阅读说明：本技术 一种带复合球轴承的谐波减速器及下壳体制造方法 (Harmonic reducer with composite ball bearing and lower shell manufacturing method ) 是由 张瀚 杨燃 袁恒 张�杰 于 2021-02-02 设计创作，主要内容包括：本发明公开了一种带复合球轴承的谐波减速器及下壳体制造方法,该谐波减速器在凸轮和柔轮之间环布有复合球轴承,复合球轴承包括内圈和外圈,内圈和外圈之间设有滚柱和滚珠。能使谐波减速器的输出载荷得到提高,使用寿命增加。该方法包括a、夹紧内部装载台和外部装载台；b、安装连接杆和底托；c、安装下壳体；d、安装定位管；e、安装套管；f、安装固定管。本发明设置相同长度、相同位置的定位管,套管套设在定位管上,再将固定管拧入到套管中,当固定管无法拧动时,此时固定管的底部抵在定位管上,保证所有固定管伸出套管的长度均相同。(The invention discloses a harmonic reducer with a composite ball bearing and a manufacturing method of a lower shell. The output load of the harmonic reducer can be improved, and the service life of the harmonic reducer is prolonged. The method comprises a, clamping an inner loading table and an outer loading table; b. mounting a connecting rod and a bottom support; c. installing a lower shell; d. installing a positioning pipe; e. installing a sleeve; f. and (5) installing a fixed pipe. The invention is provided with the positioning pipes with the same length and the same position, the sleeve is sleeved on the positioning pipes, the fixed pipe is screwed into the sleeve, and when the fixed pipe cannot be screwed, the bottom of the fixed pipe is abutted against the positioning pipes, so that the lengths of all the fixed pipes extending out of the sleeve are the same.)

1. The utility model provides a take harmonic speed reducer ware of compound ball bearing, includes wave generator, flexbile gear and rigid gear, place in the wave generator the internally mounted intracavity of flexbile gear, wave generator includes input shaft end and cam, its characterized in that: the flexible gear is characterized in that a composite ball bearing is annularly distributed between the peripheral surface of an outer ring of the cam and the peripheral surface of an inner ring of the flexible gear, the composite ball bearing comprises an inner ring and an outer ring, a roller installation cavity and a ball installation cavity are arranged between the inner ring and the outer ring, a roller is arranged in the roller installation cavity, and balls are arranged in the ball installation cavity.

2. The harmonic reducer with compound ball bearings according to claim 1, characterized in that: still include casing and lower casing, the flexbile gear with the rigid wheel is located go up the casing with between the casing down, wave generator passes go up the casing with casing down, the outside circumference of casing evenly is equipped with mounting surface, adjacent two mounting surface department installs the sleeve pipe, sheathed tube side welding has the fixed plate, the fixed plate passes through the screw fixation in the screw hole of mounting surface department, sleeve pipe threaded connection has fixed pipe, the inboard of fixed pipe is equipped with the screw thread, fixed pipe stretches out sheathed tube length keeps unanimous.

3. The harmonic reducer with compound ball bearings according to claim 2, characterized in that: the number of the installation planes is 24, and the number of the sleeves is 6.

4. The harmonic reducer with compound ball bearings according to claim 2, characterized in that: the outer side of the lower shell is provided with a notch, the notch is arranged between two adjacent mounting planes, a convex block is welded on the side face of the sleeve, and the convex block is embedded into the notch.

5. The manufacturing method of the lower shell of the harmonic reducer with the composite ball bearing according to claim 4 is characterized by comprising the following steps:

a. clamping the inner and outer load tables: the external loading platform is provided with a through hole, the top of the internal loading platform is provided with a limiting boss, the bottom of the internal loading platform is provided with a fixed disc, and the limiting boss is provided with a limiting bulge; the lead screw motor is started firstly, the lead screw motor controls a lead screw nut to move on a lead screw in an oriented mode, the lead screw nut is fixedly connected with a horizontal bracket, the lead screw nut drives the horizontal bracket to move in an oriented mode, when the horizontal bracket is arranged below the air cylinder, the external loading platform is placed at a set position on the horizontal bracket, the internal loading platform is placed in the through hole of the external loading platform upwards and in the middle, an arc groove is formed between the internal loading platform and the external loading platform, then the air cylinder is controlled to descend, the bottom of the air cylinder is connected with a pressing plate, and the air cylinder controls the pressing plate to tightly press a limiting boss of the internal loading platform and the;

b. installing the connecting rod and the bottom support to obtain a lower shell loading structure: the connecting rods are provided with threaded holes, threaded rods are connected in the threaded holes of the connecting rods in a threaded manner, then trays are connected at the end parts of the threaded rods in a threaded manner and are screwed in the threaded holes of the connecting rods through the threaded rods, so that the trays are supported on the connecting rods, then a bottom support is placed in one of the connecting rods, then one end of the connecting rod is fixed on a fixed disc at the bottom of the internal loading table through screws, the other end of the connecting rod is fixed on the bottom of the external loading table through screws, the rest of the connecting rods are fixed according to the fixing manner of the connecting rods, then the bottom support is moved upwards, the distance between the top surface of the bottom support and the bottom surface of the external loading table is controlled to reach a set distance, then the threaded rods are screwed in the threaded holes of the connecting rods, so that the trays are attached to the, the lead screw nut drives the horizontal bracket to return to the initial position, and a lower shell loading structure is obtained;

c. install the casing down on the casing loading structure down: the whole lower shell loading structure is placed on a working platform, the lower shell is reversely buckled on an internal loading platform, a limiting boss on the internal loading platform is embedded into a central hole of the lower shell, a limiting bulge of the limiting boss is embedded into a limiting groove of the lower shell, and the lower shell is limited on the internal loading platform;

d. installing a positioning pipe in an arc groove formed between the inner loading platform and the outer loading platform: the positioning pipe is installed by adopting a fixed-point installation device, the fixed-point installation device comprises a clamping plate, the clamping plate is welded with two symmetrical limiting plates, the arrangement positions of the limiting plates are installed according to the arrangement position of an installation plane outside the lower shell, a positioning plate is welded between the two limiting plates, and a positioning hole is formed in the center position of the positioning plate; firstly clamping a clamping plate on the inner side of a central hole of a lower shell, simultaneously attaching the inner side of a limiting plate on a mounting plane of the lower shell, correspondingly arranging a positioning hole above an arc groove at the moment, correspondingly arranging the positioning hole and a notch on the outer side of the lower shell, then connecting a locking plate on a positioning pipe in a threaded manner, embedding the positioning pipe into the arc groove formed between an internal loading platform and an external loading platform, supporting the bottom of the positioning pipe on the top surface of a bottom support at the moment, introducing the positioning rod into the positioning hole, simultaneously moving the positioning pipe in the arc groove, screwing the locking plate on the positioning pipe when the positioning rod extends into the limiting hole of the positioning pipe, locking the locking plate on the internal loading platform and the external loading platform, then taking out the positioning rod, simultaneously taking out a fixed-point mounting device, and mounting the rest positioning pipe in the arc groove formed between the internal loading platform and the external loading platform by adopting the mounting mode of the positioning pipe according to the position of the notch on the outer side of the lower shell (ii) a

e. Installing a sleeve: sleeving the sleeve on the positioning pipe, embedding the convex block on the side surface of the sleeve into the notch on the outer side of the lower shell, and fixing the fixing plate on the side surface of the sleeve in the threaded hole on the mounting plane through a screw;

f. installing a fixed pipe: the fixed pipe is screwed into the sleeve, and when the fixed pipe cannot be screwed, the bottom of the fixed pipe is abutted to the positioning pipe, so that the lengths of all the fixed pipes extending out of the sleeve are the same, and the whole lower shell is taken out.

Technical Field

The invention belongs to the technical field of harmonic reducer equipment, and particularly relates to a harmonic reducer with a composite ball bearing and a lower shell manufacturing method.

Background

The harmonic gear transmission speed reduction principle is that the relative motion of the flexible gear, the rigid gear and the wave generator is utilized, and the controllable elastic deformation of the flexible gear is mainly utilized to realize the motion and power transmission. An elliptical cam in the wave generator rotates in the flexible gear to deform the flexible gear. When the flexible gear teeth and the rigid gear teeth at two ends of the long shaft of the elliptic cam of the wave generator are engaged, the flexible gear teeth and the rigid gear teeth at two ends of the short shaft are disengaged. For the teeth between the major axis and the minor axis of the wave generator, the teeth are in a half-meshing state gradually entering into meshing in different sections along the circumferences of the flexible gear and the rigid gear, which is called meshing; in a half-engaged state where the engagement is gradually released, it is called a mesh-out. When the wave generator rotates continuously, the flexible gear deforms continuously, so that the original working states of the two-wheel gear teeth are changed continuously in four motions of meshing, meshing and disengaging, staggered tooth motion is generated, and motion transmission from the driving wave generator to the flexible gear is realized.

The conventional harmonic reducer adopts a common ball flexible bearing at the input end, and because the ball and the ball are in point-to-point contact, the contact bearing area is small, the abrasion is easy, and an axial gap exists after the abrasion, so that the ball flexible bearing is easy to deform after bearing radial and axial forces, the flexible bearing is easy to damage, the rigidity of the input end of the harmonic reducer is reduced, overlarge axial impact force cannot be borne, and the load and the service life of the harmonic reducer are reduced.

Disclosure of Invention

The invention aims to solve the technical problems in the prior art, and provides a high-torque high-rigidity long-life harmonic reducer which is provided with a composite ball bearing, wherein the composite ball bearing is used by mixing a roller and a ball, so that the composite ball bearing can bear larger load in the transmission process, is suitable for use scenes of high rotating speed and low rotating speed, prolongs the service life of a flexible bearing, improves the output load of the harmonic reducer, and prolongs the service life.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a take harmonic speed reducer ware of compound ball bearing, includes wave generator, flexbile gear and rigid gear, places the internally mounted intracavity of flexbile gear in the wave generator, and the wave generator includes input shaft end and cam, its characterized in that: the composite ball bearing is annularly distributed between the peripheral surface of the outer ring of the cam and the peripheral surface of the inner ring of the flexible gear, the composite ball bearing comprises an inner ring and an outer ring, a roller mounting cavity and a ball mounting cavity are arranged between the inner ring and the outer ring, a roller is arranged in the roller mounting cavity, and balls are arranged in the ball mounting cavity. The composite ball bearing is provided with the composite ball bearing, the roller and the ball are used in a mixed mode, the composite ball bearing can bear larger load in the transmission process, the composite ball bearing is suitable for use scenes of high rotating speed and low rotating speed, the service time of the flexible bearing is prolonged, the output load of the harmonic reducer is improved, and the service life of the composite ball bearing is prolonged.

Further, the harmonic reducer needs to be mounted on the machine body, the harmonic reducer is mounted on the machine body generally by screws, and how to avoid parts on the machine body is a technical problem to be solved. The flexible gear and the rigid gear are arranged between the upper shell and the lower shell, the wave generator penetrates through the upper shell and the lower shell, mounting planes are uniformly arranged on the outer side of the lower shell in the circumferential direction, sleeves are mounted at two adjacent mounting planes, fixing plates are welded on the side faces of the sleeves, the fixing plates are fixed in threaded holes in the mounting planes through screws, the sleeves are in threaded connection with fixing pipes, threads are arranged on the inner sides of the fixing pipes, and the lengths of the fixing pipes extending out of the sleeves are kept consistent. The invention controls the fixed pipe to extend out of the sleeve for a certain length, when the fixed pipe is abutted against the machine body, the fixed screw is screwed in the fixed pipe and screwed on the machine body, so that the whole harmonic reducer is installed on the machine body, a certain distance exists between the lower shell and the machine body, the installation of the lower shell is slightly influenced by the surface of the machine body, and the harmonic reducer is enabled to avoid parts on the machine body.

Furthermore, the number of the installation planes is 24, the number of the sleeves is 6, and the stability of the harmonic reducer installed on the machine body is improved.

Further, the outside of casing is equipped with the notch down, and the notch setting has the lug between two adjacent mounting planes, and sheathed tube side welding has, and in the lug was embedded into the notch, can make lug interference fit in the notch, when the installation sleeve pipe, need exert down effort to the sleeve pipe, conveniently twists the screw between fixed plate and mounting plane.

The fixed pipe extends out of the sleeve by a certain length, and the extended lengths of the fixed pipe need to be controlled to be the same in the actual installation process, so that the whole harmonic reducer can be smoothly installed. Therefore, how to control the extending lengths of the fixed pipes to be the same is a technical problem to be solved at present, and aiming at the problem, the invention designs a lower shell manufacturing method which comprises the following steps:

a manufacturing method of a lower shell of a harmonic reducer with a composite ball bearing is characterized by comprising the following steps:

a. clamping the inner and outer load tables: the outside loading platform is equipped with the through-hole, and the top of inside loading platform is equipped with spacing boss, and the bottom of inside loading platform is equipped with fixed disc, and spacing boss is equipped with spacing arch.

The lead screw motor is started firstly, the lead screw motor controls the lead screw nut to move directionally on the lead screw, the lead screw nut is fixedly connected with the horizontal bracket, the lead screw nut drives the horizontal bracket to move directionally, when the horizontal bracket is arranged below the cylinder, the external loading platform is placed on the horizontal bracket at a set position, the internal loading platform is placed in the middle upwards in a through hole of the external loading platform, and an arc groove is formed between the internal loading platform and the external loading platform. Then the cylinder is controlled to descend, the bottom of the cylinder is connected with a pressing plate, and the cylinder controls the pressing plate to tightly press the limiting boss of the internal loading platform and the external loading platform.

The inner loading platform is used for loading the lower shell, the arc groove formed between the inner loading platform and the outer loading platform is used for installing the positioning pipe, and the positioning pipe slides in the arc groove to adjust the position of the positioning pipe. Because the internal loading platform and the external loading platform are not directly connected, the horizontal bracket and the pressing plate are adopted to clamp the internal loading platform and the external loading platform, so that the stability of the connecting rod and the bottom support can be conveniently and subsequently installed, and the internal loading platform is always arranged in the through hole of the external loading platform in the center.

b. Installing the connecting rod and the bottom support to obtain a lower shell loading structure: the connecting rod is equipped with the screw hole, threaded connection threaded rod in the screw hole of connecting rod, again at the tip threaded connection tray of threaded rod to twist in the screw hole of connecting rod through the threaded rod and move, make the tray support on the connecting rod, make the tray all be in same position, make things convenient for the later stage to put into the collet, and support the collet. And then putting a bottom support into one connecting rod, fixing one end of the connecting rod on a fixed disc at the bottom of the internal loading platform through a screw, and fixing the other end of the connecting rod on the bottom of the external loading platform through a screw, so that the connecting rod can fixedly connect the internal loading platform and the external loading platform which are designed in an embedded mode, and the rest connecting rods are fixed according to the fixing mode of the connecting rod. Then the collet moves upwards, the distance between the top surface of the collet and the bottom surface of the external loading platform is controlled to reach a set distance, and the threaded rod is screwed in the threaded hole of the connecting rod, so that the tray is attached to the bottom surface of the collet. Then the cylinder is controlled to return to the initial position, and simultaneously, the lead screw nut drives the horizontal bracket to return to the initial position through the reverse rotation of the lead screw motor, so that the lower shell loading structure is obtained.

The bottom support is used for supporting the positioning tube, and the length of the positioning tube extending out of the arc groove is controlled through the bottom support, so that the positioning tubes are all located at the same position, and the mounting precision of the sleeve at the later stage is improved. The bottom of the positioning tube is limited through the bottom support, the locking plate is screwed on the positioning tube in the later stage, the positioning tube can be limited at the position of the arc groove, and the lower shell can be manufactured in batches in the later stage. And the connecting rod outsourcing avoids droing of collet in the outside of collet.

c. Install the casing down on the casing loading structure down: on placing work platform with whole lower casing loading structure earlier, with casing back-off down again on inside loading platform, during the spacing boss on the inside loading platform was embedded into the centre bore of casing down, the spacing protruding embedding of spacing boss was gone into down the spacing groove of casing simultaneously, and the casing was spacing down on inside loading platform this moment.

d. Installing a positioning pipe in an arc groove formed between the inner loading platform and the outer loading platform: adopt fixed point installation device to install the registration arm, fixed point installation device includes the chucking board, and the chucking board welding has the limiting plate of two symmetries, and the setting position of limiting plate is installed according to the mounting plane's in the casing outside setting position down, and the welding has the locating plate between two limiting plates, and the central point of locating plate puts the department and is equipped with the locating hole.

Firstly clamping a clamping plate on the inner side of a central hole of a lower shell, simultaneously attaching the inner side of a limiting plate on a mounting plane of the lower shell, correspondingly arranging a positioning hole above an arc groove at the moment, correspondingly arranging the positioning hole and a notch on the outer side of the lower shell, then connecting a locking plate on a positioning pipe in a threaded manner, embedding the positioning pipe into the arc groove formed between an internal loading platform and an external loading platform, supporting the bottom of the positioning pipe on the top surface of a bottom support at the moment, introducing the positioning rod into the positioning hole, simultaneously moving the positioning pipe in the arc groove, screwing the locking plate on the positioning pipe when the positioning rod extends into the limiting hole of the positioning pipe, locking the locking plate on the internal loading platform and the external loading platform, then taking out the positioning rod, simultaneously taking out a fixed-point mounting device, and mounting the rest positioning pipe in the arc groove formed between the internal loading platform and the external loading platform by adopting the mounting mode of the positioning pipe according to the position of the notch on the outer side of the lower shell .

The invention fully utilizes the included angle between 24 installation planes, designs a fixed point installation device, takes 4 installation planes as an installation unit of a sleeve, 2 installation planes provided with threaded holes are used for installing a fixed plate on the sleeve, and the other 2 installation planes are used for assisting the positioning. When the inboard of limiting plate is attached on the mounting surface of casing down, the locating hole correspondence setting was in the top of circular arc groove this moment, and the notch of locating hole and the outer side of inferior valve is corresponding to be set up moreover, when the locating lever stretched into the spacing hole of registration arm, just can with the accurate location of registration arm in the circular arc groove that forms between inside loading platform and outside loading platform, ensure the accuracy of registration arm mounted position, be favorable to later stage installation sleeve pipe and fixed pipe.

e. Installing a sleeve: the sleeve is sleeved on the positioning tube, the convex block on the side face of the sleeve is embedded into the notch on the outer side of the lower shell, and then the fixing plate on the side face of the sleeve is fixed in the threaded hole in the mounting plane through the screw.

f. Installing a fixed pipe: the fixed pipe is screwed into the sleeve, and when the fixed pipe cannot be screwed, the bottom of the fixed pipe is abutted to the positioning pipe, so that the lengths of all the fixed pipes extending out of the sleeve are the same, and the whole lower shell is taken out.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

1. the composite ball bearing is arranged, and the roller and the ball are used in a mixed manner, so that the composite ball bearing can bear larger load in the transmission process, is suitable for use scenes of high rotating speed and low rotating speed, prolongs the service time of the flexible bearing, improves the output load of the harmonic speed reducer, and prolongs the service life.

2. The harmonic reducer needs to be installed on the machine body, the harmonic reducer is generally installed on the machine body through screws, and the technical problem to be solved is how to avoid parts on the machine body. The flexible gear and the rigid gear are arranged between the upper shell and the lower shell, the wave generator penetrates through the upper shell and the lower shell, mounting planes are uniformly arranged on the outer side of the lower shell in the circumferential direction, sleeves are mounted at two adjacent mounting planes, fixing plates are welded on the side faces of the sleeves, the fixing plates are fixed in threaded holes in the mounting planes through screws, the sleeves are in threaded connection with fixing pipes, threads are arranged on the inner sides of the fixing pipes, and the lengths of the fixing pipes extending out of the sleeves are kept consistent. The invention controls the fixed pipe to extend out of the sleeve for a certain length, when the fixed pipe is abutted against the machine body, the fixed screw is screwed in the fixed pipe and screwed on the machine body, so that the whole harmonic reducer is installed on the machine body, a certain distance exists between the lower shell and the machine body, the installation of the lower shell is slightly influenced by the surface of the machine body, and the harmonic reducer is enabled to avoid parts on the machine body.

3. The fixed pipe extends out of the sleeve by a certain length, and the extended lengths of the fixed pipe need to be controlled to be the same in the actual installation process, so that the whole harmonic reducer can be smoothly installed. Therefore, the invention designs a lower casing manufacturing method, which comprises the steps of arranging positioning pipes with the same length and the same position, sleeving a sleeve on the positioning pipes, screwing the fixed pipe into the sleeve, and when the fixed pipe cannot be screwed, enabling the bottom of the fixed pipe to abut against the positioning pipes, so as to ensure that the lengths of all the fixed pipes extending out of the sleeve are the same. After the fixed pipe positioning work is finished, when the lower shell after the installation is taken out, the sleeve and the fixed pipe can be quickly installed on the next lower shell, and the lower shell can be conveniently manufactured in batches.

The internal loading platform is used for loading the lower shell, and can limit the lower shell, so that the lower shell is prevented from shifting, and the accuracy of installing the sleeve and the fixing pipe at the later stage is improved. And the arc groove formed between the inner loading platform and the outer loading platform is used for installing the positioning pipe, and the positioning pipe slides in the arc groove to adjust the position of the positioning pipe. Because the internal loading platform and the external loading platform are not directly connected, the horizontal bracket and the pressing plate are adopted to clamp the internal loading platform and the external loading platform, so that the stability of the connecting rod and the bottom support can be conveniently and subsequently installed, and the internal loading platform is always arranged in the through hole of the external loading platform in the center.

The bottom support is used for supporting the positioning tube, and the length of the positioning tube extending out of the arc groove is controlled through the bottom support, so that the positioning tubes are all located at the same position, and the mounting precision of the sleeve at the later stage is improved. The bottom of the positioning tube is limited through the bottom support, the locking plate is screwed on the positioning tube in the later stage, the positioning tube can be limited at the position of the arc groove, and the lower shell can be manufactured in batches in the later stage. And the connecting rod outsourcing avoids droing of collet in the outside of collet.

The invention fully utilizes the included angle between 24 installation planes, designs a fixed point installation device, takes 4 installation planes as an installation unit of a sleeve, 2 installation planes provided with threaded holes are used for installing a fixed plate on the sleeve, and the other 2 installation planes are used for assisting the positioning. When the inboard of limiting plate is attached on the mounting surface of casing down, the locating hole correspondence setting was in the top of circular arc groove this moment, and the notch of locating hole and the outer side of inferior valve is corresponding to be set up moreover, when the locating lever stretched into the spacing hole of registration arm, just can with the accurate location of registration arm in the circular arc groove that forms between inside loading platform and outside loading platform, ensure the accuracy of registration arm mounted position, be favorable to later stage installation sleeve pipe and fixed pipe.

Drawings

The invention will be further described with reference to the accompanying drawings in which:

FIG. 1 is a schematic structural diagram according to a first embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a composite ball bearing according to a first embodiment;

FIG. 3 is a schematic structural diagram according to a second embodiment of the present invention;

FIG. 4 is a schematic structural view showing the connection between the sleeve, the fixing tube and the lower housing in the second embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a lower housing according to a second embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a second embodiment of the present invention;

FIG. 7 is a schematic structural view of a fixing tube according to a second embodiment of the present invention;

FIG. 8 is a schematic view of the present invention in a configuration for clamping the inner load station and the outer load station;

FIG. 9 is a schematic structural view of a connecting rod according to the present invention;

FIG. 10 is a schematic view of the present invention in the configuration for mounting the connecting rods and the shoe;

FIG. 11 is a schematic view of the connection of the tie rod between the inner and outer load stations of the present invention;

FIG. 12 is a schematic view of the present invention in the configuration in which the lower housing is mounted on the lower housing loading configuration;

FIG. 13 is a schematic view of the present invention in the configuration where the positioning tube is installed in the circular arc groove formed between the inner and outer loading platforms;

FIG. 14 is a schematic view of the fixed point mounting apparatus of the present invention;

FIG. 15 is a schematic view of the positioning tube of the present invention after installation;

FIG. 16 is a schematic view of the present invention in the configuration for installing the sleeve;

fig. 17 is a schematic view of the present invention in a configuration where a fixed pipe is installed.

In the figure, 1-wave generator; 2-a flexible gear; 3-a rigid wheel; 4-a composite ball bearing; 5-a roller; 6-rolling balls; 7-a cam; 8-an upper shell; 9-a lower shell; 10-a mounting plane; 11-a sleeve; 12-a fixing plate; 13-a screw; 14-a threaded hole; 15-fixed tube; 16-notches; 17-a bump; 18-an external load station; 19-a limit boss; 20-limiting protrusions; 21-a screw rod; 22-a feed screw nut; 23-a horizontal carrier; 24-a cylinder; 25-pressing plate; 26-U-shaped groove; 27-a threaded rod; 28-a tray; 29-arc groove; 30-a fixed disc; 31-a connecting rod; 32-bottom support; 33-a central hole; 34-a limiting groove; 35-a clamping plate; 36-a limiting plate; 37-a positioning plate; 38-locating holes; 39-a positioning tube; 40-a locking plate; 41-a positioning rod; 42-an internal load station; 43-limiting hole.

Detailed Description

As shown in fig. 1 and 2, in a first embodiment of the present invention,

a harmonic reducer with a composite ball bearing comprises a wave generator 1, a flexible gear 2 and a rigid gear 3, wherein the wave generator 1 is arranged in an internal installation cavity of the flexible gear 2, and the wave generator 1 comprises an input shaft end and a cam 7. The compound ball bearing 4 is annularly distributed between the peripheral surface of the outer ring of the cam 7 and the peripheral surface of the inner ring of the flexible gear 2, the compound ball bearing 4 comprises an inner ring and an outer ring, a roller installation cavity and a ball installation cavity are arranged between the inner ring and the outer ring, the roller installation cavity is provided with a roller 5, and the ball installation cavity is provided with a ball 6. The composite ball bearing is provided with the composite ball bearing 4, the roller 5 and the ball 6 are used in a mixed mode, so that the composite ball bearing 4 can bear larger load in the transmission process, the composite ball bearing is suitable for use scenes of high rotating speed and low rotating speed, the service time of the flexible bearing is prolonged, the output load of the harmonic reducer is improved, and the service life is prolonged.

As shown in fig. 3 and 7, in the second embodiment of the present invention,

a harmonic reducer with a composite ball bearing comprises a wave generator 1, a flexible gear 2 and a rigid gear 3, wherein the wave generator 1 is arranged in an internal installation cavity of the flexible gear 2, and the wave generator 1 comprises an input shaft end and a cam 7. The compound ball bearing 4 is annularly distributed between the peripheral surface of the outer ring of the cam 7 and the peripheral surface of the inner ring of the flexible gear 2, the compound ball bearing 4 comprises an inner ring and an outer ring, a roller 5 mounting cavity and a ball 6 mounting cavity are arranged between the inner ring and the outer ring, the roller 5 mounting cavity is provided with a roller 5, and the ball 6 mounting cavity is provided with a ball 6. The composite ball bearing is provided with the composite ball bearing 4, the roller 5 and the ball 6 are used in a mixed mode, so that the composite ball bearing 4 can bear larger load in the transmission process, the composite ball bearing is suitable for use scenes of high rotating speed and low rotating speed, the service time of the flexible bearing is prolonged, the output load of the harmonic reducer is improved, and the service life is prolonged.

The harmonic reducer is required to be mounted on the machine body and used in cooperation with a motor mounted on the machine body, the harmonic reducer is generally mounted on the machine body by screws, and the technical problem to be solved is how to avoid parts on the machine body. The invention also comprises an upper shell 8 and a lower shell 9, the flexible gear 2 and the rigid gear 3 are arranged between the upper shell 8 and the lower shell 9, and the wave generator 1 penetrates through the upper shell 8 and the lower shell 9. Evenly be equipped with mounting plane 10 in the outside circumference of casing 9 down, sleeve pipe 11 is installed to two adjacent mounting plane 10 departments, and the side welding of sleeve pipe 11 has fixed plate 12, and fixed plate 12 passes through the screw 13 to be fixed in the screw hole 14 of mounting plane 10 department, and sleeve pipe 11 threaded connection has fixed pipe 15, and the inboard of fixed pipe 15 is equipped with the screw thread, and the length that fixed pipe 15 stretches out sleeve pipe 11 keeps unanimous. The invention controls the fixed pipe 15 to extend out of the sleeve 11 for a certain length, when the fixed pipe 15 is abutted against the machine body, the fixed screw 13 is screwed on the fixed pipe 15, and the fixed screw 13 is screwed on the machine body, so that the whole harmonic reducer is installed on the machine body, a certain distance exists between the lower shell 9 and the machine body, the installation of the lower shell 9 is slightly influenced by the surface of the machine body, and the harmonic reducer avoids parts on the machine body.

The number of the installation planes 10 is 24, and the number of the sleeves 11 is 6, so that the stability of the harmonic reducer installed on the machine body is improved.

The outside of casing 9 is equipped with notch 16 down, and notch 16 sets up between two adjacent mounting plane 10, and the side welding of sleeve pipe 11 has lug 17, and lug 17 imbeds in notch 16, can make lug 17 interference fit in notch 16, and when the installation sleeve pipe 11, need exert downward effort to sleeve pipe 11, conveniently twists screw 13 between fixed plate 12 and mounting plane 10.

The fixed pipe 15 of the invention extends out of the sleeve 11 for a certain length, and in the actual installation process, the extending lengths of the fixed pipe 15 need to be controlled to be the same, so that the whole harmonic reducer can be installed smoothly. Therefore, how to control the extending length of the fixed tube 15 is the same as the technical problem to be solved currently, the invention designs a manufacturing method of the lower shell 9 aiming at the problem, which is as follows:

as shown in fig. 8 and 17, the lower case 9 of the second embodiment is manufactured by a manufacturing method including the steps of:

a. clamping the inner load table 42 and the outer load table 18: the external loading platform 18 is provided with a through hole, the top of the internal loading platform 42 is provided with a limiting boss 19, the bottom of the internal loading platform 42 is provided with a fixed disc 30, and the limiting boss 19 is provided with a limiting protrusion 20.

The lead screw motor is started firstly, the lead screw motor controls the lead screw nut 22 to move on the lead screw 21 in an oriented mode, the lead screw nut 22 is fixedly connected with the horizontal bracket 23, the lead screw nut 22 drives the horizontal bracket 23 to move in an oriented mode, when the horizontal bracket 23 is arranged below the air cylinder 24, the external loading platform 18 is placed at a set position on the horizontal bracket 23, the internal loading platform 42 is placed in the center upwards in a through hole of the external loading platform 18, and an arc groove 29 is formed between the internal loading platform 42 and the external loading platform 18. Then the air cylinder 24 is controlled to descend, the bottom of the air cylinder 24 is connected with the pressure plate 25, and the air cylinder 24 controls the pressure plate 25 to tightly press the limiting boss 19 of the internal loading platform 42 and the external loading platform 18.

The inner loading table 42 of the present invention is used for loading the lower casing 9, and the circular arc groove 29 formed between the inner loading table 42 and the outer loading table 18 is used for mounting the positioning pipe, and the position of the positioning pipe is adjusted by sliding the positioning pipe in the circular arc groove 29. Because the internal loading table 42 and the external loading table 18 of the present invention are not directly connected, the present invention uses the horizontal bracket 23 and the pressing plate 25 to clamp the internal loading table 42 and the external loading table 18, which facilitates the stability of the subsequent installation of the connecting rod and the bottom bracket, so that the internal loading table 42 is always centered in the through hole of the external loading table 18.

b. Installing the connecting rod 31 and the bottom support 32, obtaining the lower shell loading structure: connecting rod 31 is equipped with U type groove 26, and connecting rod 31 is equipped with the screw hole, threaded connection threaded rod 27 in the screw hole 14 of connecting rod 31, and again threaded connection tray 28 of the tip of threaded rod 27 to twist in the screw hole 14 of connecting rod 31 through threaded rod 27 and move, make tray 28 support on connecting rod 31, make tray 28 all be in same position, make things convenient for the later stage to put into collet 32, and support collet 32. Then, a bottom support 32 is placed in the U-shaped groove 26 of one of the connecting rods 31, one end of the connecting rod 31 is fixed on the fixed disc 30 at the bottom of the internal loading platform 42 through a screw, and the other end of the connecting rod 31 is fixed on the bottom of the external loading platform 18 through a screw, so that the connecting rod 31 can fixedly connect the embedded internal loading platform 42 and the external loading platform 18, and the rest connecting rods 31 are fixed according to the fixing mode of the connecting rod 31. The shoe 32 is then moved upwardly to control the distance between the top surface of the shoe 32 and the bottom surface of the external loading table 18 to a set distance, and the threaded rod 27 is screwed into the threaded hole 14 of the connecting rod 31 so that the tray 28 is attached to the bottom surface of the shoe 32. Then the control cylinder 24 returns to the initial position, and simultaneously the feed screw nut 22 drives the horizontal bracket 23 to return to the initial position through the reverse rotation of the feed screw motor, so that the lower shell loading structure is obtained.

The bottom support 32 is used for supporting the positioning tube, and the length of the positioning tube extending out of the arc groove 29 is controlled through the bottom support 32, so that the positioning tubes are all located at the same position, and the mounting precision of the sleeve 11 in the later period is improved. Meanwhile, the bottom of the positioning tube is limited through the bottom support 32, the positioning tube can be limited at a set position of the arc groove 29 by screwing the locking plate on the positioning tube in the later period, and the lower shell 9 can be manufactured in batches in the later period. And connecting rod 31 outsourcing is in the outside of collet 32, avoids the coming off of collet 32.

c. The lower housing 9 is mounted on the lower housing-loading structure: on placing work platform with whole lower casing loading structure earlier, again with casing 9 back-off down on inside loading platform 42, spacing boss 19 on inside loading platform 42 is embedded into the centre bore 33 of casing 9 down, and spacing arch 20 of spacing boss 19 is embedded into the spacing groove 34 of casing 9 down simultaneously, and casing 9 is spacing on inside loading platform 42 down this moment.

d. The positioning tube 39 is installed in the circular arc groove 29 formed between the inner loading table 42 and the outer loading table 18: adopt fixed point installation device to install registration arm 39, fixed point installation device includes chucking plate 35, and chucking plate 35 welds two symmetrical limiting plate 36, and the setting position of limiting plate 36 installs according to the setting position of the mounting plane 10 in the casing 9 outside down, welds between two limiting plate 36 and has locating plate 37, and the central point department of locating plate 37 is equipped with locating hole 38.

Firstly, the clamping plate 35 is clamped on the inner side of the central hole 33 of the lower shell 9, meanwhile, the inner side of the limit plate 36 is attached on the installation plane 10 of the lower shell 9, at the moment, the locating hole 38 is correspondingly arranged above the circular arc groove 29, the locating hole 38 and the notch 16 on the outer side of the lower shell 9 are correspondingly arranged, then, a locking plate 40 is connected on the locating pipe 39 in a threaded mode, then, the locating pipe 39 is embedded into the circular arc groove 29 formed between the inner loading platform 42 and the outer loading platform 18, at the moment, the bottom of the locating pipe 39 is supported on the top surface of the bottom base support 32, then, a locating rod 41 is introduced into the locating hole 38, at the same time, the locating pipe 39 moves in the circular arc groove 29, when the locating rod 41 extends into the limit hole 43 of the locating pipe 39, the locking plate 40 is screwed on the locating pipe 39, the locking plate 40 is locked on the inner loading platform 42 and the outer loading platform 18, then, the remaining positioning tube 39 is mounted into the circular-arc groove 29 formed between the inner loading table 42 and the outer loading table 18 by the above-described mounting method of the positioning tube 39 according to the position of the notch 16 at the outer side of the lower housing 9.

The invention fully utilizes the included angle between 24 installation planes 10, designs a fixed point installation device, takes 4 installation planes 10 as an installation unit of the sleeve 11, 2 installation planes 10 provided with threaded holes 14 are used for installing a fixed plate 12 on the sleeve 11, and the other 2 installation planes 10 are used for assisting the positioning. When the inner side of the limit plate 36 is attached to the mounting plane 10 of the lower shell 9, the locating hole 38 is correspondingly arranged above the arc groove 29, the locating hole 38 and the notch 16 on the outer side of the lower shell 9 are correspondingly arranged, when the locating rod 41 extends into the limiting hole 43 of the locating tube 39, the locating tube 39 can be accurately located in the arc groove 29 formed between the inner loading platform 42 and the outer loading platform 18, the accuracy of the mounting position of the locating tube 39 is ensured, and the later-period mounting of the sleeve 11 and the fixing tube 15 is facilitated.

e. Installing the sleeve 11: the sleeve 11 is sleeved on the positioning tube 39, the convex block 17 at the side surface of the sleeve 11 is inserted into the notch 16 at the outer side of the lower shell 9, and the fixing plate 12 at the side surface of the sleeve 11 is fixed in the threaded hole 14 at the mounting plane 10 through the screw 13.

f. Installing the fixed pipe 15: the fixed tube 15 is screwed into the sleeve 11, when the fixed tube 15 cannot be screwed, the bottom of the fixed tube 15 abuts against the positioning tube 39, the length of all the fixed tubes 15 extending out of the sleeve 11 is ensured to be the same, and then the whole lower shell 9 is taken out.

The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made based on the present invention to solve the same technical problems and achieve the same technical effects are within the scope of the present invention.