear larger load in the transmission process, is suitable for use scenes of high rotating speed and low rotating speed, prolongs the service time of the flexible bearing, improves the output load of the harmonic reducer, and prolongs the service life.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a take compound ball bearing's harmonic reducer, includes wave generator, flexspline and rigid gear, and wave generator is built-in the internally mounted intracavity of flexspline, and wave generator includes input axle head and cam, its characterized in that: a composite ball bearing is annularly distributed between the outer circumferential surface of the cam and the inner circumferential surface of the flexible gear, the composite ball bearing comprises an inner ring and an outer ring, a roller installation cavity and a ball installation cavity are arranged between the inner ring and the outer ring, the roller installation cavity is provided with rollers, and the ball installation cavity is provided with balls. The novel high-speed transmission device is provided with the composite ball bearing, and the roller and the ball are used in a mixed mode, so that the composite ball bearing can bear larger load in the transmission process, the novel high-speed transmission device is suitable for use scenes with high rotating speed and low rotating speed, the service time of the flexible bearing is prolonged, the output load of the harmonic reducer is improved, and the service life of the harmonic reducer is prolonged.
Furthermore, the harmonic reducer is required to be mounted on the machine body, and screws are generally adopted to mount the harmonic reducer on the machine body, so that the technical problem to be solved is how to avoid the harmonic reducer from parts on the machine body. The invention also comprises an upper shell and a lower shell, the flexible gear and the rigid gear are arranged between the upper shell and the lower shell, the wave generator penetrates through the upper shell and the lower shell, the outer side of the lower shell is circumferentially and uniformly provided with mounting planes, the adjacent two mounting planes are provided with sleeves, the side surfaces of the sleeves are welded with fixing plates, the fixing plates are fixed in threaded holes at the mounting planes through screws, the sleeves are in threaded connection with fixing pipes, the inner sides of the fixing pipes are provided with threads, and the lengths of the extending of the fixing pipes out of the sleeves are kept consistent. When the fixed pipe is propped against the machine body, the fixed screw is screwed in the fixed pipe and screwed on the machine body, so that the whole harmonic speed reducer is installed on the machine body, a certain distance exists between the lower shell and the machine body, the installation of the lower shell is less influenced by the surface of the machine body, and the harmonic speed reducer avoids parts on the machine body.
Further, the number of the installation planes is 24, and the number of the sleeves is 6, so that the stability of the harmonic reducer on the machine body is improved.
Further, the outside of lower casing is equipped with the notch, and the notch sets up between two adjacent mounting planes, and sheathed tube side welding has the lug, and the lug inlays in the notch, can make lug interference fit in the notch, when the installation sleeve pipe, needs to exert downward effort to the sleeve pipe, conveniently screws in between fixed plate and mounting plane.
The fixed pipe extends out of the sleeve for a certain length, and in the actual installation process, the length of the fixed pipe extending out is controlled to be the same, so that the whole harmonic reducer can be installed flatly. Therefore, how to control the extension length of the fixing tube is the same as the current technical problem to be solved, and the invention designs a lower shell manufacturing method aiming at the problem, which comprises the following steps:
the manufacturing method of the lower shell of the harmonic reducer with the composite ball bearing is characterized by comprising the following steps of:
a. clamping the inner load table and the outer load table: the outside loading platform is equipped with the through-hole, and the top of inside loading platform is equipped with spacing boss, and the bottom of inside loading platform is equipped with fixed disc, and spacing boss is equipped with spacing arch.
The method comprises the steps of firstly starting a screw rod motor, controlling a screw rod nut to directionally move on the screw rod by the screw rod motor, fixedly connecting a horizontal bracket by the screw rod nut, driving the horizontal bracket to directionally move by the screw rod nut, placing an external loading table at a set position on the horizontal bracket when the horizontal bracket is arranged below an air cylinder, then placing an internal loading table upwards and centrally into a through hole of the external loading table, and forming an arc groove between the internal loading table and the external loading table. Then the control cylinder descends, and the bottom of the cylinder is connected with a pressing plate, and the cylinder controls the pressing plate to press the limiting boss of the inner loading platform and the outer loading platform.
The inner loading table is used for loading the lower shell, the circular arc groove formed between the inner loading table and the outer loading table is used for installing the positioning tube, and the position of the positioning tube is adjusted by sliding the positioning tube in the circular arc groove. Because the inner loading platform and the outer loading platform are not directly connected, the horizontal bracket and the pressing plate are adopted to clamp the inner loading platform and the outer loading platform, so that the stability of the connecting rod and the bottom bracket can be conveniently and subsequently installed, and the inner loading platform is always arranged in the through hole of the outer loading platform in the middle.
b. Installing the connecting rod and the collet to obtain a lower shell loading structure: the connecting rod is provided with a threaded hole, the threaded rod is in threaded connection with the threaded hole of the connecting rod, the tray is in threaded connection with the end part of the threaded rod, and the tray is screwed in the threaded hole of the connecting rod through the threaded rod, so that the tray is supported on the connecting rod, the tray is positioned at the same position, the bottom bracket is conveniently placed in the later stage, and the bottom bracket is supported. Then put into the collet in one of them connecting rod, then pass through the screw with the one end of this connecting rod and fix on the fixed disk of inside loading table bottom to pass through the screw fixation with the other end of this connecting rod on the bottom of outside loading table, make the connecting rod can carry out fixed connection with the inside loading table of embedded design and outside loading table, remaining connecting rod is fixed according to the fixed mode of this connecting rod. And then the bottom support is moved upwards, the distance between the top surface of the bottom support and the bottom surface of the external loading table is controlled to reach a set distance, and the threaded rod is screwed in the threaded hole of the connecting rod, so that the tray is attached to the bottom surface of the bottom support. And then the control cylinder returns to the initial position, and simultaneously, the screw rod motor is reversed, and the screw rod nut drives the horizontal bracket to return to the initial position, so that the lower shell loading structure is obtained.
The bottom support is used for supporting the positioning pipe, and the length of the positioning pipe extending out of the circular arc groove is controlled through the bottom support, so that the positioning pipes are all positioned at the same position, and the installation accuracy of the later-stage sleeve is improved. And meanwhile, the bottom of the positioning tube is limited through the collet, and the positioning tube can be limited at the set position of the circular arc groove by screwing the locking plate on the positioning tube in the later stage, so that the lower shell can be manufactured in batch in the later stage. And the connecting rod is externally wrapped on the outer side of the bottom bracket, so that the bottom bracket is prevented from falling off.
c. Mounting the lower housing on the lower housing loading structure: firstly, the whole lower shell loading structure is placed on a working platform, then the lower shell is reversely buckled on an inner loading platform, a limiting boss on the inner loading platform is embedded into a central hole of the lower shell, and meanwhile, a limiting protrusion of the limiting boss is embedded into a limiting groove of the lower shell, and at the moment, the lower shell is limited on the inner loading platform.
d. The positioning tube is arranged in a circular arc groove formed between the inner loading table and the outer loading table: the locating pipe is installed by adopting the fixed-point installation device, the fixed-point installation device comprises clamping plates, two symmetrical limiting plates are welded on the clamping plates, the setting positions of the limiting plates are installed according to the setting positions of the installation planes on the outer side of the lower shell, a locating plate is welded between the two limiting plates, and a locating hole is formed in the center position of the locating plate.
The clamping plate is clamped on the inner side of the central hole of the lower shell, meanwhile, the inner side of the limiting plate is attached to the mounting plane of the lower shell, the positioning hole is correspondingly arranged above the circular arc groove, the positioning hole and the notch on the outer side of the lower shell are correspondingly arranged, the locking plate is connected to the positioning pipe through threads, the positioning pipe is embedded into the circular arc groove formed between the inner loading table and the outer loading table, the bottom of the positioning pipe is supported on the top surface of the bottom support, the positioning rod is led into the positioning hole, the positioning pipe is moved in the circular arc groove, when the positioning rod stretches into the limiting hole of the positioning pipe, the locking plate is screwed on the positioning pipe, the locking plate is locked on the inner loading table and the outer loading table, then the positioning rod is taken out, the fixed-point mounting device is taken out, and the rest positioning pipe is mounted in the circular arc groove formed between the inner loading table and the outer loading table according to the position of the notch on the outer side of the lower shell through the mounting mode of the positioning pipe.
The invention fully utilizes the included angle between 24 mounting planes, designs a fixed-point mounting device, takes 4 mounting planes as a mounting unit of a sleeve, and has the functions of mounting a fixing plate on the sleeve by 2 mounting planes provided with threaded holes and assisting in positioning by the other 2 mounting planes. When the locating rod stretches into the locating hole of the locating pipe, the locating pipe can be accurately located in the circular arc groove formed between the internal loading table and the external loading table, the accuracy of the installation position of the locating pipe is ensured, and the later installation of the sleeve pipe and the fixed pipe is facilitated.
e. And (3) mounting a sleeve: the sleeve is sleeved on the positioning tube, meanwhile, the convex blocks on the side face of the sleeve are embedded into the notch on the outer side of the lower shell, and then the fixing plate on the side face of the sleeve is fixed in the threaded hole on the installation plane through a screw.
f. And (3) installing a fixed pipe: the fixing pipes are screwed into the sleeve, when the fixing pipes cannot be screwed, the bottoms of the fixing pipes are propped against the positioning pipes, the lengths of all the fixing pipes extending out of the sleeve are guaranteed to be identical, and then the whole lower shell is taken out.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the invention is provided with the composite ball bearing, and the roller and the ball are used in a mixed way, so that the composite ball bearing can bear larger load in the transmission process, is suitable for use scenes of high rotating speed and low rotating speed, prolongs the service time of the flexible bearing, improves the output load of the harmonic reducer, and prolongs the service life.
2. The invention needs to install the harmonic reducer on the machine body, generally adopts screws to install the harmonic reducer on the machine body, and solves the technical problem how to avoid the harmonic reducer from parts on the machine body. The invention also comprises an upper shell and a lower shell, the flexible gear and the rigid gear are arranged between the upper shell and the lower shell, the wave generator penetrates through the upper shell and the lower shell, the outer side of the lower shell is circumferentially and uniformly provided with mounting planes, the adjacent two mounting planes are provided with sleeves, the side surfaces of the sleeves are welded with fixing plates, the fixing plates are fixed in threaded holes at the mounting planes through screws, the sleeves are in threaded connection with fixing pipes, the inner sides of the fixing pipes are provided with threads, and the lengths of the extending of the fixing pipes out of the sleeves are kept consistent. When the fixed pipe is propped against the machine body, the fixed screw is screwed in the fixed pipe and screwed on the machine body, so that the whole harmonic speed reducer is installed on the machine body, a certain distance exists between the lower shell and the machine body, the installation of the lower shell is less influenced by the surface of the machine body, and the harmonic speed reducer avoids parts on the machine body.
3. The fixed pipe extends out of the sleeve for a certain length, and in the actual installation process, the length of the fixed pipe extending out is controlled to be the same, so that the whole harmonic reducer can be installed flatly. The invention designs a lower shell manufacturing method, positioning pipes with the same length and the same position are arranged, the sleeve is sleeved on the positioning pipes, then the fixing pipes are screwed into the sleeve, and when the fixing pipes cannot be screwed, the bottoms of the fixing pipes are abutted against the positioning pipes at the moment, so that the lengths of all the fixing pipes extending out of the sleeve are ensured to be the same. After the positioning work of the fixed pipe is finished, when the lower shell after the installation is finished is taken out, the sleeve and the fixed pipe can be quickly installed on the next lower shell, and batch manufacturing of the lower shells is facilitated.
The internal loading table is used for loading the lower shell, and can limit the lower shell, so that the lower shell is prevented from shifting, and the accuracy of the later-stage mounting sleeve and the fixing tube is improved. And the circular arc groove formed between the inner loading table and the outer loading table is used for installing the positioning tube, and the position of the positioning tube is adjusted by sliding the positioning tube in the circular arc groove. Because the inner loading platform and the outer loading platform are not directly connected, the horizontal bracket and the pressing plate are adopted to clamp the inner loading platform and the outer loading platform, so that the stability of the connecting rod and the bottom bracket can be conveniently and subsequently installed, and the inner loading platform is always arranged in the through hole of the outer loading platform in the middle.
The bottom support is used for supporting the positioning pipe, and the length of the positioning pipe extending out of the circular arc groove is controlled through the bottom support, so that the positioning pipes are all positioned at the same position, and the installation accuracy of the later-stage sleeve is improved. And meanwhile, the bottom of the positioning tube is limited through the collet, and the positioning tube can be limited at the set position of the circular arc groove by screwing the locking plate on the positioning tube in the later stage, so that the lower shell can be manufactured in batch in the later stage. And the connecting rod is externally wrapped on the outer side of the bottom bracket, so that the bottom bracket is prevented from falling off.
The invention fully utilizes the included angle between 24 mounting planes, designs a fixed-point mounting device, takes 4 mounting planes as a mounting unit of a sleeve, and has the functions of mounting a fixing plate on the sleeve by 2 mounting planes provided with threaded holes and assisting in positioning by the other 2 mounting planes. When the locating rod stretches into the locating hole of the locating pipe, the locating pipe can be accurately located in the circular arc groove formed between the internal loading table and the external loading table, the accuracy of the installation position of the locating pipe is ensured, and the later installation of the sleeve pipe and the fixed pipe is facilitated.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a schematic structural view of a composite ball bearing according to a first embodiment;
FIG. 3 is a schematic structural diagram of a second embodiment of the present invention;
FIG. 4 is a schematic view of the connection between the sleeve, the fixed tube and the lower housing in the second embodiment of the present invention;
FIG. 5 is a schematic view of a lower housing in a second embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a sleeve according to a second embodiment of the present invention;
FIG. 7 is a schematic structural view of a fixing tube according to a second embodiment of the present invention;
FIG. 8 is a schematic view of the structure of the present invention in clamping an inner load table and an outer load table;
FIG. 9 is a schematic view of a connecting rod according to the present invention;
FIG. 10 is a schematic view of the structure of the present invention in the installation of the connecting rod and shoe;
FIG. 11 is a schematic view of the structure of the connecting rod of the present invention connected between the inner loading station and the outer loading station;
FIG. 12 is a schematic view of the structure of the present invention when the lower housing is mounted on the lower housing loading structure;
FIG. 13 is a schematic view of the structure of the present invention when a positioning tube is installed in a circular arc groove formed between an inner loading table and an outer loading table;
FIG. 14 is a schematic view of a fixed point mounting device according to the present invention;
FIG. 15 is a schematic view of the positioning tube assembly of the present invention;
FIG. 16 is a schematic view of the present invention in its configuration when a sleeve is installed;
fig. 17 is a schematic view of the structure of the present invention in the installation of a stationary pipe.
In the figure, a 1-wave generator; 2-flexible wheel; 3-rigid wheels; 4-composite ball bearings; 5-rollers; 6-ball; 7-cams; 8-an upper housing; 9-a lower housing; 10-mounting plane; 11-a sleeve; 12-fixing plates; 13-a screw; 14-a threaded hole; 15-fixing the tube; 16-notch; 17-bump; 18-an external loading station; 19-limiting bosses; 20-limiting protrusions; 21-a screw rod; 22-screw nuts; 23-horizontal brackets; 24-cylinder; 25-pressing plates; 26-U-shaped groove; 27-a threaded rod; 28-a tray; 29-arc grooves; 30-fixing a disc; 31-connecting rods; 32-a shoe; 33-a central hole; 34-a limit groove; 35-clamping plates; 36-limiting plates; 37-positioning plate; 38-positioning holes; 39-positioning a tube; 40-locking plate; 41-positioning rod; 42-an internal loading station; 43-limit holes.
Detailed Description
As shown in fig. 1 and 2, in a first embodiment of the present invention,
the utility model provides a take compound ball bearing's harmonic reducer ware, includes wave generator 1, flexspline 2 and rigid gear 3, and wave generator 1 is built-in the internally mounted intracavity of flexspline 2, and wave generator 1 includes input axle head and cam 7. A composite ball bearing 4 is annularly distributed between the outer circumferential surface of the cam 7 and the inner circumferential surface of the flexible gear 2, the composite ball bearing 4 comprises an inner ring and an outer ring, a roller installation cavity and a ball installation cavity are arranged between the inner ring and the outer ring, the roller installation cavity is provided with rollers 5, and the ball installation cavity is provided with balls 6. The novel high-speed transmission device is provided with the composite ball bearing 4, and the roller 5 and the ball 6 are mixed for use, so that the composite ball bearing 4 can bear larger load in the transmission process, the novel high-speed transmission device is suitable for use scenes with high rotating speed and low rotating speed, the service time of the flexible bearing is prolonged, the output load of the harmonic reducer is improved, and the service life is prolonged.
As shown in fig. 3 and 7, in a second embodiment of the present invention,
the utility model provides a take compound ball bearing's harmonic reducer ware, includes wave generator 1, flexspline 2 and rigid gear 3, and wave generator 1 is built-in the internally mounted intracavity of flexspline 2, and wave generator 1 includes input axle head and cam 7. A composite ball bearing 4 is annularly distributed between the outer circumferential surface of the cam 7 and the inner circumferential surface of the flexible gear 2, the composite ball bearing 4 comprises an inner ring and an outer ring, a roller 5 installation cavity and a ball 6 installation cavity are arranged between the inner ring and the outer ring, the roller 5 installation cavity is provided with a roller 5, and the ball 6 installation cavity is provided with a ball 6. The novel high-speed transmission device is provided with the composite ball bearing 4, and the roller 5 and the ball 6 are mixed for use, so that the composite ball bearing 4 can bear larger load in the transmission process, the novel high-speed transmission device is suitable for use scenes with high rotating speed and low rotating speed, the service time of the flexible bearing is prolonged, the output load of the harmonic reducer is improved, and the service life is prolonged.
The invention needs to install the harmonic reducer on the machine body for being used in cooperation with a motor installed on the machine body, and generally adopts screws to install the harmonic reducer on the machine body, so that the technical problem to be solved is how to avoid the harmonic reducer from parts on the machine body. The invention also comprises an upper shell 8 and a lower shell 9, the flexspline 2 and the rigid spline 3 are arranged between the upper shell 8 and the lower shell 9, and the wave generator 1 passes through the upper shell 8 and the lower shell 9. The outside circumference of lower casing 9 evenly is equipped with mounting plane 10, and sleeve pipe 11 is installed to two adjacent mounting planes 10 departments, and the side welding of sleeve pipe 11 has fixed plate 12, and fixed plate 12 passes through screw 13 to be fixed in the screw hole 14 of mounting plane 10 department, and sleeve pipe 11 threaded connection has fixed pipe 15, and the inboard of fixed pipe 15 is equipped with the screw thread, and the length that fixed pipe 15 stretches out sleeve pipe 11 keeps unanimous. According to the invention, the fixed tube 15 is controlled to extend out of the sleeve 11 for a certain length, when the fixed tube 15 is propped against a machine body, the fixed screw 13 is screwed in the fixed tube 15, and the fixed screw 13 is screwed on the machine body, so that the whole harmonic speed reducer is mounted on the machine body, at the moment, a certain distance exists between the lower shell 9 and the machine body, the mounting of the lower shell 9 is less influenced by the surface of the machine body, and the harmonic speed reducer avoids parts on the machine body.
The number of the mounting planes 10 is 24, the number of the sleeves 11 is 6, and the stability of the harmonic reducer mounted on the machine body is improved.
The notch 16 is arranged on the outer side of the lower shell 9, the notch 16 is arranged between two adjacent installation planes 10, the lug 17 is welded on the side face of the sleeve 11, the lug 17 is embedded into the notch 16, the lug 17 can be in interference fit in the notch 16, when the sleeve 11 is installed, downward acting force needs to be applied to the sleeve 11, and screws 13 can be conveniently screwed in between the fixing plate 12 and the installation planes 10.
The fixed tube 15 of the invention stretches out of the sleeve 11 for a certain length, in the actual installation process, the stretching out length of the fixed tube 15 is required to be controlled to be the same, so that the whole harmonic reducer can be installed flatly. Therefore, how to control the extending length of the fixing tube 15 is the technical problem to be solved at present, and the invention designs a manufacturing method of the lower shell 9 according to the problem, specifically as follows:
as shown in fig. 8 and 17, the lower case 9 in the second embodiment is manufactured by a method including the steps of:
a. clamping the inner 42 and outer 18 load stations: the outer loading platform 18 is provided with a through hole, the top of the inner loading platform 42 is provided with a limiting boss 19, the bottom of the inner loading platform 42 is provided with a fixed disc 30, and the limiting boss 19 is provided with a limiting protrusion 20.
The screw motor is started firstly, the screw motor controls the screw nut 22 to directionally move on the screw 21, the screw nut 22 is fixedly connected with the horizontal bracket 23, the screw nut 22 drives the horizontal bracket 23 to directionally move, when the horizontal bracket 23 is arranged below the air cylinder 24, the outer loading platform 18 is placed at a set position on the horizontal bracket 23, the inner loading platform 42 is placed upwards and centered in a through hole of the outer loading platform 18, and an arc groove 29 is formed between the inner loading platform 42 and the outer loading platform 18. Then the control cylinder 24 descends, the bottom of the cylinder 24 is connected with the pressing plate 25, and the cylinder 24 controls the pressing plate 25 to press the limiting boss 19 of the inner loading table 42 and the outer loading table 18.
The inner loading table 42 is used for loading the lower shell 9, the circular arc groove 29 formed between the inner loading table 42 and the outer loading table 18 is used for installing the positioning tube, and the position of the positioning tube is adjusted by sliding the positioning tube in the circular arc groove 29. Because there is no direct connection between the inner and outer load stations 42, 18 of the present invention, the present invention uses the horizontal brackets 23 and the pressure plates 25 to clamp the inner and outer load stations 42, 18, facilitating subsequent installation of the stability of the connecting rods and the underwires, such that the inner load station 42 is always centrally disposed in the through-hole of the outer load station 18.
b. Mounting the connecting rod 31 and the shoe 32, the lower housing loading structure is obtained: the connecting rod 31 is equipped with U type groove 26, and connecting rod 31 is equipped with the screw hole, threaded rod 27 in the screw hole 14 of connecting rod 31, and the tip threaded connection tray 28 at threaded rod 27 to twist in the screw hole 14 of connecting rod 31 through threaded rod 27, make tray 28 support on connecting rod 31, make tray 28 all be in the coplanar, make things convenient for the later stage to put into collet 32, and support collet 32. Then, the bottom bracket 32 is placed in the U-shaped groove 26 of one of the connecting rods 31, one end of the connecting rod 31 is fixed on the fixed disc 30 at the bottom of the inner loading table 42 through a screw, and the other end of the connecting rod 31 is fixed on the bottom of the outer loading table 18 through a screw, so that the connecting rod 31 can fixedly connect the inner loading table 42 and the outer loading table 18 which are designed in an embedded manner, and the rest of the connecting rods 31 are fixed according to the fixing mode of the connecting rod 31. The shoe 32 is then moved upwardly to control the distance between the top surface of the shoe 32 and the bottom surface of the external loading table 18 to a set distance, and the threaded rod 27 is screwed into the threaded hole 14 of the connecting rod 31 so that the tray 28 is attached to the bottom surface of the shoe 32. Then the control cylinder 24 returns to the initial position, and simultaneously the screw motor rotates reversely, and the screw nut 22 drives the horizontal bracket 23 to return to the initial position, so that the lower shell loading structure is obtained.
The collet 32 is used for supporting the positioning pipe, and the length of the positioning pipe extending out of the circular arc groove 29 is controlled through the collet 32, so that the positioning pipes are all positioned at the same position, and the installation accuracy of the later-stage sleeve 11 is improved. And meanwhile, the bottom of the positioning tube is limited through the bottom support 32, and the positioning tube can be limited at the set position of the arc groove 29 by screwing the locking plate on the positioning tube in the later stage, so that the lower shell 9 can be manufactured in batch in the later stage. And the connecting rod 31 is wrapped outside the bottom support 32 to avoid falling off of the bottom support 32.
c. The lower housing 9 is mounted on the lower housing loading structure: the whole lower shell loading structure is placed on a working platform, then the lower shell 9 is reversely buckled on the inner loading platform 42, the limiting boss 19 on the inner loading platform 42 is embedded into the central hole 33 of the lower shell 9, meanwhile, the limiting boss 20 of the limiting boss 19 is embedded into the limiting groove 34 of the lower shell 9, and at the moment, the lower shell 9 is limited on the inner loading platform 42.
d. The positioning tube 39 is mounted in the circular arc groove 29 formed between the inner loading table 42 and the outer loading table 18: the positioning tube 39 is installed by adopting a fixed-point installation device, the fixed-point installation device comprises a clamping plate 35, two symmetrical limiting plates 36 are welded on the clamping plate 35, the setting position of the limiting plates 36 is installed according to the setting position of the installation plane 10 on the outer side of the lower shell 9, a positioning plate 37 is welded between the two limiting plates 36, and a positioning hole 38 is formed in the center position of the positioning plate 37.
The clamping plate 35 is clamped on the inner side of the central hole 33 of the lower shell 9, meanwhile, the inner side of the limiting plate 36 is attached on the installation plane 10 of the lower shell 9, the positioning hole 38 is correspondingly arranged above the circular arc groove 29, the positioning hole 38 and the notch 16 on the outer side of the lower shell 9 are correspondingly arranged, the positioning tube 39 is connected with the locking plate 40 in a threaded mode, then the positioning tube 39 is embedded into the circular arc groove 29 formed between the inner loading table 42 and the outer loading table 18, at the moment, the bottom of the positioning tube 39 is supported on the top surface of the bottom support 32, the positioning rod 41 is introduced into the positioning hole 38, meanwhile, the positioning tube 39 is moved in the circular arc groove 29, when the positioning rod 41 stretches into the limiting hole 43 of the positioning tube 39, the locking plate 40 is screwed on the positioning tube 39, the inner loading table 42 and the outer loading table 18, then the positioning rod 41 is taken out, the fixed-point installation device is taken out, and the rest positioning tube 39 is installed into the circular arc groove 29 formed between the inner loading table 42 and the outer loading table 18 according to the position of the notch 16 on the outer side of the lower shell 9.
The invention fully utilizes the included angles among 24 installation planes 10, designs a fixed-point installation device, takes 4 installation planes 10 as an installation unit of a sleeve 11, and 2 installation planes 10 provided with threaded holes 14 are used for installing a fixing plate 12 on the sleeve 11, and the other 2 installation planes 10 are used for assisting in positioning. When the inner side of the limiting plate 36 is attached to the mounting plane 10 of the lower housing 9, the positioning hole 38 is correspondingly arranged above the circular arc groove 29, and the positioning hole 38 is correspondingly arranged with the notch 16 on the outer side of the lower housing 9, when the positioning rod 41 extends into the limiting hole 43 of the positioning tube 39, the positioning tube 39 can be accurately positioned in the circular arc groove 29 formed between the inner loading table 42 and the outer loading table 18, so that the accuracy of the mounting position of the positioning tube 39 is ensured, and the later mounting of the sleeve 11 and the fixed tube 15 is facilitated.
e. Mounting sleeve 11: the sleeve 11 is sleeved on the positioning tube 39, the protruding blocks 17 on the side surface of the sleeve 11 are embedded into the notch 16 on the outer side of the lower shell 9, and the fixing plate 12 on the side surface of the sleeve 11 is fixed in the threaded holes 14 on the mounting plane 10 through the screws 13.
f. Mounting a fixing tube 15: when the fixing tube 15 cannot be screwed, the bottom of the fixing tube 15 abuts against the positioning tube 39, so that the lengths of all the fixing tubes 15 extending out of the sleeve 11 are ensured to be the same, and the whole lower shell 9 is taken out.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications and the like made on the basis of the present invention to solve the substantially same technical problems and achieve the substantially same technical effects are included in the scope of the present invention.
Claims (1)
1. The utility model provides a take compound ball bearing's harmonic speed reducer's lower casing manufacturing method, this take compound ball bearing's harmonic speed reducer includes wave generator, flexspline, rigid gear, goes up casing and lower casing, wave generator embeds the inside installation intracavity of flexspline, wave generator includes input axle head and cam, its characterized in that: a composite ball bearing is annularly distributed between the outer circumferential surface of the cam and the inner circumferential surface of the flexible gear, the composite ball bearing comprises an inner ring and an outer ring, a roller installation cavity and a ball installation cavity are arranged between the inner ring and the outer ring, a roller is arranged in the roller installation cavity, a ball is arranged in the ball installation cavity, the flexible gear and the rigid gear are arranged between the upper shell and the lower shell, a wave generator penetrates through the upper shell and the lower shell, installation planes are uniformly arranged on the outer side circumference of the lower shell, a sleeve is installed at each of the two adjacent installation planes, a fixing plate is welded on the side surface of each sleeve, the fixing plate is fixed in a threaded hole at each installation plane through a screw, a fixing pipe is connected with threads, threads are arranged on the inner side of the fixing pipe, the lengths of the extending out of the sleeves are kept consistent, a notch is arranged on the outer side of the lower shell, the notch is arranged between the two adjacent installation planes, a lug is welded on the side surface of each sleeve, and the lug is embedded into the notch;
the method is characterized by comprising the following steps of:
a. clamping the inner load table and the outer load table: the outer loading table is provided with a through hole, the top of the inner loading table is provided with a limiting boss, the bottom of the inner loading table is provided with a fixed disc, and the limiting boss is provided with a limiting protrusion; firstly starting a screw rod motor, controlling a screw rod nut to directionally move on the screw rod by the screw rod motor, fixedly connecting a horizontal bracket by the screw rod nut, driving the horizontal bracket to directionally move by the screw rod nut, placing an external loading platform at a set position on the horizontal bracket when the horizontal bracket is arranged below an air cylinder, then placing an internal loading platform upwards and centrally in a through hole of the external loading platform, forming an arc groove between the internal loading platform and the external loading platform, then controlling the air cylinder to descend, connecting a pressing plate at the bottom of the air cylinder, and controlling the pressing plate to press a limiting boss of the internal loading platform and the external loading platform by the air cylinder;
b. installing the connecting rod and the collet to obtain a lower shell loading structure: the connecting rods are provided with threaded holes, threaded rods are connected in the threaded holes of the connecting rods, the end parts of the threaded rods are connected with the tray in a threaded manner, the tray is screwed in the threaded holes of the connecting rods through the threaded rods, so that the tray is supported on the connecting rods, a collet is placed in one connecting rod, one end of each connecting rod is fixed on a fixed disc at the bottom of the internal loading table through a screw, the other end of each connecting rod is fixed on the bottom of the external loading table through a screw, the rest connecting rods are fixed according to the fixing mode of each connecting rod, the collet is moved upwards, the distance between the top surface of each collet and the bottom surface of the external loading table is controlled to reach a set distance, the threaded rods are screwed in the threaded holes of the connecting rods, the tray is attached to the bottom surface of each collet, then a cylinder is controlled to return to the initial position, and meanwhile, the screw rod nut drives the horizontal bracket to return to the initial position through screw rod motor, so that the lower shell loading structure is obtained;
c. mounting the lower housing on the lower housing loading structure: firstly, placing the whole lower shell loading structure on a working platform, reversely buckling the lower shell on an inner loading platform, embedding a limiting boss on the inner loading platform into a central hole of the lower shell, and embedding a limiting boss of the limiting boss into a limiting groove of the lower shell, wherein the lower shell is limited on the inner loading platform;
d. the positioning tube is arranged in a circular arc groove formed between the inner loading table and the outer loading table: the positioning pipe is installed by adopting a fixed-point installation device, the fixed-point installation device comprises clamping plates, two symmetrical limiting plates are welded on the clamping plates, the setting positions of the limiting plates are installed according to the setting positions of an installation plane on the outer side of the lower shell, a positioning plate is welded between the two limiting plates, and a positioning hole is formed in the center position of the positioning plate; the method comprises the steps of firstly clamping a clamping plate on the inner side of a central hole of a lower shell, attaching the inner side of a limiting plate to an installation plane of the lower shell, correspondingly arranging a positioning hole above an arc groove, correspondingly arranging the positioning hole and a notch on the outer side of the lower shell, connecting a locking plate on a positioning pipe in a threaded mode, embedding the positioning pipe into the arc groove formed between an inner loading table and an outer loading table, supporting the bottom of the positioning pipe on the top surface of a bottom bracket, introducing a positioning rod into the positioning hole, simultaneously moving the positioning pipe in the arc groove, screwing the locking plate on the positioning pipe when the positioning rod stretches into the limiting hole of the positioning pipe, locking the locking plate on the inner loading table and the outer loading table, taking out the positioning rod, simultaneously taking out a fixed-point installation device, and installing the rest positioning pipe into the arc groove formed between the inner loading table and the outer loading table in the installation mode of the positioning pipe according to the position of the notch on the outer side of the lower shell;
e. and (3) mounting a sleeve: sleeving the sleeve on the positioning tube, embedding the convex blocks on the side surface of the sleeve into the notch on the outer side of the lower shell, and fixing the fixing plate on the side surface of the sleeve in the threaded hole on the installation plane through a screw;
f. and (3) installing a fixed pipe: the fixing pipes are screwed into the sleeve, when the fixing pipes cannot be screwed, the bottoms of the fixing pipes are propped against the positioning pipes, the lengths of all the fixing pipes extending out of the sleeve are guaranteed to be identical, and then the whole lower shell is taken out.
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| CN202110145695.2A CN112833161B (en) | 2021-02-02 | 2021-02-02 | Manufacturing method of lower shell of harmonic reducer with composite ball bearing |
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| CN202110145695.2A CN112833161B (en) | 2021-02-02 | 2021-02-02 | Manufacturing method of lower shell of harmonic reducer with composite ball bearing |
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| CN117628142B (en) * | 2024-01-26 | 2024-04-19 | 广东极亚精机科技有限公司 | Harmonic gear device, method for manufacturing same, and joint device for robot |
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| CN214404583U (en) * | 2021-02-02 | 2021-10-15 | 浙江来福谐波传动股份有限公司 | Harmonic speed reducer with composite ball bearing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106640954B (en) * | 2016-10-21 | 2019-03-01 | 传孚科技（厦门）有限公司 | A kind of rolling deep groove ball bearing |
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| DE4142433C1 (en) * | 1991-12-20 | 1993-05-27 | Ibo Gesellschaft Fuer Beschaffung Und Absatz Von Industrieguetern Mbh, 8011 Kirchheim, De | Combined roller and ball bearing with inner and outer races - is of thin race type with rollers and balls of same dia. and on same race tracks |
| CN103527626A (en) * | 2013-10-30 | 2014-01-22 | 无锡华洋滚动轴承有限公司 | Self-resetting double-sealing reverse locking composite bearing |
| CN105114449A (en) * | 2015-07-24 | 2015-12-02 | 山东凯美瑞轴承科技有限公司 | Floating deflection mixing bearing for electric main shaft |
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