CN114017616B - Flat harmonic reducer for monitoring cradle head and cradle head - Google Patents

Flat harmonic reducer for monitoring cradle head and cradle head Download PDF

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Publication number
CN114017616B
CN114017616B CN202111383056.6A CN202111383056A CN114017616B CN 114017616 B CN114017616 B CN 114017616B CN 202111383056 A CN202111383056 A CN 202111383056A CN 114017616 B CN114017616 B CN 114017616B
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China
Prior art keywords
cam
flexible
wheel
mandrel
harmonic reducer
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CN202111383056.6A
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Chinese (zh)
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CN114017616A (en
Inventor
黄津
王捍东
朱小娟
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Wuxi Cancer Intelligent Driving Technology Co ltd
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Wuxi Cancer Intelligent Driving Technology Co ltd
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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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • 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
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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 flat harmonic reducer for monitoring a cradle head and the cradle head, comprising a cam, a synchronous belt pulley serving as a driven wheel, a flexible wheel, a steel wheel and a mandrel; the cam is arranged at one end of the mandrel, and the other end of the mandrel penetrates through the central hole of the flexible gear bottom cover to press the flexible gear on the output end to be used as the output end; the synchronous pulley is arranged on the cam, and power is input to the cam through the synchronous pulley; a flexible bearing is radially arranged between the cam and the flexible gear; the outer tooth surface of the flexible gear is matched with the inner tooth surface of the steel gear; the steel wheel and the cam are rotatably supported; the steel wheel is arranged on the bearing seat and used as a fixed end; the output end and the bearing seat are rotatably supported. The structure of the traditional monitoring cradle head is not changed, the transmission precision and the reduction ratio of the cradle head are improved, and meanwhile, the integral precision is high, the back clearance is small, and the cost is low. The structure is more compact, and the space can be saved to the maximum by adopting a flat design mode.

Description

Flat harmonic reducer for monitoring cradle head and cradle head
Technical Field
The invention belongs to the technical field of monitoring cradle head transmission, and particularly relates to a harmonic transmission speed reducer for a cradle head and the monitoring cradle head adopting the harmonic transmission speed reducer.
Background
The harmonic reducer has the advantages of compact structure, small volume, light weight, large bearing capacity, small backlash, high transmission precision and the like, and is widely applied to the fields of industrial robots, aerospace and precision machine tools. The harmonic reducer comprises a steel wheel, a flexible wheel and a wave generator, wherein the wave generator is arranged in the flexible wheel with elasticity, and the wave generator rotates to force the tooth shape of the flexible wheel to be meshed with and separated from the tooth shape of the steel wheel periodically, so that the effect of reducing the tooth difference is achieved.
The traditional monitoring cradle head adopts a synchronous belt transmission or a turbine worm to realize the purposes of power transmission and speed reduction, and has the advantages of simple structure and low cost. However, with the development of the technology of monitoring the tripod head, especially the requirement of the ball machine linkage technology, the defects of low transmission precision of synchronous belt transmission and worm and gear and small speed ratio are highlighted.
The traditional harmonic reducer is simply applied to the monitoring cradle head, and the structural design of the cradle head is changed, so that the gravity center balance system of the cradle head needs to be redesigned, and meanwhile, the integral transmission precision and backlash of the cradle head are influenced; meanwhile, the harmonic reducer is generally used for general transmission and cannot be suitable for combined transmission of a tripod head, which requires at least two degrees of freedom. Meanwhile, the cost of the cradle head is high and the cradle head is difficult to popularize due to the relatively high refitting cost.
Disclosure of Invention
The invention aims to solve the technical problems of providing a flat harmonic reducer for a monitoring tripod head and the tripod head, which realize a harmonic reduction transmission scheme of the monitoring tripod head on the basis of not changing the structure of the traditional monitoring tripod head, improve the transmission precision and the reduction ratio of the tripod head, and simultaneously have high overall precision, small back clearance, low cost and high transmission precision.
In order to solve the technical problems, the invention adopts the following technical scheme:
a flat harmonic reducer for monitoring a cradle head comprises a cam, a flexible gear, a steel wheel and a mandrel; the method is characterized in that: the cam is positioned at one end of the mandrel, and the other end of the mandrel penetrates through the central hole of the flexible wheel bottom cover and presses the flexible wheel on the output end to be used as the output end together; the synchronous pulley is arranged on the cam, and power is input to the cam through the synchronous pulley; a flexible bearing is radially arranged between the cam and the flexible gear; the outer tooth surface of the flexible gear is matched with the inner tooth surface of the steel gear; the steel wheel and the cam are rotatably supported; the steel wheel is arranged on the bearing seat and used as a fixed end; the output end and the bearing seat are rotatably supported.
In the technical scheme, the cam is a hollow three-stage stepped shaft; a synchronous pulley is arranged on a wide-diameter step of the cam, a double-row angular contact bearing is arranged between the middle step of the cam and the steel wheel, and a flexible bearing is arranged on a narrow-diameter step of the cam; the double-row angular contact bearing is arranged on the steel wheel, and the periphery of the cam is elliptical at least at the narrow-diameter step.
In the technical scheme, the flexible gear is a hollow cylinder with a bottom cover, and the outer wall of the cylinder is provided with the outer tooth surface of the flexible gear to be meshed with the inner tooth surface of the steel gear; the bottom cover of the flexible gear is axially positioned between the mandrel and the output end, so that the other end of the mandrel penetrates through the central hole of the bottom cover and presses the flexible gear against the output end.
In the technical scheme, the pressing part of the mandrel and the flexible gear is provided with a disc, and the diameter of the disc is larger than the central hole of the bottom cover of the flexible gear and smaller than the inner wall of the cylinder body of the flexible gear.
According to the technical scheme, the axial extension length of the flexible gear covers the narrow-diameter step of the cam, and the flexible bearing is arranged between the narrow-diameter step of the cam and the inner wall of the flexible gear.
In the technical scheme, the cup-shaped flexible wheel or the cap-shaped flexible wheel which is processed by special metal materials or molded by plastic injection is used as the flexible wheel, and the hollow space is used for the hollow wiring.
In the technical scheme, the steel wheel is of a gear ring structure, and at least one part of the inner wall surface of the steel wheel is axially provided with an inner tooth surface which is meshed with the outer tooth surface of the flexible wheel.
In the technical scheme, a double-row angular contact bearing and an oil seal are arranged between the output end and the bearing seat.
In the technical scheme, the detection plate is arranged on the outer side of the synchronous pulley at one end of the mandrel and used for external detection.
The cradle head is characterized in that the flat harmonic reducer for monitoring the cradle head is used, and the mandrel is vertically arranged; the motor drives the small synchronous pulley to drive the synchronous belt, and the synchronous belt is connected with the synchronous pulley on the mandrel.
In the invention, the synchronous pulley is arranged at the end of the rotating shaft provided with the cam, power is input to the cam through the synchronous belt, and the synchronous belt rotates to drive the flexible gear to rotate, so that the speed reduction function is realized, and the flexible gear is connected with the output end for power output.
Compared with the prior art, the novel flat harmonic reducer for the monitoring tripod head and the tripod head suite matched with the flat harmonic reducer are provided, so that on the basis of not changing the structure of a traditional monitoring tripod head, a motor drives a small synchronous pulley to drive a synchronous belt to drive a wave generator with a large synchronous pulley on the harmonic reducer, a harmonic reduction transmission scheme of the monitoring tripod head is realized, and the transmission precision and the reduction ratio of the tripod head are improved.
The harmonic speed reducer is based on a cup-shaped flexible gear or a cap-shaped flexible gear which is processed by special metal materials or molded by special plastic in an injection mode and a wave generator. The hollow wiring device has the advantages of high transmission precision, small back clearance, low cost and the like.
Compared with the existing holder design, the invention has the advantages that the structure is more compact, the flat design mode can maximally save space, and the size of the harmonic speed reducer is about 1/3 of the space size compared with the standard speed reducer in the axial size.
Drawings
FIG. 1 is a schematic diagram of a flat harmonic reducer for monitoring a pan-tilt head;
FIG. 2 is a schematic view of a flexspline structure of a flat harmonic reducer for monitoring a pan/tilt head according to the present invention;
FIG. 3 is a schematic view of a steel wheel structure of a flat harmonic reducer for monitoring a cradle head;
FIG. 4 is a schematic view of a rotating shaft cam structure of a flat harmonic reducer for a monitoring cradle head;
fig. 5 is a schematic view of a holder structure of a flat harmonic reducer for monitoring a holder according to the present invention.
The reference numerals correspond to the following:
the flexible bearing comprises a flexible bearing 1, a cam 2, an output end 3, a steel wheel 4, a double-row angular contact bearing 5, an oil seal 6, a bearing seat 7, a driven wheel 8, a double-row angular contact bearing 9, a core shaft 10, a flexible wheel 11 and a detection plate 12.
Detailed Description
The flat harmonic reducer for monitoring a cradle head and the cradle head according to the invention are further described in detail with reference to fig. 1 to 5.
As shown in fig. 1 to 4, the flat harmonic reducer 100 for monitoring a pan/tilt head according to the present invention mainly comprises: a flexible wheel 11, a steel wheel 4 and a cam 2.
As shown in fig. 2, the flexible gear 11 is a hollow cylindrical cover body, and external teeth of the flexible gear are arranged on the outer wall of the cylinder body and meshed with internal teeth of the steel wheel 4; the size of the bottom cover center hole of the flexible wheel 11 is matched with that of the mandrel 10, so that the mandrel 10 passes through the bottom cover center hole, and the flexible wheel 11 is pressed on the output end 3 by the passing end of the mandrel 10 to serve as an output end; the penetrating end of the mandrel 10 is provided with a disc, and the diameter of the disc is larger than the central hole of the bottom cover of the flexible gear 11 and smaller than the inner wall of the cylinder of the flexible gear. The extension length of the flexible gear 11 covers the third step of the cam 2, and a flexible bearing 1 is arranged between the third step of the cam 2 and the inner wall of the flexible gear.
The flexible wheel 11 is a cup-shaped flexible wheel or a cap-shaped flexible wheel which is processed by special metal materials or molded by plastic injection; by adopting the hollow structure, the hollow wiring of the speed reducer can be realized.
As shown in fig. 3, the steel wheel 4 is of a gear ring structure, and two end faces are provided with fixing bolt holes. At least a part of the inner ring of the steel wheel 4 is provided with an inner tooth surface which is meshed with the outer tooth surface of the flexible wheel. A double-row angular contact bearing 9 is arranged between the inner wall of the steel wheel 4 and the second step of the cam. The steel wheel 4 is mounted on the bearing seat 7 as a fixed end.
As shown in fig. 4, the cam 2 is an elliptical hollow stepped shaft, and has three steps from a wide portion to a narrow portion along the outer circumferential step of the axial cam. The driven wheel 8 is arranged on the first step (widest part) of the cam 2, the driven wheel 8 is positioned outside the wide part of the shaft end of the cam 2, a double-row angular contact bearing 9 is arranged between the outer radial direction of the second step (sub-wide part) of the cam 2 and the steel wheel 4, and the flexible bearing 1 is arranged on the third step (narrow part) of the cam 2. The double row angular contact bearing 9 is fixedly mounted on the radially outer steel wheel 4.
As shown in fig. 1, power is input from the driven wheel 8 to drive the cam 2 to rotate.
The flexible wheel 11 is pressed on the output end 3 by one end of the mandrel 10 to be used as output; a double-row angular contact bearing 5 and an oil seal 6 are arranged between the output end 3 and the bearing seat 7; the detection plate 12 is mounted at the other end of the spindle 10 and is used for external detection. The connection between the double row angular contact bearing 5 and the bearing seat 7 and the connection between the double row angular contact bearing and the output end 3 are respectively bonded by special glue.
Fig. 5 is a schematic view of a holder structure of a flat harmonic reducer for monitoring a holder according to the present invention. The motor drives the small synchronous pulley to drive the synchronous belt, and the synchronous belt drives the large synchronous pulley (namely the driven pulley 8) on the flat harmonic reducer 100 for the monitoring cradle head, so as to drive the wave generator. The pitching mechanism 200 can adopt a conventional speed reducer, a flat harmonic speed reducer for monitoring a cradle head or other conventional harmonic speed reducers.

Claims (10)

1. A flat harmonic reducer for monitoring a cradle head comprises a cam, a flexible gear, a steel wheel and a mandrel; the method is characterized in that: the cam is a hollow three-stage stepped shaft; a synchronous pulley is arranged on a wide-diameter step of the cam, a double-row angular contact bearing is arranged between the middle step of the cam and the steel wheel, and a flexible bearing is arranged on a narrow-diameter step of the cam; the cam is positioned at one end of the mandrel, and the other end of the mandrel penetrates through the central hole of the flexible wheel bottom cover and presses the flexible wheel on the output end to be used as the output end together; the synchronous pulley is arranged on the cam, and power is input to the cam through the synchronous pulley; a flexible bearing is radially arranged between the cam and the flexible gear; the outer tooth surface of the flexible gear is matched with the inner tooth surface of the steel gear; the steel wheel and the cam are rotatably supported; the steel wheel is arranged on the bearing seat and used as a fixed end; the output end and the bearing seat are rotatably supported.
2. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: the double-row angular contact bearing is arranged on the steel wheel, and the periphery of the cam is elliptical at least at the narrow-diameter step.
3. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: the flexible gear is a hollow cylinder with a bottom cover, and the outer wall of the cylinder is provided with a flexible gear outer tooth surface meshed with the inner tooth surface of the steel wheel; the bottom cover of the flexible gear is axially positioned between the mandrel and the output end, so that the other end of the mandrel penetrates through the central hole of the bottom cover and presses the flexible gear against the output end.
4. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: the pressing part of the mandrel and the flexible gear is provided with a disc, and the diameter of the disc is larger than the central hole of the bottom cover of the flexible gear and smaller than the inner wall of the cylinder body of the flexible gear.
5. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: the axial extension length of the flexible gear covers the narrow-diameter step of the cam, and a flexible bearing is arranged between the narrow-diameter step of the cam and the inner wall of the flexible gear.
6. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: the flexible wheel is a cup-shaped flexible wheel or a cap-shaped flexible wheel which is processed by special metal materials or molded by plastic injection, and the hollow space is used for the hollow wiring.
7. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: the steel wheel is of a gear ring structure, and at least one part of the inner wall surface of the steel wheel is axially provided with an inner tooth surface which is meshed with the outer tooth surface of the flexible wheel.
8. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: and a double-row angular contact bearing and an oil seal are arranged between the output end and the bearing seat.
9. The flat harmonic reducer for monitoring head according to claim 1, characterized in that: the detection plate is arranged outside the synchronous pulley at one end of the mandrel and used for external detection.
10. A cradle head characterized in that the flat harmonic reducer for monitoring cradle head according to any one of claims 1-9 is used, and the mandrel is arranged vertically; a synchronous pulley is arranged on a wide-diameter step of the cam, a double-row angular contact bearing is arranged between the middle step of the cam and the steel wheel, and a flexible bearing is arranged on a narrow-diameter step of the cam; and power is input from the synchronous belt wheel or the driven wheel to drive the cam to rotate.
CN202111383056.6A 2021-11-22 2021-11-22 Flat harmonic reducer for monitoring cradle head and cradle head Active CN114017616B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111383056.6A CN114017616B (en) 2021-11-22 2021-11-22 Flat harmonic reducer for monitoring cradle head and cradle head

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111383056.6A CN114017616B (en) 2021-11-22 2021-11-22 Flat harmonic reducer for monitoring cradle head and cradle head

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CN114017616A CN114017616A (en) 2022-02-08
CN114017616B true CN114017616B (en) 2023-06-23

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2160808Y (en) * 1993-04-14 1994-04-06 陈望 Harmonic gearing electric desk
CN206344160U (en) * 2016-12-14 2017-07-21 亿嘉和科技股份有限公司 A kind of inspection machine user tripod head
CN111147759B (en) * 2020-02-19 2021-07-13 北京中安吉泰科技有限公司 Binocular range finding cloud platform device
CN113404838A (en) * 2020-03-16 2021-09-17 无锡巨蟹智能驱动科技有限公司 Harmonic speed reducer for barrier gate and barrier gate device
CN113404837A (en) * 2020-03-16 2021-09-17 无锡巨蟹智能驱动科技有限公司 Carry on light-duty steering wheel of harmonic speed reducer machine
CN113404839A (en) * 2020-03-16 2021-09-17 无锡巨蟹智能驱动科技有限公司 Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof
CN213744790U (en) * 2020-08-21 2021-07-20 大族激光科技产业集团股份有限公司 Reduction gear, power module and robot
CN112720568A (en) * 2021-02-09 2021-04-30 中山早稻田科技有限公司 Dual-module integrated joint with force perception

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