CN218592252U - Support driving mechanism for dynamic assembly of harmonic speed reducer - Google Patents
Support driving mechanism for dynamic assembly of harmonic speed reducer Download PDFInfo
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- CN218592252U CN218592252U CN202223231663.3U CN202223231663U CN218592252U CN 218592252 U CN218592252 U CN 218592252U CN 202223231663 U CN202223231663 U CN 202223231663U CN 218592252 U CN218592252 U CN 218592252U
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Abstract
The utility model discloses a harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism belongs to harmonic speed reducer machine's production field, including the bearing mounting panel, the drive shaft, servo motor and controller, horizontal bearing mounting panel is used for installing roller bearing, the bearing mounting panel is equipped with vertical mounting panel through-hole, the axial that servo motor is located the below of bearing mounting panel and its pivot is vertical, the lower extreme of vertical drive shaft is connected with servo motor's pivot, be used for being connected with wave generator after passing the mounting panel through-hole in the upper end of drive shaft, servo motor's control input corresponds with the control output of controller and is connected. The utility model discloses a bearing mounting panel that roller bearing can be installed in the design and drive shaft and the servo motor that can drive wave generator is rotatory can realize meshing more smooth and easy purpose between wave generator and the flexbile gear, between flexbile gear flank of tooth and the rigid gear flank of tooth to improve harmonic speed reducer's assembly precision and disposable assembly qualification rate.
Description
Technical Field
The utility model relates to a mechanism is used in the assembly of harmonic speed reducer machine, especially relates to a harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism, belongs to the production field of harmonic speed reducer machine.
Background
The harmonic speed reducer is an independent closed transmission device, is used for reducing the rotating speed and increasing the torque so as to meet the working requirement, has the advantages of high precision, large transmission ratio, strong bearing capacity, small volume, light weight, high transmission efficiency, long service life, stable transmission, no impact and low noise, is increasingly widely applied to the aspects of aviation, spaceflight, machine tools, instruments, electronic equipment, transportation, petrochemical engineering machinery, textile machinery, agricultural machinery, medical appliances and the like, and particularly shows superiority by adopting harmonic gear transmission in a servo system with high dynamic performance. The product performance of the harmonic reducer is not only dependent on the design and manufacturing process, but also has high requirements on the assembly process, and if any link is not effectively controlled, the application of the harmonic reducer is influenced.
The harmonic speed reducer is a gear transmission device which utilizes a wave generator to assemble a flexible bearing to make a flexible gear generate controllable elastic deformation and is meshed with a rigid gear to transmit motion and power. In the assembling process of the harmonic reducer, smooth meshing of the flexible gear tooth surface and the rigid gear tooth surface between the wave generator and the flexible gear is quite critical, and is a key factor for ensuring the transmission precision, the repeated positioning precision, no vibration and no noise of the harmonic reducer.
The traditional assembly mode of the harmonic speed reducer has two types:
the first assembly is as follows: the roller bearing is taken as a reference, the rigid wheel and the roller bearing are assembled, and then the flexible wheel is assembled. The specific process is as follows: the outer spigot of the rigid wheel is placed into the inner spigot of the roller bearing, and the outer spigot and the inner spigot are completely close to the machining precision, and the opposite angle is locked as long as the spigots are matched in place; and then the flexible gear is arranged from bottom to top, and particularly, the flexible gear is circular, the teeth of the flexible gear cannot be meshed with the rigid gear at the moment, the flexible gear is directly inserted upwards and is dry, the tooth surface is damaged by hard pressure, so that the flexible gear is scrapped, the wave generator is required to be arranged in the flexible gear to expand the flexible gear into an oval shape, and the teeth at the long shaft end of the oval shape are ensured to be smoothly meshed with the teeth of the rigid gear.
The second assembly is as follows: the roller bearing is taken as a reference, the flexible gear and the roller bearing are assembled, and then the rigid gear is assembled. The specific process is as follows: firstly, assembling a flexible gear and a roller bearing, correcting the coaxiality of the flexible gear and the roller bearing, adjusting the coaxiality of an outer circle in a mode that an end cover positions and holds the outer circle tightly, and then screwing a screw; and finally, the rigid wheel is installed, and the rigid wheel is positioned by the outer spigot and then screwed down, so that the advantage of the mode is that the eccentricity caused by uneven stress due to incomplete meshing of the flexible rigid wheel and the rigid wheel when the rigid wheel is installed firstly is avoided.
The two assembling modes need to directly screw the fastening screws of the rigid gear and the flexible gear in a static state, so that the conditions that the installation parts are possibly inclined, the rotation is dry and astringent to a certain point, the rotating torque is increased and the like exist, the assembled harmonic speed reducer can vibrate, make abnormal sound, have poor transmission precision, have overhigh temperature rise and the like, and even have the possibility of motor overload alarm.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism just for solving above-mentioned problem.
The utility model discloses a following technical scheme realizes above-mentioned purpose:
the utility model provides a harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism, the harmonic speed reducer machine includes wave generator, flexbile gear and rigid gear, the harmonic speed reducer machine is connected with roller bearing (being cross roller bearing) when the assembly, harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism includes bearing mounting panel, drive shaft, servo motor and controller, and is horizontal the bearing mounting panel is used for the installation roller bearing, the bearing mounting panel is equipped with vertical mounting panel through-hole, servo motor is located the below of bearing mounting panel and the axial of its pivot are vertical, vertical the lower extreme of drive shaft with servo motor's pivot is connected, the upper end of drive shaft is passed be used for behind the mounting panel through-hole with the wave generator is connected, servo motor's control input with the control output of controller corresponds the connection.
As preferred, for the convenience of installation and can realize the altitude mixture control function of wave generator in order to enlarge application scope, harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism still includes workstation, fixed plate, motor mounting panel, cylinder, base and proximity switch, and is horizontal the fixed plate is installed transversely on the workstation, the bearing mounting panel is installed on the fixed plate, it is vertical the cylinder is installed on the base, the upper end of the piston rod on cylinder upper portion with the lower extreme of motor mounting panel is connected, servo motor installs on the motor mounting panel, the workstation with the fixed plate is equipped with respectively and is used for the motor mounting panel and the vertical through-hole that servo motor's pivot was passed, install the below of workstation proximity switch, one side of motor mounting panel install with proximity switch complex proximity piece, proximity switch's signal output part with the signal input part of controller connects, the control input part of cylinder with the control output part of controller corresponds and connects.
Preferably, in order to realize the accurate guide function of the movement of the servo motor and avoid the problem of component damage caused by the fact that a piston rod of an air cylinder and a rotating shaft of the servo motor are not coaxial, the support driving mechanism for dynamic assembly of the harmonic speed reducer further comprises a floating joint, guide columns and linear bearings, the upper end of the piston rod on the upper portion of the air cylinder is connected with the lower end of the floating joint, the upper end of the floating joint is connected with the lower end of the motor mounting plate, the lower ends of the two vertical guide columns are respectively connected with the base and located on the two opposite sides of the air cylinder, the upper ends of the two guide columns are respectively connected with the fixed plate, the two linear bearings are respectively sleeved on the two guide columns, connecting plates are respectively arranged on the two sides of the motor mounting plate and connected with the two linear bearings through the two connecting plates, and the approaching piece is close to one of the guide columns.
Preferably, in order to facilitate the quick connection between the driving shaft and the wave generator, a screw hole is formed in the upper end of the driving shaft, and a mounting screw passes through the central through hole of the pressing plate from top to bottom and then is connected with the screw hole of the driving shaft.
Preferably, in order to improve the connection accuracy between the drive shaft and the rotating shaft of the servo motor, the lower end of the drive shaft is connected to the rotating shaft of the servo motor by a rigid coupling.
The beneficial effects of the utility model reside in that:
the utility model discloses a bearing mounting panel that can install roller bearing and drive shaft and the servo motor that can drive the rotatory wave generator can install the connecting screw between rigid wheel and the roller bearing earlier and do not screw when the assembly, lock the connecting screw step by step again after the wave generator begins to rotate and drives rigid wheel and flexbile gear all normal rotations, can realize between wave generator and the flexbile gear, mesh more smooth and easy purpose between flexbile gear flank and the rigid wheel flank to improve the assembly precision and the disposable assembly qualification rate of harmonic speed reducer; through designing the motor mounting panel, the cylinder, proximity switch and the proximity piece that mutually support, can change the best hookup location between drive shaft and the wave generator according to actual need, can confirm the best position of wave generator according to the actual size of harmonic speed reducer machine through many times of tests to further improve the assembly precision and the disposable assembly qualification rate of harmonic speed reducer machine, avoid the assembled harmonic speed reducer machine to take place the vibration, abnormal sound, the transmission precision is poor, the too high circumstances of temperature rise, the harmonic speed reducer machine transmission is more steady and do not have the jamming phenomenon, and can adapt to the harmonic speed reducer machine assembly demand of different models, size.
Drawings
Fig. 1 is a schematic view of a partially cut-open main view structure of a support driving mechanism for dynamic assembly of a harmonic reducer of the present invention.
In the figure, 1-workbench, 2-proximity switch, 3-fixed plate, 4-proximity piece, 5-linear bearing, 6-rigid wheel, 7-flexible wheel, 8-roller bearing, 9-pressing plate, 10-wave generator, 11-driving shaft, 12-rigid coupling, 13-bearing mounting plate, 14-rotating shaft, 15-motor mounting plate, 16-guide column, 17-floating joint, 18-piston rod, 19-cylinder, 20-supporting seat and 21-base.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1, the harmonic speed reducer machine includes wave generator 10, flexbile gear 7 and rigid gear 6, the harmonic speed reducer machine is connected with roller bearing 8 when the assembly, harmonic speed reducer machine dynamic assembly includes that bearing mounting panel 13, drive shaft 11, servo motor (blocked and invisible by motor mounting panel 15 in the picture) and controller (not shown in the figure), and horizontal bearing mounting panel 13 is used for installing roller bearing 8, and bearing mounting panel 13 is equipped with vertical mounting panel through-hole (not mark in the picture), servo motor is located the below of bearing mounting panel 13 and the axial of its pivot 14 is vertical, the lower extreme of vertical drive shaft 11 with servo motor's pivot 14 is connected, and the upper end of drive shaft 11 is passed be used for being connected with wave generator 10 behind the mounting panel through-hole, servo motor's control input with the control output of controller corresponds the connection.
As shown in fig. 1, the utility model also discloses following multiple specific structure of optimizing more:
for the convenience of installation and can realize the high regulatory function of wave generator in order to enlarge application scope, harmonic reducer machine dynamic assembly is with supporting actuating mechanism still includes workstation 1, fixed plate 3, motor mounting panel 15, cylinder 19, base 21 and proximity switch 2, and horizontal fixed plate 3 is installed on horizontal workstation 1, and bearing mounting panel 13 is installed on fixed plate 3, and vertical cylinder 19 is installed on base 21, and the upper end of the piston rod 18 on cylinder 19 upper portion is connected with the lower extreme of motor mounting panel 15, servo motor installs on motor mounting panel 15, workstation 1 and fixed plate 3 are equipped with respectively and are used for motor mounting panel 15 and the vertical through-hole that servo motor's pivot 14 passed, and proximity switch 2 is installed to the below of workstation 1, and proximity switch 4 with proximity switch 2 complex is installed to one side of motor mounting panel 15, and the concrete material and the shape of proximity 4 are decided according to the concrete type of proximity switch 2, for example can be metal, light screen etc., and proximity switch 2's signal output part with the signal input part of controller is connected, and the control input part of cylinder 19 corresponds with the control output part of controller and is connected.
In order to realize the function of accurately guiding the movement of the servo motor and avoid the problem of component damage caused by the fact that a piston rod 18 of a cylinder 19 is not coaxial with a rotating shaft 14 of the servo motor, the support driving mechanism for dynamic assembly of the harmonic speed reducer further comprises a floating joint 17, guide posts 16 and linear bearings 5, the upper end of the piston rod 18 on the upper portion of the cylinder 19 is connected with the lower end of the floating joint 17, the upper end of the floating joint 17 is connected with the lower end of a motor mounting plate 15, the lower ends of the two vertical guide posts 16 are respectively connected with a base 21 through a supporting seat 20 and are positioned on two opposite sides of the cylinder 19, the upper ends of the two guide posts 16 are respectively connected with a fixing plate 3, the two linear bearings 5 are respectively sleeved on the two guide posts 16, two sides of the motor mounting plate 15 are respectively provided with a connecting plate (not marked in the figure) and are connected with the two linear bearings 5 through the two connecting plates, and the approach piece 4 is close to one guide post 16.
In order to facilitate the quick connection between the driving shaft 11 and the wave generator 10, the upper end of the driving shaft 11 is provided with a screw hole, and a mounting screw passes through the central through hole of the pressing plate 9 from top to bottom and then is connected with the screw hole of the driving shaft 11.
In order to improve the connection accuracy between the drive shaft 11 and the rotary shaft 14 of the servo motor, the lower end of the drive shaft 11 is connected to the rotary shaft 14 of the servo motor by a rigid coupling 12.
As shown in fig. 1, the process of assembling the harmonic reducer by using the device is as follows:
firstly, assembling a harmonic reducer: with the roller bearing 8 as a reference, the flexible gear 7 and the roller bearing 8 are assembled and fixed by screws, the rigid gear 6 is placed after the flexible gear is turned and is arranged in the wave generator 10, the outer spigot of the rigid gear 6 is aligned with the inner spigot of the roller bearing 8, and the rigid gear 6 is provided with a connecting screw connected with the roller bearing 8 and the connecting screw is in a slack state.
Then, the assembled harmonic reducer is placed on the bearing mounting plate 13, and the roller bearing 8 is connected with the bearing mounting plate 13 through screws; the controller controls the cylinder 19 to act to enable the piston rod 18 to ascend, the piston rod 18 drives the floating joint 17, the motor mounting plate 15, the approach piece 4, the servo motor and the driving shaft 11 to synchronously move upwards, when the approach piece 4 approaches the approach switch 2, the controller obtains a signal and controls the cylinder 19 to stop, at the moment, the upper end of the driving shaft 11 penetrates through the central through hole of the wave generator 10 and is flush with the upper surface of the wave generator, the pressing plate 9 is arranged above the driving shaft 11, and a screw passes through the central through hole of the pressing plate 9 from top to bottom and then is connected with the screw hole in the upper end of the driving shaft 11; then a servo motor is controlled to start through a controller, a rotating shaft 14 rotates and drives a driving shaft 11 to synchronously rotate through a rigid coupling 12, the driving shaft 11 drives a wave generator 10 to rotate, the wave generator 10 drives a flexible gear 7 and a rigid gear 6 to rotate through a gear, wherein the rotating speed of the rigid gear 6 is reduced due to the reduction proportion of a harmonic speed reducer, and in the process, the rigid gear 6 and the flexible gear 7 are subjected to self-adaptive relative position adjustment according to the matching condition of the flexible gear 7 in the rotating process so as to achieve the optimal state that the tooth surface of the flexible gear 7 is meshed with the tooth surface of the rigid gear 6; when the meshing surface of the flexible gear 7 and the rigid gear 6 reaches the optimal adaptive position, the wave generator 10 still rotates at the speed of 100Rpm/min, the rotating speed of the rigid gear 6 only rotates a few revolutions per minute according to the reduction ratio characteristic of the harmonic reducer, the speed is quite slow, in this case, the connecting screw on the rigid gear 6 is tightened for 2 times, the temporary tightening is carried out at the force of about 1/2 of the specified torque for the first time, then the tightening is carried out according to the specified torque, after the torsion value of the connecting screw is ensured to reach the specified requirement, the servo motor is controlled to stop, the compression plate 9 and the corresponding screw are removed, the air cylinder 19 is started again to move the piston rod 18 of the air cylinder downwards until the piston rod is reset, the harmonic reducer is removed, and the high-precision and high-efficiency assembly of the harmonic reducer is completed.
Above-mentioned embodiment is only the preferred embodiment of the utility model, and it is not right the utility model discloses technical scheme's restriction, as long as do not pass through creative work can be realized on the basis of above-mentioned embodiment's technical scheme, all should regard as falling into the utility model discloses a right protection within range.
Claims (5)
1. The utility model provides a harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism, the harmonic speed reducer machine includes wave generator, flexbile gear and rigid gear, the harmonic speed reducer machine is connected its characterized in that with roller bearing when the assembly: harmonic speed reducer machine dynamic assembly includes bearing mounting panel, drive shaft, servo motor and controller, and is horizontal the bearing mounting panel is used for the installation roller bearing, the bearing mounting panel is equipped with vertical mounting panel through-hole, servo motor is located the below of bearing mounting panel and the axial of its pivot are vertical, vertical the lower extreme of drive shaft with servo motor's pivot is connected, the upper end of drive shaft is passed be used for behind the mounting panel through-hole with wave generator connects, servo motor's control input with the control output of controller corresponds the connection.
2. The support driving mechanism for dynamic assembly of a harmonic reducer according to claim 1, characterized in that: harmonic speed reducer machine dynamic assembly is with supporting actuating mechanism still includes workstation, fixed plate, motor mounting panel, cylinder, base and proximity switch, and is horizontal the fixed plate is installed transversely on the workstation, the bearing mounting panel is installed on the fixed plate, it is vertical the cylinder is installed on the base, the upper end of the piston rod on cylinder upper portion with the lower extreme of motor mounting panel is connected, servo motor installs on the motor mounting panel, the workstation with the fixed plate is equipped with respectively and is used for the motor mounting panel and the vertical through-hole that servo motor's pivot was passed, install the below of workstation proximity switch, one side of motor mounting panel install with proximity switch complex is close the piece, proximity switch's signal output part with the signal input part of controller is connected, the control input part of cylinder with the control output part of controller corresponds the connection.
3. The support driving mechanism for dynamic assembly of a harmonic reducer according to claim 2, characterized in that: the supporting and driving mechanism for dynamic assembly of the harmonic speed reducer further comprises a floating joint, guide posts and linear bearings, the upper end of a piston rod on the upper portion of the air cylinder is connected with the lower end of the floating joint, the upper end of the floating joint is connected with the lower end of the motor mounting plate, the lower ends of the two vertical guide posts are respectively connected with the base and located on two opposite sides of the air cylinder, the upper ends of the guide posts are respectively connected with the fixing plate, the two linear bearings are respectively sleeved on the two guide posts, the two sides of the motor mounting plate are respectively provided with connecting plates and are connected with the two linear bearings through the two connecting plates, and the approaching piece is close to one of the guide posts.
4. The support driving mechanism for dynamic assembly of a harmonic reducer according to claim 1, 2 or 3, characterized in that: the upper end of the driving shaft is provided with a screw hole, and the mounting screw penetrates through the central through hole of the pressing plate from top to bottom and then is connected with the screw hole of the driving shaft.
5. The support driving mechanism for dynamic assembly of a harmonic reducer according to claim 1, 2 or 3, characterized in that: the lower end of the driving shaft is connected with a rotating shaft of the servo motor through a rigid coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223231663.3U CN218592252U (en) | 2022-12-01 | 2022-12-01 | Support driving mechanism for dynamic assembly of harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223231663.3U CN218592252U (en) | 2022-12-01 | 2022-12-01 | Support driving mechanism for dynamic assembly of harmonic speed reducer |
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| CN218592252U true CN218592252U (en) | 2023-03-10 |
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| CN202223231663.3U Active CN218592252U (en) | 2022-12-01 | 2022-12-01 | Support driving mechanism for dynamic assembly of harmonic speed reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635303A (en) * | 2022-12-01 | 2023-01-24 | 成都瑞迪智驱科技股份有限公司 | Auxiliary tool for improving assembling precision of harmonic speed reducer |
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2022
- 2022-12-01 CN CN202223231663.3U patent/CN218592252U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635303A (en) * | 2022-12-01 | 2023-01-24 | 成都瑞迪智驱科技股份有限公司 | Auxiliary tool for improving assembling precision of harmonic speed reducer |
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