Special machine and pre-assembly method for concentric pre-assembly of flexible bearings for speed reducers

Abstract

The invention discloses a special machine for concentric pre-assembly of a reducer flexible bearing and a pre-assembly method. The special machine comprises a base, a column assembly fixedly mounted on one side of the base, a fixing fixture mounted on the base, a rotation driving device, a lifting slider mounted on the column assembly and sliding along the longitudinal direction, and a lifting driving device for driving the lifting slider. The reducer housing can be fixed on the fixing fixture, and the rotation driving device can be floatingly connected with a wave generator synchronous gear inserted in the reducer flexible bearing. The pre-assembly method comprises the following steps: first fixing the reducer housing on the fixing fixture, then inserting the wave generator synchronous gear into the reducer flexible bearing, inserting a locking screw, inserting an eccentric pin on a synchronous toothed disc into an eccentric mounting hole on the wave generator synchronous gear, starting a motor, and gradually locking the locking screw while the wave generator synchronous gear rotates. The invention can realize the coaxial assembly of a flexible wheel and a flexible bearing of a harmonic reducer, and has high assembly accuracy and assembly efficiency.

Description

Technical Field

[0001] The invention relates to an assembly device and an assembly method, and in particular to a special machine for concentric preassembly of a reducer flexible bearing and a preassembly method. Background Art

[0002] When assembling the harmonic reducer, the flexible bearing needs to be coaxially installed in the flexible wheel. Currently, the flexible bearing and the flexible wheel are installed by workers inserting the flexible bearing into the flexible wheel and observing the gap between the flexible bearing and the flexible wheel with the naked eye to achieve coaxial installation. This method is difficult to ensure that the flexible wheel and the flexible wheel are coaxial, which will cause eccentricity and affect the transmission of the harmonic reducer. Summary of the invention

[0003] In order to overcome the above defects, the present invention provides a special machine and preassembly method for concentric preassembly of a reducer flexible bearing, which can realize concentric assembly of the flexible bearing and the flexible wheel of the harmonic reducer.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a special machine for concentric pre-assembly of a reducer flexible bearing, comprising a base, a column assembly, a fixing fixture, a rotation drive device, a lifting slider and a lifting drive device, wherein the column is fixedly installed on one side of the base, the lifting slider can be installed on the column assembly in a longitudinal sliding manner, the lifting drive device drives the lifting slider to move up and down in the longitudinal direction, the rotation drive device is fixedly installed on the lifting slider, the fixing fixture is fixedly installed on the base, the housing of the reducer can be fixedly installed on the fixing fixture, the rotation drive device can be floatingly connected with a wave generator synchronous gear inserted in the reducer flexible bearing, and the rotation drive device can drive the wave generator synchronous gear to rotate.

[0005] As a further improvement of the present invention, the structure in which the rotary drive device can be floatingly connected with the synchronous gear of the wave generator is: a synchronous gear plate is coaxially fixedly connected to the power output shaft of the rotary drive device, at least one eccentric pin is provided on the lower end surface of the synchronous gear plate, and at least one eccentric mounting hole is provided on the upper end surface of the synchronous gear of the wave generator, the eccentric pin can be correspondingly inserted into the eccentric mounting hole, and there is a set gap between the eccentric pin and the eccentric mounting hole.

[0006] As a further improvement of the present invention, the rotation driving device is a motor.

[0007] As a further improvement of the present invention, a controller is also provided, on which a motor start button, a motor stop button, a motor forward button, a motor reverse button and a circuit breaker are provided. The controller is electrically connected and communicates with the motor, and the circuit breaker is connected in series with the motor power supply circuit. The circuit breaker cuts off the circuit when the current reaches a set value.

[0008] As a further improvement of the present invention, the lifting drive device includes a pressing handle, a rack and a gear. The pressing handle can be rotatably installed on the column assembly. A gear is fixedly sleeved on the rotating shaft of the pressing handle, and a rack is provided on the slider. The rack is meshed with the gear for transmission.

[0009] As a further improvement of the present invention, a locking switch is further provided, wherein the locking switch is mounted on the column assembly, and the locking switch can be fixedly positioned with the rack.

[0010] As a further improvement of the present invention, an elastic member is further provided on the column assembly, and the elastic member provides an elastic retaining force to the rack to disengage the rotary drive device from the synchronous gear of the wave generator upward.

[0011] As a further improvement of the present invention, the column assembly includes a supporting column, an adjusting sleeve and an adjusting screw. The adjusting sleeve can be slidably mounted on the supporting column in the longitudinal direction. The sliding sleeve is provided with a long strip hole extending in the longitudinal direction which corresponds one-to-one to the positioning circular hole on the supporting column. The adjusting screw passes through the long strip hole and is finally screwed to the circular hole.

[0012] A concentric pre-assembly method for a reducer flexible bearing, the specific steps are as follows:

[0013] Step 1: Fix the housing of the reducer on the fixing fixture;

[0014] Step 2: Insert the synchronous gear of the wave generator into the flexible bearing of the reducer;

[0015] Step 3: Adjust the position of the wave generator bearing so that the wave generator bearing seat mounting hole and the threaded hole on the upper end surface of the reducer housing correspond one to one;

[0016] Step 4: Insert the locking screw into the mounting hole of the wave generator's bearing seat and the threaded hole on the upper end surface of the reducer housing;

[0017] Step 5: Press down the pressing handle of the reducer flexible bearing concentric pre-assembly special machine to insert the eccentric pin on the synchronous gear plate of the reducer flexible bearing concentric pre-assembly special machine into the eccentric mounting hole on the upper end surface of the synchronous gear of the wave generator;

[0018] Step 6: Start the motor to make the wave generator synchronous gear rotate forward and reverse with the motor;

[0019] Step 7: While the synchronous gear of the wave generator is rotating, use a wrench to gradually tighten the locking screw in the mounting hole of the bearing seat and the threaded hole on the upper end of the reducer housing;

[0020] Step 8: Stop the motor to stop the synchronous gear of the wave generator from rotating;

[0021] Step 9: Release the locking switch;

[0022] Step 10: The motor and the synchronous gear plate thereon rise and disengage from the synchronous gear of the wave generator;

[0023] Step 11: Remove the reducer from the fixing fixture.

[0024] As a further improvement of the present invention, in step seven, when the synchronous gear of the wave generator is rotating, each locking screw is first half-tightened one by one with a wrench, and then tightened one by one.

[0025] The beneficial effects of the present invention are as follows: the present invention drives the synchronous gear of the wave generator inserted in the flexible bearing of the reducer to rotate synchronously through the synchronous toothed disk on the motor, and the synchronous gear of the wave generator drives the flexible bearing to rotate synchronously. During the rotation process, the flexible bearing automatically moves forward, backward, left and right in the horizontal direction to adjust its own position so that it is concentric with the flexible wheel. During the adjustment process, the bearing seat of the flexible bearing and the reducer housing are slowly locked. During the rotation process, the flexible bearing can first rotate forward and then reverse to achieve precise concentric adjustment. The present invention can realize the coaxial assembly of the flexible wheel and the flexible bearing of the harmonic reducer, and the assembly precision is high and the assembly efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structural principle of the present invention. DETAILED DESCRIPTION

[0027] Embodiment: A special machine for concentric pre-assembly of a reducer flexible bearing, comprising a base 1, a column assembly, a fixing fixture 2, a rotating drive device, a lifting slider 3 and a lifting drive device, wherein the column is fixedly installed on one side of the base 1, the lifting slider 3 can be installed on the column assembly in a longitudinal sliding manner, the lifting drive device drives the lifting slider 3 to move up and down in the longitudinal direction, the rotating drive device is fixedly installed on the lifting slider 3, the fixing fixture 2 is fixedly installed on the base 1, the housing 4 of the reducer can be fixedly installed on the fixing fixture 2, the rotating drive device can be floatingly connected with a wave generator synchronous gear 5 inserted in the reducer flexible bearing 25, and the rotating drive device can drive the wave generator synchronous gear 5 to rotate. During assembly, the rotating drive device is floatingly connected with the wave generator synchronous gear 5 to drive the wave generator synchronous gear 5 to rotate, but the position of the wave generator synchronous gear 5 in the horizontal direction will not be restricted. The wave generator synchronous gear 5 drives the flexible bearing to rotate synchronously in the flexible bearing, so that the flexible bearing is automatically aligned in the flexible wheel 26, and then the reducer housing 4 is lowered and locked with the bearing seat under the condition of automatic alignment to realize the concentric assembly of the flexible bearing and the flexible wheel, thereby avoiding the eccentricity of the flexible bearing and the flexible wheel of the harmonic reducer and improving the energy efficiency of the harmonic reducer.

[0028] The structure in which the rotary drive device can be floatingly connected with the wave generator synchronous gear 5 is as follows: a synchronous gear plate 6 is coaxially fixedly connected to the power output shaft of the rotary drive device, and at least one eccentric pin 7 is provided on the lower end surface of the synchronous gear plate 6. At least one eccentric mounting hole 8 is provided on the upper end surface of the wave generator synchronous gear 5. The eccentric pin 7 can be correspondingly inserted into the eccentric mounting hole 8, and there is a set gap between the eccentric pin 7 and the eccentric mounting hole 8. The eccentric mounting hole 8 is moved by the eccentric pin 7 to drive the wave generator synchronous gear 5 to rotate. Since there is a gap between the eccentric pin 7 and the eccentric mounting hole 8, the wave generator synchronous gear 5 can be moved forward, backward, left and right to adjust its position during the rotation process, so that it is automatically concentric with the flexible wheel, thereby realizing the concentric adjustment of the flexible wheel and the flexible bearing. The floating connection structure is simple, and the eccentric pin 7 and the eccentric mounting hole 8 can be evenly arranged in multiple ways to achieve force balance and ensure that the flexible wheel and the flexible bearing are highly concentric after adjustment. In addition to this floating connection method, it can also be achieved through a floating coupling, or a convex toggle block can be set on the outer side of the circumference of the wave generator synchronous gear 5, and the convex toggle block is moved by the eccentric pin 7 to realize the rotation of the wave generator synchronous gear 5. This is an equivalent replacement structure that a technician in this field can easily think of based on this patent.

[0029] The rotary drive device is a motor 9. The best is a servo motor 9, and it can also be a rotary cylinder.

[0030] A controller 10 is also provided, on which a motor start button 11, a motor stop button 12, a motor forward button 13, a motor reverse button 14 and a circuit breaker 15 are provided. The controller 10 is electrically connected and communicated with the motor 9, and the circuit breaker 15 is connected in series with the power supply circuit of the motor 9. The circuit breaker 15 cuts off the circuit when the current reaches a set value. The controller 10 controls the speed and direction of the motor 9 and prevents the motor 9 from burning out and automatically breaking the circuit when interference occurs.

[0031] The lifting drive device includes a pressing handle 16, a rack 17 and a gear. The pressing handle 16 is rotatably mounted on the column assembly. A gear is fixedly sleeved on the rotating shaft of the pressing handle 16, and a rack 17 is provided on the slider. The rack 17 is meshed with the gear for transmission. The pressing handle 16 drives the gear to rotate synchronously. Since the gear is meshed with the rack 17, the rack 17 is driven to move up and down, that is, the slider is driven to move up and down to realize the connection or disconnection of the synchronous toothed disc 6 and the synchronous gear 5 of the wave generator. In addition to this structure, the slider can be lifted and lowered by a cylinder, and the motor 9 screw nut mechanism can be used to drive the slider to lift and lower. This is an equivalent replacement structure that can be easily thought of by those skilled in the art based on this patent.

[0032] A locking switch 18 is also provided, and the locking switch 18 is installed on the column assembly, and the locking switch 18 can be fixedly positioned with the rack 17. The rack 17 is fixedly positioned with the column assembly by the locking switch 18, and the synchronous gear plate 6 is stopped and positioned in the longitudinal direction, so that the pressing handle 16 does not need to be pressed all the time during the assembly of the reducer. The locking switch 18 can be a latch structure, or a clamping structure or a structure that is engaged with the tooth groove of the rack 17 to achieve fixed positioning of the rack 17.

[0033] The column assembly is also provided with an elastic member 19, which provides an elastic retaining force to the rack 17 to disengage the rotary drive device from the wave generator synchronous gear 5. After the structure is assembled, the elastic member 19 automatically pulls the rack 17 up and resets after the rack 17 is released, without manually pulling the pressing handle 16 upward. The elastic member 19 is preferably a tension spring.

[0034] The column assembly includes a support column 20, an adjustment sleeve 21 and an adjustment screw 22. The adjustment sleeve 21 is slidably mounted on the support column 20 in the longitudinal direction. The sleeve is provided with a long strip hole extending in the longitudinal direction corresponding to the positioning circular hole on the support column 20. The adjustment screw 22 passes through the long strip hole and is finally screwed to the circular hole. The height of the adjustment sleeve 21 can be adjusted by adjusting the screw 22, thereby adjusting the longitudinal position of the synchronous gear disc 6, so as to be suitable for the assembly of reducers with different height specifications.

[0035] A concentric pre-assembly method for a reducer flexible bearing, the specific steps are as follows:

[0036] Step 1: Fix the housing 4 of the reducer on the fixing fixture 2;

[0037] Step 2: Insert the wave generator synchronous gear 5 into the reducer flexible bearing 25;

[0038] Step 3: Adjust the position of the wave generator bearing so that the wave generator bearing seat mounting hole and the threaded hole on the upper end surface of the reducer housing 4 correspond one to one;

[0039] Step 4: Insert the locking screw 24 into the mounting hole of the bearing seat of the wave generator and the threaded hole on the upper end surface of the reducer housing 4;

[0040] Step 5: Press down the pressing handle 16 of the concentric pre-assembly machine for the reducer flexible bearing 25 to insert the eccentric latch pin 7 on the synchronous gear plate 6 of the concentric pre-assembly machine for the reducer flexible bearing 25 into the eccentric mounting hole 8 on the upper end surface of the synchronous gear 5 of the wave generator;

[0041] Step 6: Start the motor 9 to make the wave generator synchronous gear 5 rotate forward and reverse along with the motor 9;

[0042] Step 7: While the synchronous gear 5 of the wave generator is rotating, gradually tighten the locking screw 24 in the mounting hole of the bearing seat and the threaded hole at the upper end of the reducer housing 4 with a wrench 23. When tightening, first use the wrench 23 to half-tighten each locking screw 24 one by one, and then tighten them one by one;

[0043] Step 8: Stop the motor 9 to stop the wave generator synchronous gear 5 from rotating;

[0044] Step 9: Release the locking switch 18;

[0045] Step 10: The motor 9 and the synchronous gear plate 6 thereon rise and disengage from the synchronous gear 5 of the wave generator;

[0046] Step 11: Remove the reducer as a whole from the fixing fixture 2.

Claims

1. A special machine for concentric pre-assembly of a reducer flexible bearing, characterized in that: The invention comprises a base (1), a column assembly, a fixing fixture (2), a rotation drive device, a lifting slider (3) and a lifting drive device, wherein the column is fixedly mounted on one side of the base, the lifting slider is mounted on the column assembly so as to be able to slide in the longitudinal direction, the lifting drive device drives the lifting slider to move in the longitudinal direction, the rotation drive device is fixedly mounted on the lifting slider, the fixing fixture is fixedly mounted on the base, the housing (4) of the reducer can be fixedly mounted on the fixing fixture, the rotation drive device can be floatingly connected with a wave generator synchronous gear (5) inserted in a flexible bearing (25) of the reducer, and the rotation drive device can drive the wave generator synchronous gear to rotate, and the structure in which the rotation drive device can be floatingly connected with the wave generator synchronous gear is as follows: a synchronous toothed disc (6) is coaxially fixedly connected to the power output shaft of the rotation drive device, at least one eccentric pin (7) is provided on the lower end surface of the synchronous toothed disc, at least one eccentric mounting hole (8) is provided on the upper end surface of the wave generator synchronous gear, the eccentric pin can be correspondingly inserted in the eccentric mounting hole, and a set gap exists between the eccentric pin and the eccentric mounting hole.

2. The reducer flexible bearing concentric pre-assembly special machine according to claim 1 is characterized in that: The rotary drive device is a motor (9).

3. The reducer flexible bearing concentric pre-assembly special machine according to claim 2 is characterized in that: A controller (10) is also provided, on which a motor start button (11), a motor stop button (12), a motor forward button (13), a motor reverse button (14) and a circuit breaker (15) are provided. The controller is electrically connected and communicates with the motor, and the circuit breaker is connected in series with the motor power supply circuit. The circuit breaker cuts off the circuit when the current reaches a set value.

4. The reducer flexible bearing concentric pre-assembly special machine according to claim 1 is characterized in that: The lifting drive device comprises a pressing handle (16), a rack (17) and a gear. The pressing handle is rotatably mounted on the column assembly. A gear is fixedly sleeved on the rotating shaft of the pressing handle. A rack is provided on the slider. The rack is meshed with the gear for transmission.

5. The reducer flexible bearing concentric pre-assembly special machine according to claim 4 is characterized in that: A locking switch (18) is also provided, which is mounted on the column assembly and can be fixedly positioned with the rack.

6. The reducer flexible bearing concentric pre-assembly special machine according to claim 4 or 5, characterized in that: The column assembly is also provided with an elastic member (19), which provides the rack with an elastic retaining force upward to disengage the rotary drive device from the synchronous gear of the wave generator.

7. The reducer flexible bearing concentric pre-assembly special machine according to claim 1, characterized in that: The column assembly comprises a supporting column (20), an adjusting sleeve (21) and an adjusting screw (22); the adjusting sleeve is slidably mounted on the supporting column in the longitudinal direction; the sliding sleeve is provided with a longitudinally extending long strip hole corresponding to a positioning circular hole on the supporting column; the adjusting screw passes through the long strip hole and is finally screwed to the circular hole.

8. A method for pre-assembling a reducer flexible bearing concentrically using the reducer flexible bearing concentric pre-assembly special machine according to claim 1, characterized in that: The specific steps are as follows: Step 1: Fix the housing of the reducer on the fixing fixture; Step 2: Insert the wave generator synchronous gear into the reducer flexible bearing; Step 3: Adjust the position of the wave generator bearing so that the wave generator bearing seat mounting hole and the threaded hole on the upper end surface of the reducer housing correspond one to one; Step 4: Insert the locking screw into the mounting hole of the wave generator's bearing seat and the threaded hole on the upper end surface of the reducer housing; Step 5: Press down the pressing handle of the reducer flexible bearing concentric pre-assembly special machine to insert the eccentric pin on the synchronous gear plate of the reducer flexible bearing concentric pre-assembly special machine into the eccentric mounting hole on the upper end surface of the synchronous gear of the wave generator; Step 6: Start the motor to make the wave generator synchronous gear rotate forward and reverse with the motor; Step 7: While the synchronous gear of the wave generator is rotating, gradually tighten the locking screw (24) in the mounting hole of the bearing seat and the threaded hole at the upper end of the reducer housing with a wrench (23); Step 8: Stop the motor to stop the synchronous gear of the wave generator from rotating; Step 9: Release the locking switch; Step 10: The motor and the synchronous gear plate thereon rise and disengage from the synchronous gear of the wave generator; Step 11: Remove the reducer from the fixing fixture.

9. The method for concentrically preassembling a reducer flexible bearing according to claim 8, characterized in that: In step 7, while the wave generator synchronous gear is rotating, use a wrench to half-tighten each locking screw one by one, and then tighten them one by one.

Images