CN117102839A - Automatic assembly equipment of harmonic reducer complete machine - Google Patents
Automatic assembly equipment of harmonic reducer complete machine Download PDFInfo
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- CN117102839A CN117102839A CN202311374417.XA CN202311374417A CN117102839A CN 117102839 A CN117102839 A CN 117102839A CN 202311374417 A CN202311374417 A CN 202311374417A CN 117102839 A CN117102839 A CN 117102839A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 33
- 239000003921 oil Substances 0.000 claims description 110
- 230000007246 mechanism Effects 0.000 claims description 83
- 239000010687 lubricating oil Substances 0.000 claims description 25
- 230000001502 supplementing effect Effects 0.000 claims description 25
- 238000009434 installation Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000005461 lubrication Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 12
- 230000001603 reducing effect Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 15
- 230000009471 action Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 8
- 238000003825 pressing Methods 0.000 description 7
- 238000005299 abrasion Methods 0.000 description 6
- 230000006698 induction Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000009987 spinning Methods 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 3
- 230000001050 lubricating effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000013102 re-test Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- 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
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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
- F16N—LUBRICATING
- F16N21/00—Conduits; Junctions; Fittings for lubrication apertures
-
- 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
- F16N—LUBRICATING
- F16N7/00—Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated
- F16N7/38—Arrangements for supplying oil or unspecified lubricant from a stationary reservoir or the equivalent in or on the machine or member to be lubricated with a separate pump; Central lubrication systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Details Of Gearings (AREA)
Abstract
The invention belongs to the technical field of assembly of complete harmonic reducers and discloses complete automatic assembly equipment of the harmonic reducers, which comprises a support column fixedly arranged above an assembly table mounting base, a support disc fixedly connected to the top end of the support column, an assembly turntable body arranged above the support disc and a flexible fixture body arranged in a positioning hole of the assembly turntable body.
Description
Technical Field
The invention belongs to the technical field of complete machine assembly of harmonic reducers, and particularly relates to complete machine automatic assembly equipment of a harmonic reducer.
Background
An automatic assembly table (bulletin number: CN 111215870B) for a complete machine of a harmonic reducer, disclosed in Chinese patent literature, wherein the assembly table comprises the following structures: the assembly table and the assembly turntable are arranged on the assembly table mounting base; the rotary pressing table servo motor is arranged on the motor mounting plate, and drives the rotary pressing column mounting plate to vertically move up and down through the ball screw; the spinning column is arranged at the lower end of the spinning column mounting plate, and a linear bearing is arranged below the spinning column mounting plate so as to realize accurate movement; every time the assembly turntable rotates for a certain angle, the spinning column moves downwards for a specified stroke, and all parts on the assembly turntable are pressed down to a preset position, so that the precise assembly of the harmonic reducer is realized.
Although the existing automatic assembly table for the complete harmonic reducer realizes accurate positioning and assembly of all parts of the harmonic reducer through a special flexible clamp, the flexible material is made of elastic polymer materials, and the surfaces of the parts are not damaged in the assembly process; the invention has the characteristics of high assembly efficiency and good precision compared with manual assembly or semi-automatic assembly, meets the requirements on efficiency and precision in industrialization, but the prior automatic assembly table of the harmonic reducer is realized by finely adjusting a positioning disc servo motor in the process of assembling the whole harmonic reducer, aiming at the problem of how to accurately control the rotation angle of the assembly turntable every time, the prior automatic assembly table of the harmonic reducer adopts the following problems:
accuracy of rotation angle control: although the fine adjustment positioning disk servo motor can realize the control of the rotation angle of the assembly turntable, the control precision is affected by the precision of the motor, the precision of a sensor, the stability of a control system and other factors, and if the aspects have problems or are unstable, the error of the rotation angle control can be caused, so that the assembly precision is reduced.
Electronic component failure: when the fine-tuning servo motor is used for controlling the rotation angle, electronic elements (such as a controller, an encoder and the like) can be out of order, so that the rotation angle is inaccurate or cannot be controlled;
electromagnetic interference: in the process of controlling the rotation angle by the fine adjustment servo motor, the rotation angle is possibly influenced by electromagnetic interference, so that the rotation angle is unstable or errors occur;
cost and complexity: the fine tuning servo motor controls the rotation angle of the assembly turntable, so that corresponding electronic equipment is required to be purchased and maintained, and the cost and complexity are increased.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides complete machine automatic assembly equipment for the harmonic reducer, which has the advantages of adopting a pure mechanical mode to replace the traditional fine adjustment servo motor to control the rotation angle of an assembly turntable, realizing high-precision angle control on an assembly turntable body, improving the stability, accuracy and reliability of the assembly process, solving the problems of electronic element faults, electromagnetic interference, cost, complexity and the like.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a harmonic reducer complete machine automatic assembly equipment, includes the support column of fixed mounting in assembly bench mounting base top, fixed connection at the supporting disk on support column top, sets up the assembly revolving stage body and set up the flexible anchor clamps body in the locating hole of assembly revolving stage body above the supporting disk, be provided with angle control mechanism between support column and the supporting disk, the inside of supporting disk is provided with antifriction mechanism, the right side surface of support column is provided with the oil compensation mechanism, the right side surface fixed mounting of support column is to angle control mechanism, antifriction mechanism and oil compensation mechanism realize the controller of control action;
when the harmonic speed reducer is assembled in a complete machine, the angle control mechanism controls the rotation angle of the assembly turntable body, and the existing fine adjustment servo motor is replaced by a pure mechanical mode to control the rotation angle of the assembly turntable body, so that the high-precision angle control of the assembly turntable body is realized, the stability, the accuracy and the reliability of the assembly process are improved, and the problems of electronic element faults, electromagnetic interference, cost, complexity and the like are solved;
the friction reducing mechanism comprises a sponge block, when the angle control mechanism operates, the friction reducing mechanism is used for realizing lubrication and friction reducing actions on the angle control mechanism, in addition, through accurate lubrication control of the friction reducing mechanism, friction and abrasion of the assembly turntable body are obviously reduced, so that the frequency and cost of maintaining and replacing parts are reduced, simultaneously, the unplanned downtime and production loss are reduced, and the reliability and the operation efficiency of the assembly turntable body are improved;
when the oil supplementing mechanism detects that the lubricating oil allowance in the antifriction mechanism is insufficient, the oil supplementing mechanism realizes the action of oil supplementing on the antifriction mechanism, so that the stability and the reliability of the antifriction mechanism are ensured, and the performance and the service life of the assembly turntable body are further improved;
through the above mechanism setting, the assembly turntable body can realize accurate control angle, reduce friction loss and keep sufficient lubricating oil to improve the performance and the life-span of assembly turntable body.
Preferably, the angle control mechanism further comprises a first supporting block fixedly installed on the right side surface of the supporting column, a motor installation seat and an installation block are fixedly installed on the upper surface of the first supporting block respectively, a servo motor is fixedly installed on the inner arc surface of the motor installation seat, the right side surface of the installation block is in a concave shape, a worm is rotationally sleeved at the axis of the installation block, an output shaft of the servo motor is fixedly connected with one end of the worm through a coupler, the servo motor in the angle control mechanism is controlled by the controller to start, the servo motor converts electric energy into mechanical energy, and the worm is driven to rotate circumferentially by taking the axis of the output shaft of the servo motor as the center of a circle.
Preferably, the back fixed mounting of installation piece has rotary encoder, rotary encoder's detection end and the other end fixed connection of worm set up rotary encoder and realize real-time supervision and feed back for the controller to handle the operating rotation speed of worm, the lower surface of supporting disk rotates and has cup jointed the transfer line, first gear is fixed to be cup jointed at the surface of transfer line, the worm wheel has been cup jointed to the below that the transfer line is close to first gear is fixed, worm wheel and worm meshing, the transmission ratio between worm and the worm wheel is 10:1.
Preferably, the upper surface center department of supporting disk rotates and cup joints the assembly rotation axis, the bottom of assembly rotation axis runs through the supporting disk and extends to the lower surface of supporting disk, the second gear is fixed to be cup jointed and is close to the bottom surface of supporting disk below at the assembly rotation axis, first gear and second gear meshing, the gear ratio of first gear and second gear is 5:1, the top surface that the assembly rotation axis is close to the supporting disk top is fixed cup joint with the axle center department of assembly revolving stage body, servo motor drive worm and worm wheel realize meshing, drives worm wheel inner wall connection's transfer line and uses the axle center of worm wheel as centre of a circle circumference rotation, drives the first gear on transfer line surface and the second gear realization meshing of assembly rotation axis surface, and then drives assembly revolving stage body rotation.
Preferably, the annular chute has been seted up to the upper surface of supporting disk, the lower surface fixed mounting of assembly revolving stage body has the induction piece that is annular array and distributes, just the mounted position of induction piece and the locating hole of assembly revolving stage body offer the position one-to-one, set up annular chute and play the effect of guaranteeing the normal motion to the induction piece, adjacent contained angle between the central line of induction piece and the central line is seventy-two degrees, the supporting disk is for the dead ahead fixed mounting of one of them locating hole of assembly revolving stage body has proximity switch, proximity switch's upper surface and supporting disk's upper surface are in same horizontal plane, through proximity switch and the cooperation of induction piece, realize retest effect to the turned angle of assembly revolving stage body, help guaranteeing turned angle's accuracy and stability, improve the precision and the reliability of assembly revolving stage body.
Preferably, the antifriction mechanism further comprises an antifriction cavity formed in the supporting disc, the cross section of the antifriction cavity is fan-shaped, a communication hole is formed in the front inner wall of the antifriction cavity, a detection cavity is formed in the front inner wall of the communication hole, a liquid level sensor is fixedly mounted on the inner wall of the detection cavity, the sponge block is placed on the inner bottom wall of the antifriction cavity, lubricating oil is arranged in the antifriction cavity, the communication hole and the detection cavity, and the effect of real-time monitoring of the residual oil quantity of the lubricating oil in the antifriction cavity is achieved.
Preferably, electric telescopic rod is fixedly installed at the center of the inner bottom wall of the antifriction cavity, the upper surface of the shell of the electric telescopic rod penetrates through the supporting disc and then extends to the upper surface of the supporting disc, the upper surface of the shell of the electric telescopic rod and the upper surface of the supporting disc are located on the same horizontal plane, the telescopic bottom end fixedly connected with of the electric telescopic rod is a meshed pressing plate, the inner bottom wall of the antifriction cavity is provided with lubrication holes distributed in an annular array, a plurality of lubrication holes are located right above the meshing area of the first gear and the second gear, a trigger rod is fixedly installed on the upper surface of the first gear, the electric telescopic rod stretches out to drive the pressing plate to move up and down along the inner wall of the antifriction cavity, and extrusion action is achieved on sponge blocks placed on the bottom wall of the antifriction cavity.
Preferably, the top of trigger lever is semicircle shape, the lower surface fixed mounting of supporting disk has touch switch, the top of trigger lever and touch switch's trigger end rolling contact utilizes the cooperation of touch switch and trigger lever, realizes periodic activation's effect to antifriction mechanism, the oil supplementing mechanism still includes the second riding block of fixed mounting at the support column right side surface, centrifugal pump fixed mounting is at the upper surface of second riding block.
Preferably, the left side inner wall of antifriction chamber is fixed to be linked together and is had the oil filling pipe, after the oil feed end of oil filling pipe runs through supporting disk and support column in proper order, extend to the right side surface of support column and the oil-out fixed intercommunication of centrifugal pump, the oil inlet fixed intercommunication of centrifugal pump has the oil pipe that inhales of one end and external oil tank intercommunication, and the centrifugal pump is started to the controller control, and the centrifugal pump is through inhaling the oil pipe with the lubrication oil pump in the oil tank and to be flowed into antifriction intracavity, and then realizes the action of automatic oil filling to antifriction chamber.
Preferably, the oil collecting cavity has been seted up to the upper surface of support column, the second gear is located the inside of oil collecting cavity, the interior bottom wall of oil collecting cavity is the slope setting, and the incline direction is by all around to middle part position gradually reducing, the interior bottom wall middle part of oil collecting cavity is fixed to be linked together and is had oil collecting pipe, oil collecting pipe's one end runs through the support column and extends to the left side surface of support column after, the left side surface fixed mounting of support column has the third support block, the upper surface fixed mounting of third support block has the oil collecting tank that is transparent, oil collecting pipe's oil outlet end and the fixed intercommunication of oil inlet of oil collecting tank, through the cooperation of oil collecting cavity, oil collecting pipe and oil collecting tank, realize the action of collecting to lubricated lubricating oil to subsequent handling.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention is provided with the angle control mechanism, adopts a purely mechanical mode to replace the traditional fine adjustment servo motor to control the rotation angle of the assembly turntable, realizes high-precision angle control of the assembly turntable body, has the advantages of improving the stability, accuracy and reliability of the assembly process, and solves the problems of electronic element faults, electromagnetic interference, cost, complexity and the like.
2. According to the invention, by arranging the antifriction mechanism, the precise lubrication control of the meshing area of the first gear and the second gear is realized, so that friction and abrasion are greatly reduced, the performance and service life of the assembled turntable body are improved, in addition, by the precise lubrication control of the antifriction mechanism, the friction and abrasion of the assembled turntable body are remarkably reduced, thereby reducing the frequency and cost of maintaining and replacing parts, simultaneously, the unplanned downtime and production loss are reduced, and the reliability and the operation efficiency of the assembled turntable body are improved.
3. According to the invention, the oil supplementing mechanism is arranged to supplement lubricating oil in the antifriction cavity, so that the stability and reliability of the antifriction mechanism are ensured, and the performance and service life of the assembly turntable body are further improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a perspective view of the structure of the flexible clamp body of the present invention;
FIG. 3 is an enlarged view of the structure of FIG. 2A in accordance with the present invention;
FIG. 4 is a perspective view of the centrifugal pump of the present invention;
FIG. 5 is an enlarged view of the structure of FIG. 4B in accordance with the present invention;
FIG. 6 is a perspective view of the support plate structure of the present invention;
FIG. 7 is a bottom view of the support plate structure of the present invention;
FIG. 8 is a perspective view of the assembled turret body structure of the present invention;
FIG. 9 is a bottom view of the assembled turret body structure of the present invention;
FIG. 10 is a perspective view of the assembled rotating shaft structure of the present invention;
FIG. 11 is a perspective view of the oil filling pipe structure of the present invention.
In the figure: 1. a support column; 2. a support plate; 3. assembling a turntable body; 4. a flexible clamp body; 5. a first gear; 51. a second gear; 52. a first support block; 53. a motor mounting seat; 54. a mounting block; 55. a servo motor; 56. a worm; 57. a rotary encoder; 58. a transmission rod; 59. a worm wheel; 510. assembling a rotating shaft; 511. an annular chute; 512. an induction piece; 513. a proximity switch; 6. a sponge block; 61. an antifriction chamber; 62. a communication hole; 63. a detection chamber; 64. a liquid level sensor; 65. an electric telescopic rod; 66. a pressing plate; 67. a lubrication hole; 68. a trigger lever; 69. a touch switch; 7. a centrifugal pump; 71. a second support block; 72. oil supplementing pipe; 73. an oil suction pipe; 74. an oil collecting cavity; 75. an oil collecting pipe; 76. an oil collecting tank; 77. a third support block; 8. and a controller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 11, the invention provides complete machine automatic assembly equipment of a harmonic reducer, which comprises a support column 1 fixedly installed above an installation base of an assembly table, a support disc 2 fixedly connected to the top end of the support column 1, an assembly turntable body 3 arranged above the support disc 2 and a flexible fixture body 4 arranged in a positioning hole of the assembly turntable body 3, wherein an angle control mechanism is arranged between the support column 1 and the support disc 2, an antifriction mechanism is arranged in the support disc 2, an oil supplementing mechanism is arranged on the outer surface of the right side of the support column 1, and a controller 8 for controlling the angle control mechanism, the antifriction mechanism and the oil supplementing mechanism is fixedly installed on the outer surface of the right side of the support column 1;
the angle control mechanism comprises a first gear 5 and a second gear 51, when the harmonic reducer is assembled, the angle control mechanism controls the rotation angle of the assembly turntable body 3, and the existing fine adjustment servo motor 55 is replaced by a pure mechanical mode to control the rotation angle of the assembly turntable, so that the high-precision angle control of the assembly turntable body 3 is realized, the stability, the accuracy and the reliability of the assembly process are improved, and the problems of electronic element faults, electromagnetic interference, cost, complexity and the like are solved;
the friction reducing mechanism comprises a sponge block 6, when the angle control mechanism operates, the angle control mechanism is lubricated and antifriction through the friction reducing mechanism, in addition, through the accurate lubrication control of the friction reducing mechanism, the friction and abrasion of the assembly turntable body 3 are obviously reduced, so that the frequency and cost of maintaining and replacing parts are reduced, simultaneously, the unplanned downtime and production loss are reduced, and the reliability and the operation efficiency of the assembly turntable body 3 are improved;
the oil supplementing mechanism comprises a centrifugal pump 7, and when the oil supplementing mechanism detects that the lubricating oil allowance in the antifriction mechanism is insufficient, the oil supplementing mechanism realizes the action of supplementing oil to the antifriction mechanism, so that the stability and the reliability of the antifriction mechanism are ensured, and the performance and the service life of the assembly turntable body 3 are further improved;
through the above mechanism arrangement, the assembly turntable body 3 can realize accurate control of angles, reduce friction loss and maintain enough lubricating oil, thereby improving the performance and service life of the assembly turntable body 3.
As shown in fig. 1, fig. 2, fig. 4, fig. 6, fig. 7 and fig. 10, the angle control mechanism further comprises a first supporting block 52 fixedly installed on the right side surface of the supporting column 1, a motor installation seat 53 and an installation block 54 are fixedly installed on the upper surface of the first supporting block 52 respectively, a servo motor 55 is fixedly installed on the inner arc surface of the motor installation seat 53, the right side surface of the installation block 54 is in a concave shape, a worm 56 is rotationally sleeved at the axis of the installation block 54, an output shaft of the servo motor 55 is fixedly connected with one end of the worm 56 through a coupler, the servo motor 55 in the angle control mechanism is controlled by the controller 8 to start, the electric energy is converted into mechanical energy by the servo motor 55, the driving worm 56 circumferentially rotates by taking the axis of the output shaft of the servo motor 55 as a circle center, a rotary encoder 57 is fixedly installed on the back of the installation block 54, the detection end of the rotary encoder 57 is fixedly connected with the other end of the worm 56, the rotary encoder 57 is arranged to realize real-time monitoring on the working rotation speed of the worm 56 and feed back to the controller 8 for processing, the lower surface of the supporting disk 2 is rotatably sleeved with a transmission rod 58, the first gear 5 is fixedly sleeved on the outer surface of the transmission rod 58, the lower part of the transmission rod 58, which is close to the first gear 5, is fixedly sleeved with a worm wheel 59, the worm wheel 59 is meshed with the worm 56, the transmission ratio between the worm 56 and the worm wheel 59 is 10:1, the center of the upper surface of the supporting disk 2 is rotatably sleeved with an assembly rotation shaft 510, the bottom end of the assembly rotation shaft 510 extends to the lower surface of the supporting disk 2 after penetrating through the supporting disk 2, the second gear 51 is fixedly sleeved on the outer surface of the bottom end, which is close to the lower part of the supporting disk 2, of the assembly rotation shaft 510, the first gear 5 is meshed with the second gear 51, the gear ratio of the gear 51 is 5:1, the assembly rotating shaft 510 is fixedly sleeved at the position, close to the top end, of the upper side of the supporting disc 2 and the axis of the assembly rotating table body 3, the servo motor 55 drives the worm 56 to be meshed with the worm gear 59, the transmission rod 58 connected with the inner wall of the worm gear 59 is driven to rotate circumferentially by taking the axis of the worm gear 59 as the center of a circle, the first gear 5 on the surface of the transmission rod 58 is driven to be meshed with the second gear 51 on the surface of the assembly rotating shaft 510, the assembly rotating table body 3 is driven to rotate, the annular sliding groove 511 is formed in the upper surface of the supporting disc 2, the sensing pieces 512 distributed in an annular array are fixedly arranged on the lower surface of the assembly rotating table body 3, the installation positions of the sensing pieces 512 are in one-to-one correspondence with the positioning holes of the assembly rotating table body 3, the annular sliding groove 511 is arranged to ensure the effect of normal movement of the sensing pieces 512, the included angle between the center lines of the adjacent sensing pieces 512 is seventy-two degrees, the supporting disc 2 is fixedly arranged in front of one of the assembly rotating table body 3 relative to the assembly rotating table body, the upper surface of the proximity switch 513 is in the same horizontal plane as the upper surface of the supporting disc 2, the assembly rotating table body 3 is matched with the upper surface of the sensing pieces 512, the rotating angle of the assembly rotating table body 3 is measured in a circular manner, accuracy and reliability of the accuracy is guaranteed.
The scheme is adopted: when the complete machine of the harmonic reducer needs to precisely control the rotation angle of the assembly turntable body 3 in the assembly process, a servo motor 55 in an angle control mechanism is controlled by a controller 8 to start, the servo motor 55 converts electric energy into mechanical energy, a driving worm 56 and a worm wheel 59 are meshed, a transmission rod 58 connected with the inner wall of the worm wheel 59 is driven to circumferentially rotate by taking the axis center of the worm wheel 59 as the circle center, a first gear 5 on the surface of the transmission rod 58 is driven to be meshed with a second gear 51 on the surface of an assembly rotation shaft 510, the high-precision rotation angle control of the assembly turntable body 3 is realized by monitoring and feeding back the working rotation speed of the worm 56 in real time through a rotary encoder 57, specifically, the data is fed back to the controller 8 in real time after the rotary encoder 57 detects the working rotation speed of the worm 56 so as to further improve the control precision, in addition, the transmission ratio between the worm 56 and the worm 59 and the transmission ratio between the first gear 5 and the second gear 51 are utilized to provide sufficient assembly time and accuracy of the subsequent harmonic reducer in the assembly process;
through the cooperation of proximity switch 513 and sensing piece 512, realize retesting's effect to the rotation angle of assembly revolving stage body 3, help guaranteeing rotation angle's accuracy and stability, improve the precision and the reliability of assembly revolving stage body 3.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 7, the antifriction mechanism further comprises an antifriction cavity 61 formed in the interior of the support plate 2, the cross section of the antifriction cavity 61 is in a sector shape, a communication hole 62 is formed in the front inner wall of the antifriction cavity 61, a detection cavity 63 is formed in the front inner wall of the communication hole 62, a liquid level sensor 64 is fixedly mounted on the inner wall of the detection cavity 63, a sponge block 6 is placed on the inner bottom wall of the antifriction cavity 61, lubricating oil is arranged in the antifriction cavity 61, the lubricating oil in the antifriction cavity 61, an electric telescopic rod 65 is fixedly mounted in the center of the inner bottom wall of the antifriction cavity 61, the upper surface of a shell of the electric telescopic rod 65 extends to the upper surface of the support plate 2 after penetrating through the support plate 2, the upper surface of the shell of the electric telescopic rod 65 and the upper surface of the support plate 2 are on the same horizontal plane, the telescopic bottom end fixedly connected with of electric telescopic rod 65 is netted clamp plate 66, the interior bottom wall of antifriction chamber 61 has been offered and has been the lubrication hole 67 that the annular array distributes, a plurality of lubrication holes 67 all are located the first gear 5 and just above the meshing area of second gear 51, the last fixed surface of first gear 5 installs trigger lever 68, electric telescopic rod 65 stretches out, drive clamp plate 66 along antifriction chamber 61's inner wall by the up-down motion, realize the extrusion action to the sponge piece 6 of placing at antifriction chamber 61 inner bottom wall, the top of trigger lever 68 is the semicircle shape, the lower fixed surface of supporting disk 2 installs touch switch 69, the top of trigger lever 68 and the trigger end rolling contact of touch switch 69, utilize the cooperation of touch switch 69 and trigger lever 68, realize periodic activation's effect to antifriction mechanism.
The scheme is adopted: in the operation process of the angle control mechanism, each time the first gear 5 rotates for one circle, a trigger rod 68 arranged above the first gear 5 is in rolling contact with the trigger end of a touch switch 69, when the trigger end of the touch switch 69 is in contact with the trigger rod 68, the touch switch 69 sends a trigger signal to the controller 8, the controller 8 receives the trigger signal and then controls an electric telescopic rod 65 in the antifriction mechanism to extend out, drives a pressing plate 66 to move up and down along the inner wall of the antifriction cavity 61 in the antifriction cavity 61, realizes extrusion action on a sponge block 6 arranged on the inner bottom wall of the antifriction cavity 61, enables lubricating oil adsorbed by the sponge block 6 to overflow from the sponge block 6 and flow to a lubricating hole 67 of the inner bottom wall of the antifriction cavity 61, and realizes lubrication action on meshing teeth of meshing areas of the first gear 5 and the second gear 51 so as to reduce friction and abrasion, in order to enable the antifriction mechanism to lubricate the meshing area of the first gear 5 and the second gear 51 better, to avoid the occurrence of the waste of lubricating oil, a threshold range is set by utilizing the trigger times of the touch switch 69, when the trigger times of the trigger switch reach a set threshold multiple, the extension length of the electric telescopic rod 65 is controlled by the controller 8 to be increased by two centimeters step by step, the extension length is adjusted according to actual needs, specifically, when the trigger times of the trigger switch reach a double threshold, the electric telescopic rod 65 is controlled by the controller 8 to be extended by 8 centimeters, the initial extension length is adjusted according to actual conditions, after three seconds of stay, the electric telescopic rod 65 is controlled by the controller 8 to be reset, when the trigger times of the trigger switch reach a double threshold, the electric telescopic rod 65 is controlled by the controller 8 to be extended by 10 centimeters, after three seconds of stay, by the pushing, after the triggering times of the trigger switch reach five times of threshold values, five groups of data are temporarily stored and cleared, and the triggering times of the trigger switch are detected again.
As shown in fig. 4 and 11, the oil replenishing mechanism further comprises a second supporting block 71 fixedly installed on the right side surface of the supporting column 1, the centrifugal pump 7 is fixedly installed on the upper surface of the second supporting block 71, the left side inner wall of the antifriction cavity 61 is fixedly communicated with an oil replenishing pipe 72, the oil inlet end of the oil replenishing pipe 72 sequentially penetrates through the supporting disc 2 and the supporting column 1, and then extends to the right side surface of the supporting column 1 to be fixedly communicated with the oil outlet of the centrifugal pump 7, an oil suction pipe 73 with one end communicated with an external oil tank is fixedly communicated with the oil inlet of the centrifugal pump 7, the controller 8 controls the centrifugal pump 7 to start, the centrifugal pump 7 pumps lubricating oil in the oil tank into the oil replenishing pipe 72 through the oil suction pipe 73 and flows into the antifriction cavity 61, so as to realize automatic oil replenishing action on the antifriction cavity 61, an oil collecting cavity 74 is formed on the upper surface of the supporting column 1, the second gear 51 is located in the inner wall of the oil collecting cavity 74, the inner bottom wall of the oil collecting cavity 74 is obliquely arranged, the inner bottom wall of the oil collecting cavity 74 is gradually decreases from the periphery to the middle position, the middle part of the inner bottom wall of the oil collecting cavity 74 is fixedly communicated with an oil collecting pipe 75, one end of the oil collecting pipe 75 penetrates through the left side surface of the supporting column 1 to extend to the left side surface of the supporting column 1 to be fixedly connected with the oil collecting pipe 76, and then the third surface of the supporting column 1 is fixedly installed on the left side surface of the supporting block 76 is fixedly connected with the oil collecting oil tank 76, and then is fixedly installed on the left surface 76 is fixedly connected with the oil tank 76.
The scheme is adopted: when the liquid level sensor 64 detects that the residual oil amount of the lubricating oil in the antifriction cavity 61 is insufficient, the centrifugal pump 7 is controlled to start, the centrifugal pump 7 pumps the lubricating oil in the oil tank into the oil supplementing pipe 72 through the oil absorbing pipe 73 and flows into the antifriction cavity 61, when the liquid level sensor 64 detects that the oil amount of the lubricating oil in the antifriction cavity 61 reaches a set value, the centrifugal pump 7 is controlled to stop acting, and meanwhile, the extending length of the electric telescopic rod 65 is reset once when the oil supplementing mechanism works once;
the oil collecting cavity 74, the oil collecting pipe 75 and the oil collecting tank 76 are matched to collect the lubricated lubricating oil for subsequent treatment.
The working principle and the using flow of the invention are as follows:
when the complete machine of the harmonic reducer needs to precisely control the rotation angle of the assembly turntable body 3 in the assembly process, a servo motor 55 in an angle control mechanism is controlled by a controller 8 to start, the servo motor 55 converts electric energy into mechanical energy, a driving worm 56 is meshed with a worm wheel 59 to drive a transmission rod 58 connected with the inner wall of the worm wheel 59 to circularly rotate by taking the axis center of the worm wheel 59 as the center of a circle, a first gear 5 on the surface of the driving rod 58 is meshed with a second gear 51 on the surface of an assembly rotation shaft 510, the high-precision rotation angle control of the assembly turntable body 3 is realized by monitoring and feeding back the working rotation speed of the worm 56 through a rotary encoder 57, specifically, the data is fed back to the controller 8 in real time after the working rotation speed of the worm 56 is detected by the rotary encoder 57 so as to further improve the control precision, in addition, the sufficient assembly time and the accuracy of the subsequent assembly process of the complete machine of the harmonic reducer are provided by utilizing the transmission ratio between the worm 56 and the worm 59 and the transmission ratio between the first gear 5 and the second gear 51;
the matching of the proximity switch 513 and the sensing piece 512 achieves the effect of retesting the rotation angle of the assembly turntable body 3, thereby being beneficial to ensuring the accuracy and stability of the rotation angle and improving the accuracy and reliability of the assembly turntable body 3;
step two, in the operation process of the angle control mechanism, each time the first gear 5 rotates for one circle, the trigger rod 68 arranged above the first gear 5 is in rolling contact with the trigger end of the touch switch 69, when the trigger end of the touch switch 69 is in contact with the trigger rod 68, the touch switch 69 sends a trigger signal to the controller 8, the controller 8 receives the trigger signal and then controls the electric telescopic rod 65 in the antifriction mechanism to extend out, the pressing plate 66 is driven to move from top to bottom along the inner wall of the antifriction cavity 61 in the antifriction cavity 61, the sponge block 6 placed on the bottom wall in the antifriction cavity 61 is extruded, so that lubricating oil absorbed by the sponge block 6 overflows from the sponge block 6 and flows to the lubricating hole 67 of the bottom wall in the antifriction cavity 61, and the lubricating action is realized on the meshing teeth of the meshing area of the first gear 5 and the second gear 51, so that friction and abrasion are reduced, in order to enable the antifriction mechanism to lubricate the meshing area of the first gear 5 and the second gear 51 better, to avoid the occurrence of the waste of lubricating oil, a threshold range is set by utilizing the trigger times of the touch switch 69, when the trigger times of the trigger switch reach a set threshold multiple, the extension length of the electric telescopic rod 65 is controlled by the controller 8 to be increased by two centimeters step by step, the extension length is adjusted according to actual needs, specifically, when the trigger times of the trigger switch reach a double threshold, the electric telescopic rod 65 is controlled by the controller 8 to be extended by 8 centimeters, the initial extension length is adjusted according to actual conditions, after three seconds of stay, the electric telescopic rod 65 is controlled by the controller 8 to be reset, when the trigger times of the trigger switch reach a double threshold, the electric telescopic rod 65 is controlled by the controller 8 to be extended by 10 centimeters, after three seconds of stay, by the pushing, after the triggering times of the trigger switch reach five times of threshold, temporarily storing and resetting five groups of data, and detecting the triggering times of the trigger switch again;
step three, when the liquid level sensor 64 detects that the residual oil amount of the lubricating oil in the antifriction cavity 61 is insufficient, the centrifugal pump 7 is controlled to start, the centrifugal pump 7 pumps the lubricating oil in the oil tank into the oil supplementing pipe 72 through the oil absorbing pipe 73 and flows into the antifriction cavity 61, when the liquid level sensor 64 detects that the lubricating oil amount of the antifriction cavity 61 reaches a set value, the centrifugal pump 7 is controlled to stop acting, and meanwhile, the extending length of the electric telescopic rod 65 is reset once when the oil supplementing mechanism works once;
and step four, the lubricated lubricating oil is collected by matching the oil collecting cavity 74, the oil collecting pipe 75 and the oil collecting tank 76 so as to be convenient for subsequent treatment.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an automatic assembly equipment of harmonic reducer complete machine, includes support column (1) of fixed mounting in assembly bench installation base top, fixed connection at supporting disk (2) on support column (1) top, sets up assembly revolving stage body (3) and flexible anchor clamps body (4) of setting in the locating hole of assembly revolving stage body (3) in supporting disk (2) top, its characterized in that: an angle control mechanism is arranged between the support column (1) and the support disc (2), an antifriction mechanism is arranged in the support disc (2), an oil supplementing mechanism is arranged on the outer surface of the right side of the support column (1), and a controller (8) for controlling the angle control mechanism, the antifriction mechanism and the oil supplementing mechanism is fixedly arranged on the outer surface of the right side of the support column (1);
the angle control mechanism comprises a first gear (5) and a second gear (51), and when the harmonic reducer is assembled in a complete machine, the angle control mechanism controls the rotation angle of the assembled turntable body (3);
the friction reducing mechanism comprises a sponge block (6), and when the angle control mechanism operates, the friction reducing mechanism lubricates and reduces friction on the angle control mechanism;
the oil supplementing mechanism comprises a centrifugal pump (7), and when the oil supplementing mechanism detects that the lubricating oil allowance in the antifriction mechanism is insufficient, the oil supplementing mechanism is used for supplementing oil to the antifriction mechanism.
2. The harmonic reducer complete machine automatic assembly equipment of claim 1, wherein: the angle control mechanism further comprises a first supporting block (52) fixedly arranged on the right side surface of the supporting column (1), a motor installation seat (53) and an installation block (54) are fixedly arranged on the upper surface of the first supporting block (52), a servo motor (55) is fixedly arranged on the inner arc surface of the motor installation seat (53), the right side surface of the installation block (54) is in a concave shape, a worm (56) is rotationally sleeved at the axle center of the installation block (54), and an output shaft of the servo motor (55) is fixedly connected with one end of the worm (56) through a coupler.
3. The harmonic reducer complete machine automatic assembly equipment of claim 2, wherein: the back fixed mounting of installation piece (54) has rotary encoder (57), the detection end of rotary encoder (57) and the other end fixed connection of worm (56), the lower surface rotation of supporting disk (2) has cup jointed transfer line (58), first gear (5) are fixed cup joints the surface at transfer line (58), the worm wheel (59) has been cup jointed to the below that transfer line (58) is close to first gear (5) is fixed, worm wheel (59) and worm (56) meshing, the transmission ratio between worm (56) and worm wheel (59) is 10:1.
4. A harmonic reducer complete machine automatic assembly device according to claim 3, characterized in that: the utility model discloses a rotary table assembly device, including supporting disk (2), assembly rotation axis (510) has been cup jointed in the upper surface center department rotation of supporting disk (2), the bottom of assembly rotation axis (510) runs through the lower surface that extends to supporting disk (2) behind supporting disk (2), second gear (51) are fixed cup joints in the bottom surface that assembly rotation axis (510) is close to supporting disk (2) below, first gear (5) and second gear (51) meshing, the tooth ratio of first gear (5) and second gear (51) is 5:1, the top surface that assembly rotation axis (510) is close to supporting disk (2) top is fixed cup joint with the axle center department of assembly revolving stage body (3).
5. The complete machine automatic assembly equipment for harmonic reducers according to claim 4, wherein: annular spout (511) have been seted up to the upper surface of supporting disk (2), the lower surface fixed mounting of assembly revolving stage body (3) has response piece (512) that are annular array and distribute, just the mounted position of response piece (512) and the locating hole of assembly revolving stage body (3) set up the position one-to-one, adjacent contained angle between central line and the central line of response piece (512) is seventy-two degrees, fixed mounting has proximity switch (513) in the dead ahead of one of them locating hole of assembly revolving stage body (3) for supporting disk (2), the upper surface of proximity switch (513) is in on the coplanar with the upper surface of supporting disk (2).
6. The complete machine automatic assembly equipment for harmonic reducers according to claim 5, wherein: antifriction mechanism is still including seting up antifriction chamber (61) inside supporting disk (2), the cross section in antifriction chamber (61) is the sector shape, communication hole (62) have been seted up to the preceding inner wall in antifriction chamber (61), detection chamber (63) have been seted up to the preceding inner wall of communication hole (62), the inner wall fixed mounting in detection chamber (63) has liquid level sensor (64), sponge piece (6) are placed in the interior bottom wall in antifriction chamber (61), communication hole (62) and the inside in detection chamber (63) all are provided with lubricating oil.
7. The complete machine automatic assembly equipment for harmonic reducers according to claim 6, wherein: the utility model discloses a friction reducing device, including antifriction cavity (61), bearing plate (5) and second gear (51), electric telescopic rod (65) are fixed mounting in interior bottom center department of antifriction cavity (61), extend to the upper surface of bearing plate (2) after the casing upper surface of electric telescopic rod (65) runs through bearing plate (2), the casing upper surface of electric telescopic rod (65) and the upper surface of bearing plate (2) are in on same horizontal plane, flexible bottom fixedly connected with of electric telescopic rod (65) is netted clamp plate (66), lubrication hole (67) that are annular array distribution are offered to interior bottom wall of antifriction cavity (61), a plurality of lubrication hole (67) all are located directly over first gear (5) and second gear (51) meshing area, the upper surface fixed mounting of first gear (5) has trigger lever (68).
8. The harmonic reducer complete machine automatic assembly equipment of claim 7, wherein: the top of trigger lever (68) is semicircle shape, the lower surface fixed mounting of supporting disk (2) has touch switch (69), the top of trigger lever (68) and the triggering end rolling contact of touch switch (69), oil supplementing mechanism still includes second support block (71) of fixed mounting at support column (1) right side surface, centrifugal pump (7) fixed mounting is at the upper surface of second support block (71).
9. The harmonic reducer complete machine automatic assembly equipment of claim 8, wherein: the anti-friction oil pump is characterized in that an oil supplementing pipe (72) is fixedly communicated with the left inner wall of the anti-friction cavity (61), and an oil inlet end of the oil supplementing pipe (72) sequentially penetrates through the supporting disc (2) and the supporting column (1) and then extends to the right side surface of the supporting column (1) to be fixedly communicated with an oil outlet of the centrifugal pump (7), and an oil suction pipe (73) with one end communicated with an external oil tank is fixedly communicated with an oil inlet of the centrifugal pump (7).
10. The harmonic reducer complete machine automatic assembly equipment of claim 9, wherein: the utility model discloses a solar collector is characterized in that an oil collecting cavity (74) is formed in the upper surface of a support column (1), a second gear (51) is located inside the oil collecting cavity (74), the inner bottom wall of the oil collecting cavity (74) is in an inclined arrangement, the inclined direction is gradually reduced from the periphery to the middle part, an oil collecting pipe (75) is fixedly communicated with the middle part of the inner bottom wall of the oil collecting cavity (74), one end of the oil collecting pipe (75) penetrates through the support column (1) and then extends to the left side surface of the support column (1), a third supporting block (77) is fixedly arranged on the left side surface of the support column (1), an oil collecting tank (76) which is transparent is fixedly arranged on the upper surface of the third supporting block (77), and an oil outlet end of the oil collecting pipe (75) is fixedly communicated with an oil inlet of the oil collecting tank (76).
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