Reduction gear debugging device, debugging method and reduction gear based on debugging method

Abstract

The application discloses a reducer debugging device, a debugging method and a reducer based on the debugging method, and belongs to the technical field of reducers. The reducer debugging device comprises a base and a connecting part. A first connecting structure connected with a debugging motor is arranged on the first side surface of the connecting part, and a second connecting structure connected with a reducer to be debugged is arranged on the second side surface. When the reducer to be debugged is installed on the second side surface, a plurality of first screws arranged on the first end surface of the reducer to be debugged towards the second side surface are arranged in an exposed manner. The connecting part is provided with a first mounting through hole for connecting the debugging motor and the reducer to be debugged. The connecting part is reversibly installed on the base around a first axis, so that the connecting part has a first posture with the second side surface upwards and a second posture with the first side surface upwards. The debugging motor is connected with the reducer to be debugged in a driving mode, the concentricity of the first assembly wheel and the second assembly wheel is dynamically adjusted, and the overall precision of the reducer to be debugged is improved.

Description

Technical Field

[0001] This application belongs to the field of speed reducer technology, and in particular relates to a speed reducer debugging device, debugging method, and speed reducer debugged based on the debugging method. Background Technology

[0002] During the assembly and commissioning of a harmonic reducer, its concentricity needs to be adjusted, primarily involving the concentricity of the rigid and flexible gears. The traditional method involves manually adjusting the concentricity of the rigid and flexible gears using dial indicators. After the rigid and flexible gears are adjusted, the wave generator assembly is then assembled. The wave generator assembly mainly consists of a cam, a flexible bearing, and a cam connecting shaft. During the concentricity adjustment of the rigid and flexible gears, the wave generator assembly remains independent and does not participate in the commissioning process. This results in poor overall concentricity of the harmonic reducer after assembly, consequently affecting its accuracy, noise, transmission error, and service life. Summary of the Invention

[0003] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a reducer debugging device, a debugging method, and a reducer debugged based on the debugging method, which solves the problem in the prior art where the wave generator assembly does not move during the concentricity adjustment of the rigid wheel and flexible wheel, resulting in poor overall concentricity of the harmonic reducer after assembly, thus affecting the accuracy, noise, transmission error, and service life of the harmonic reducer.

[0004] In a first aspect, this application provides a speed reducer debugging device, comprising:

[0005] The base; and,

[0006] The connecting part has a first side and a second side that are opposite to each other. The first side has a first connecting structure for connecting to a test motor, and the second side has a second connecting structure for connecting to a reducer to be tested. When the reducer to be tested is installed on the second side, a plurality of first screws on the first end face of the reducer to be tested facing the second side are exposed. The connecting part has a first mounting through hole for connecting the test motor and the reducer to be tested. The connecting part is rotatably installed on the base around a first axis so that the connecting part has a first posture with the second side facing upward and a second posture with the first side facing upward.

[0007] According to the reducer debugging device of this application, the debugging motor is connected to the reducer to be debugged. The debugging motor directly drives the reducer to be debugged to rotate. The reducer to be debugged drives the second assembly wheel to rotate through the first assembly wheel. The concentricity of the first assembly wheel and the second assembly wheel is dynamically adjusted, which can improve the overall accuracy of the reducer to be debugged, reduce transmission error, reduce operating noise, and increase service life.

[0008] According to one embodiment of this application, the connecting portion is provided with a plurality of adjustment through holes, the plurality of adjustment through holes being spaced apart circumferentially along the first mounting through hole, and the plurality of adjustment through holes being used to correspond to a plurality of first screws provided on the first end face of the reducer to be debugged.

[0009] According to one embodiment of this application, the base is provided with a first locking part and a second locking part, and the connecting part is provided with a locking engagement part. The first locking part and the second locking part are respectively disposed on both sides of a first axis. In the first posture, the first locking part is adapted to lock and engage with the locking engagement part, and in the second posture, the second locking part is adapted to lock and engage with the locking part.

[0010] According to one embodiment of this application, the first locking portion includes a first supporting surface and a first boss disposed on the first supporting surface, the connecting portion is provided with a first notch, and the locking mating portion includes the first notch. In the first posture, the first notch is adapted to match the first boss; and / or...

[0011] The second locking part includes a second supporting surface and a second boss provided on the second supporting surface. The connecting part is provided with a second notch. The locking mating part includes the second notch. In the second posture, the second notch is adapted to match the second boss.

[0012] According to one embodiment of this application, it further includes a first locking pin, the first boss having a first through hole, and the connecting portion having a first locking hole at the first notch. In the first posture, one end of the first locking pin is adapted to pass through the first through hole and lock into the first locking hole; and / or,

[0013] The reducer debugging device further includes a second locking pin, the second boss is provided with a second through hole, and the connecting part is provided with a second locking hole at the second notch. In the second posture, the second locking pin is adapted to pass through the second through hole and lock into the second locking hole.

[0014] According to one embodiment of this application, both ends of the connecting portion are provided with the first notch, and both ends of the first supporting surface are provided with the first boss, wherein the first notch at both ends of the connecting portion and the first boss at both ends of the first supporting surface are respectively provided in a one-to-one correspondence; and / or,

[0015] Both ends of the connecting part are provided with the second notch, and both ends of the second support surface are provided with the second boss. The second notch at both ends of the connecting part and the second boss at both ends of the second support surface are respectively provided in a one-to-one correspondence.

[0016] According to one embodiment of this application, the connecting portion is further provided with a plurality of first mounting holes, the plurality of first mounting holes being spaced apart circumferentially along the first mounting through hole, and the plurality of first mounting holes being used to connect with the reducer to be debugged.

[0017] According to one embodiment of this application, the connecting portion includes:

[0018] A first connecting plate is provided with a second mounting through hole, and the first connecting plate is rotatably mounted on the base around the first axis.

[0019] The second connecting plate is detachably connected to the first connecting plate. The first mounting through hole, the first connecting structure, and the second connecting structure are all located on the second connecting plate. The projection of the first mounting through hole is located within the projection of the second mounting through hole.

[0020] According to one embodiment of this application, the first mounting through hole and the second mounting through hole are coaxially arranged.

[0021] Secondly, this application provides a speed reducer debugging method based on the speed reducer debugging device described above. The speed reducer to be debugged includes a first assembly wheel, a second assembly wheel, and a bearing. A plurality of first screws are provided on the first end face of the first assembly wheel facing the second side. The plurality of first screws are used to connect to the outer ring of the bearing. The speed reducer debugging method includes the following steps:

[0022] The debugging motor is installed on the first side, and the reducer to be debugged is installed on the second side, so that the drive shaft of the debugging motor and the reducer to be debugged are driven connected through the first mounting through hole;

[0023] Flip the connecting part to the first posture;

[0024] Control the operation of the debugging motor to drive the reducer to be debugged to rotate;

[0025] The second end face of the second assembly wheel, which is away from the second side, is locked and fixed to the inner ring of the bearing, and the outer ring of the bearing, which is away from the second side, is locked and fixed to the connecting part.

[0026] Flip the connecting part to the second posture;

[0027] Tighten each of the first screws until each of the first screws is tightened to the rated torque;

[0028] Unlock the third end face from the connecting part, separate the drive shaft of the debugging motor from the reducer to be debugged, remove the reducer to be debugged, and complete the installation and debugging of the reducer to be debugged.

[0029] According to the reducer debugging method of this application, a debugging motor is connected to the reducer to be debugged. The debugging motor directly drives the reducer to be debugged to rotate. The reducer to be debugged is driven by a first assembly wheel and a second assembly wheel to rotate. At the same time, during the rotation of the reducer to be debugged, the second end face of the second assembly wheel away from the second side is locked and fixed to the inner ring of the bearing, and the third end face of the outer ring of the bearing away from the second side is locked and fixed to the connecting part. By turning multiple first screws, the concentricity of the first assembly wheel and the second assembly wheel can be dynamically adjusted. This can improve the overall accuracy of the reducer to be debugged, reduce transmission error, reduce operating noise, increase service life, and improve efficiency.

[0030] According to one embodiment of this application, the second end face is provided with a plurality of second screws for connecting to the inner ring of the bearing, and the third end face is provided with a plurality of third screws, the threaded end of each third screw passing through the first end face. The step of locking the second end face of the second assembly wheel away from the second side to the inner ring of the bearing, and locking the outer ring of the bearing away from the second side to the connecting portion includes:

[0031] Tighten the plurality of second screws and the plurality of third screws respectively until each of the second screws and each of the third screws is tightened to the rated torque.

[0032] According to one embodiment of this application, the step of flipping the connecting portion to the first posture further includes:

[0033] Tighten each of the third screws so that each of the third screws is connected to the connecting part.

[0034] Thirdly, this application provides a reducer after being debugged based on the reducer debugging method described above. The reducer includes a first assembly wheel, a second assembly wheel, and a wave generator assembly, wherein the first assembly wheel, the second assembly wheel, and the wave generator assembly are concentric.

[0035] According to the reducer debugging method described above in this application, the reducer is debugged by a debugging motor connected to the reducer under test. The debugging motor directly drives the reducer under test to rotate. The reducer under test is driven by a first assembly wheel and a second assembly wheel to rotate. During the rotation of the reducer under test, the second end face of the second assembly wheel away from the second side is locked and fixed to the inner ring of the bearing, and the third end face of the outer ring of the bearing away from the second side is locked and fixed to the connecting part. By tightening multiple first screws, the concentricity of the first assembly wheel, the second assembly wheel, and the wave generator assembly is made consistent, thereby reducing transmission error, reducing operating noise, increasing service life, and improving efficiency.

[0036] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0037] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0038] Figure 1 This is a schematic diagram of the structure of the speed reducer debugging device provided in this application embodiment, which is used to install and debug the motor and the speed reducer to be debugged.

[0039] Figure 2 yes Figure 1 A schematic diagram of the reducer debugging device in its first position;

[0040] Figure 3 yes Figure 1 A schematic diagram of the reducer debugging device in the second posture;

[0041] Figure 4 yes Figure 1 A schematic diagram of the structure in which the second connecting plate is used to install and debug the motor and the reducer to be debugged;

[0042] Figure 5 yes Figure 1 A cross-sectional view of the second connecting plate in the middle, showing the installation and debugging of the motor and the reducer to be debugged from the first angle;

[0043] Figure 6 yes Figure 1A cross-sectional view of the second connecting plate in the middle, showing the installation and debugging of the motor and the reducer to be debugged from a second angle;

[0044] Figure 7 yes Figure 1 A cross-sectional view from a third angle showing the second connecting plate in which the motor and the reducer to be debugged are installed and debugged.

[0045] Figure 8 yes Figure 1 A schematic diagram of the reducer to be debugged;

[0046] Figure 9 This is a flowchart illustrating the speed reducer debugging method provided in the embodiments of this application.

[0047] Figure label:

[0048] Base 110, base plate 111, mounting hole 1111, support part 112, bearing plate 113, mounting boss 114;

[0049] Connecting part 120, first connecting plate 1211, second connecting plate 1212, first side 121, second side 122, first mounting through hole 123, adjusting through hole 124, first notch 126, second notch 127, first mounting hole 128, second mounting through hole 129;

[0050] First locking part 130, first supporting surface 131, first boss 132, first through hole 1321;

[0051] Second locking part 140, second support surface 141, second boss 142, second through hole 1421;

[0052] The convex portion 150 and the second through hole 151;

[0053] 200 motors for testing;

[0054] The components to be tested include: reducer 300, first screw 310, first assembly wheel 320, second assembly wheel 330, second screw 340, third screw 350, bearing 360, wave generator assembly 370, and cam connecting shaft 380. Detailed Implementation

[0055] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0056] This application discloses a speed reducer debugging device.

[0057] The following is for reference. Figures 1 to 7 Describes a speed reducer debugging apparatus according to an embodiment of this application.

[0058] like Figures 1 to 4 As shown, the reducer debugging device includes a base 110 and a connecting part 120.

[0059] The base 110 can have various shapes. For example, in one embodiment, the base 110 can be columnar, in another embodiment, the base 110 can be cuboid, and in other embodiments, the base 110 can be a frame welded from channel steel, etc. Specifically, this application does not limit it.

[0060] Reference Figures 1 to 3 In one embodiment, the base 110 includes a base plate 111 and a support portion 112.

[0061] The base plate 111 is provided with a third connection structure for connecting to the ground. The connection between the base plate 111 and the ground is achieved through the third connection structure, which makes the structure of the base 110 stable and prevents the base 110 from tipping over and causing safety hazards.

[0062] It should be noted that the third connection structure can be multiple insertion holes 1111, which are spaced apart around the base plate 111. Each insertion hole 1111 is fitted with a bolt, which securely connects the base plate 111 to the ground. The operation is simple and easy to disassemble and assemble.

[0063] The lower end of the support part 112 is connected to the base plate 111, and the upper end is rotatably connected to the connecting part 120, so that the connecting part 120 can rotate around the first axis. In this way, by setting the support part 112, the position of the connecting part 120 is raised, avoiding the need for the tester to bend over during the test and improving the test experience.

[0064] It should be noted that the support part 112 can have various shapes. For example, in one embodiment, the support part 112 can be a cylinder, in another embodiment, the support part 112 can be a prism, etc., and in other embodiments, the support part 112 can be a frame welded from channel steel, etc. Specifically, this application does not limit it.

[0065] In one embodiment, a plurality of reinforcing ribs are provided between the base plate 111 and the support portion 112. The plurality of reinforcing ribs are spaced apart along the circumference of the base plate 111. The base plate 111 and the support portion 112 are connected by the plurality of reinforcing ribs, which increases the overall strength of the base 110 and prevents the base 110 from shaking and affecting the test accuracy.

[0066] In one embodiment, a bearing plate 113 is provided at the upper end of the support part 112. The bearing plate 113 is suitable for rotatably connecting with the connecting part 120. By providing the bearing plate 113, the contact area between the connecting part 120 and the base 110 is increased, so that the connecting part 120 is subjected to uniform force and avoids deformation of the connecting part 120 due to long-term use.

[0067] The connecting portion 120 has a first side 121 and a second side 122 that are opposite to each other.

[0068] It should be noted that the first side 121 and the second side 122, which are opposite to each other, can be arranged parallel to each other or at an angle to each other. This application does not limit the specific arrangement.

[0069] The first side 121 is provided with a first connection structure for connecting to the test motor 200. The first connection structure enables a detachable connection between the test motor 200 and the first side 121, which facilitates the disassembly of the test motor 200 and the connection part 120 after the concentricity of the reducer 300 to be tested is adjusted. The operation is simple.

[0070] It should be noted that there are various types of first connection structures. For example, in one embodiment, the first connection structure can be a first mounting hole, in which a first screw is inserted. The first screw allows for a detachable connection between the first side 121 and the debugging motor 200. In other embodiments, the first connection structure includes multiple first snap-fit ​​arms and corresponding first snap-fit ​​slots. Each first snap-fit ​​arm and its corresponding first snap-fit ​​slot together constitute a first snap-fit ​​unit. Multiple first snap-fit ​​units are spaced apart circumferentially along the base 110. The multiple first snap-fit ​​units allow for a detachable connection between the first side 121 and the debugging motor 200, and facilitate easy assembly and disassembly.

[0071] The second side 122 is provided with a second connection structure for connecting to the reducer 300 to be tested. The second connection structure enables a detachable connection between the reducer 300 to be tested and the second side 122, which facilitates the disassembly of the reducer 300 to be tested and the connection part 120 after the concentricity of the reducer 300 to be tested is adjusted. The operation is simple.

[0072] It should be noted that there are various types of second connection structures. For example, in one embodiment, the second connection structure can be a second mounting hole, in which a second screw is inserted. The second screw allows for a detachable connection between the second side 122 and the reducer 300 to be tested. In other embodiments, the second connection structure includes multiple second snap-fit ​​arms and corresponding second snap-fit ​​slots. Each second snap-fit ​​arm and its corresponding second snap-fit ​​slot together constitute a second snap-fit ​​unit. Multiple second snap-fit ​​units are spaced apart circumferentially along the base 110. The multiple second snap-fit ​​units allow for a detachable connection between the second side 122 and the reducer 300 to be tested, and the connection is easy to make and disassemble.

[0073] When the reducer 300 to be tested is mounted on the second side 122, the multiple first screws 310 on the first end face of the reducer 300 facing the second side 122 are exposed, making it easy for the operator to tighten the screws 310 and simplifying the operation. The connecting part 120 is provided with a first mounting through hole 123 for connecting the debugging motor 200 and the reducer 300 to be tested, so that when the debugging motor 200 rotates, it can drive the reducer 300 to be tested to rotate. The connecting part 120 is rotatably mounted on the base 110 around the first axis, so that the connecting part 120 has a first posture with the second side 122 facing upward and a second posture with the first side 121 facing upward.

[0074] Reference Figures 4 to 8 The reducer 300 to be tested includes a first assembly wheel 320 and a second assembly wheel 330. The first assembly wheel 320 drives the second assembly wheel 330 to rotate. Therefore, it is necessary to adjust the concentricity of the first assembly wheel 320 and the second assembly wheel 330. Since the reducer 300 to be tested has multiple second screws 340 and multiple third screws 350 on its second end face away from the second side 122, and multiple first screws 310 on its first end face facing the second side, when the connecting part 120 is in the first posture, the second side 122 faces upwards, facilitating the tightening of the multiple second screws 340 and multiple third screws 350. When the connecting part 120 is in the second posture, the first side 121 faces upwards, facilitating the tightening of the multiple first screws 310. Operation is simple.

[0075] It should be noted that the output shaft of the debugging motor 200 passes through the first mounting through hole 123 and is connected to the wave generator assembly 370 in the reducer 300 to be debugged via the cam connecting shaft 380. Of course, in other embodiments, the output shaft of the debugging motor 200 and the wave generator assembly 370 can also be connected by other structures, which is not limited in this application.

[0076] According to the reducer debugging device of this application, a debugging motor 200 is connected to the reducer 300 to be debugged. The debugging motor 200 directly drives the reducer 300 to rotate. The reducer 300 drives the second assembly wheel 330 to rotate via the first assembly wheel 320. Dynamically adjusting the concentricity of the first assembly wheel 320 and the second assembly wheel 330 can improve the overall accuracy of the reducer 300, reduce the transmission error of the reducer 300, reduce the operating noise of the reducer 300, and increase the service life of the reducer 300. In addition, after the concentricity is adjusted, the first assembly wheel 320 and the second assembly wheel 330 are precisely assembled using multiple first screws 310, multiple second screws 340, and multiple third screws 350.

[0077] It should be noted that in the embodiments of this application, the first assembly wheel 320 can be a flexible wheel, the second assembly wheel 330 can be a rigid wheel, and the bearing can be a crossed roller bearing. Furthermore, since the assembly and connection of the flexible wheel, the rigid wheel, and the crossed roller bearing are all prior art, they will not be described in detail here.

[0078] Reference Figure 7 In one embodiment, the connecting part 120 is provided with a plurality of adjustment through holes 124. The plurality of adjustment through holes 124 are arranged at intervals along the circumference of the first mounting through hole 123, and the plurality of adjustment through holes 124 are used to correspond to a plurality of first screws 310 provided on the first end face of the reducer 300 to be debugged. With this arrangement, the plurality of first screws 310 can be exposed externally, which is simple in structure and easy to operate.

[0079] Reference Figures 1 to 3 In one embodiment, the base 110 is provided with a first locking part 130 and a second locking part 140, and the connecting part 120 is also provided. The first locking part 130 and the second locking part 140 are respectively located on both sides of a first axis. In a first posture, the first locking part 130 is adapted to engage with the locking part to fix the position of the connecting part 120 relative to the base 110, thus preventing the connecting part 120 from rotating during debugging, which would affect the debugging results and cause safety hazards. In a second posture, the second locking part 140 is adapted to engage with the locking part to fix the position of the connecting part 120 relative to the base 110, thus preventing the connecting part 120 from rotating during debugging, which would affect the debugging results and cause safety hazards.

[0080] Reference Figure 2In one embodiment, the first locking part 130 includes a first supporting surface 131 and a first boss 132 provided on the first supporting surface 131. The connecting part 120 is provided with a first notch 126. The locking mating part includes the first notch 126. In the first posture, the first notch 126 is adapted to match the first boss 132. With this arrangement, the first notch 126 can avoid the first boss 132, making the reducer debugging device structure compact.

[0081] The second locking part 140 includes a second support surface 141 and a second boss 142 provided on the second support surface 141. The connecting part 120 is provided with a second notch 127. The locking mating part includes a second notch 127. In the second posture, the second notch 127 is adapted to match the second boss 142. With this arrangement, the second notch 127 can avoid the second boss 142, making the structure of the reducer debugging device compact.

[0082] It should be noted that in the above embodiments, the features of the first protrusion 132 and the first notch 126, as well as the features of the second protrusion 142 and the second notch 127, can be set individually or simultaneously. When set simultaneously, the effect is the best.

[0083] In one embodiment, the reducer debugging device further includes a first locking pin, a first protrusion 132 having a first through hole 1321, and a connecting part 120 having a first locking hole at a first notch 126. In the first posture, one end of the first locking pin is adapted to pass through the first through hole 1321 and lock into the first locking hole. The structure is simple and easy to process, and it can fix the position of the connecting part 120 relative to the base 110 in the first posture, so as to avoid the connecting part 120 rotating during the debugging process, which would affect the debugging results and cause safety hazards.

[0084] In one embodiment, the reducer debugging device further includes a second locking pin. The second boss 142 is provided with a second through hole 1421, and the connecting part 120 is provided with a second locking hole at the second notch 127. In the second posture, the second locking pin is adapted to pass through the second through hole 1421 and lock into the second locking hole. The structure is simple and easy to process. In the second posture, the connecting part 120 can be fixed relative to the base 110, so as to avoid the connecting part 120 rotating during the debugging process, which would affect the debugging results and cause safety hazards.

[0085] In one embodiment, the connecting portion 120 is provided with a first notch 126 at both ends, and the first support surface 131 is provided with a first boss 132 at both ends. The first notches 126 at both ends of the connecting portion 120 and the first bosses 132 at both ends of the first support surface 131 are provided in a one-to-one correspondence. In this way, the connecting portion 120 can be better maintained stably in the first posture, and deformation of the connecting portion 120 due to long-term use can be avoided.

[0086] In one embodiment, the connecting portion 120 is provided with a second notch 127 at both ends, and the second support surface 141 is provided with a second boss 142 at both ends. The second notches 127 at both ends of the connecting portion 120 and the second bosses 142 at both ends of the second support surface 141 are provided in a one-to-one correspondence. In this way, the connecting portion 120 can be better and more stably maintained in the second posture, and deformation of the connecting portion 120 due to long-term use can be avoided.

[0087] It should be noted that in the above embodiments, the features of having a first notch 126 at both ends of the connecting portion 120, a first boss 132 at both ends of the first support surface 131, a second notch 127 at both ends of the connecting portion 120, and a second boss 142 at both ends of the second support surface 141 can be provided separately or simultaneously. The effect is best when both are provided simultaneously.

[0088] Reference Figure 5 In one embodiment, the connecting part 120 is also provided with a plurality of first mounting holes 128. The plurality of first mounting holes 128 are arranged at intervals along the circumference of the first mounting through hole 123. The connecting part 120 is connected to the reducer 300 to be debugged through the plurality of first mounting holes 128, thereby realizing the fixation between the connecting part 120 and the reducer 300 to be debugged. The structure is simple and can avoid the reducer 300 to be debugged from shaking or moving during the debugging process.

[0089] Reference Figures 1 to 3 In one embodiment, the connecting portion 120 includes a first connecting plate 1211 and a second connecting plate 1212.

[0090] The first connecting plate 1211 is provided with a second mounting through hole 129, and the first connecting plate 1211 is rotatably mounted on the base 110 around the first axis.

[0091] It should be noted that there are multiple ways to achieve the rotatable installation of the first connecting plate 1211 on the base 110 around the first axis. For example, in one embodiment, one of the first connecting plate 1211 and the base 110 is provided with a rotating hole, and the other is provided with a rotating shaft extending along the first axis. The rotating shaft and the rotating hole are fitted together, thereby achieving a rotatable connection between the first connecting plate 1211 and the base 110. Of course, in other embodiments, one of the first connecting plate 1211 and the base 110 is provided with an arc-shaped groove, and the other is provided with a rotating shaft. The rotatable connection between the first connecting plate 1211 and the base 110 can also be achieved by fitting the arc-shaped groove and the rotating shaft together.

[0092] Additionally, refer to Figure 1In the embodiments of this application, the base 110 is provided with a mounting boss 114, and the mounting boss 114 is provided with a first through hole along the first axis. The connecting part 120 is provided with at least two protrusions 150, and the at least two protrusions 150 are spaced apart along the first axis. Each protrusion 150 is provided with a second through hole 151 along the first axis. Each second through hole 151 corresponds to the first through hole. The reducer debugging device also includes a hinge shaft, which passes through the first through hole and the second through hole 151 in sequence, realizing the flip connection of the first connecting plate 1211 around the first axis. The structure is simple.

[0093] The second connecting plate 1212 is detachably connected to the first connecting plate 1211. The first mounting through hole 123, the first connecting structure, and the second connecting structure are all located on the second connecting plate 1212. The projection of the first mounting through hole 123 is located within the projection of the second mounting through hole 129. With this setting, the reducer 300 to be debugged and the debugging motor 200 can be installed on the second connecting plate 1212 first, and then the second connecting plate 1212 can be connected to the first connecting plate 1211. This setting is simple to operate and improves installation efficiency.

[0094] In one embodiment, the first mounting through hole 123 and the second mounting through hole 129 are coaxially arranged, which results in a better installation effect. Of course, in other embodiments, the axis of the first mounting through hole 123 and the axis of the second mounting through hole 129 can also be arranged parallel. Specifically, this application does not limit this.

[0095] Secondly, referring to Figure 9 This application provides a speed reducer debugging method based on the speed reducer debugging device described above. The debugging motor 200 includes a first assembly wheel 320, a second assembly wheel 330, and a bearing 360. The first assembly wheel 320 has a plurality of first screws 310 on its first end face facing the second side 122. The speed reducer debugging method includes the following steps:

[0096] Step S100: Install the debugging motor 200 on the first side 121 and the reducer 300 to be debugged on the second side 122, so that the drive shaft of the debugging motor 200 and the reducer 300 to be debugged are driven connected through the first mounting through hole 123.

[0097] Step S300: Flip the connecting part 120 to the first position.

[0098] It should be noted that the connecting part 120 can be flipped to the first position by manual flipping or by mechanical structure to achieve automated flipping. This application does not limit the specific method.

[0099] Step S400: Control the operation of the debugging motor 200 to drive the reducer 300 to be debugged to rotate.

[0100] It should be noted that, in the embodiments of this application, the debugging motor 200 is a servo motor. Servo motors have high precision, good high-speed performance, and strong overload resistance, capable of withstanding loads three times the rated torque. They are particularly suitable for applications with instantaneous load fluctuations and requiring rapid start-up. They also offer smooth low-speed operation, making them suitable for applications requiring high-speed response, and significantly reducing heat generation and noise. Of course, in other embodiments, the debugging motor 200 can also be a stepper motor, etc., and this application does not specifically limit this choice. Furthermore, the debugging motor 200 remains operational throughout the entire debugging process, only ceasing operation after debugging is complete.

[0101] Step S500: Lock the second end face of the second assembly wheel 330 away from the second side 122 to the inner ring of the bearing 360, and lock the outer ring of the bearing 360 away from the third end face of the second side 122 to the connecting part 120.

[0102] In one embodiment, a plurality of second screws 340 are provided on the second end face for connecting to the inner ring of the bearing 360, and a plurality of third screws 350 are provided on the third end face, with the threaded end of each third screw 350 passing through the first end face. Step S500: The step of locking and fixing the second end face of the second assembly wheel 330 away from the second side face 122 to the inner ring of the bearing 360, and locking and fixing the outer ring of the bearing 360 away from the third end face of the second side face 122 to the connecting part 120 includes:

[0103] Step S510: Tighten the multiple second screws 340 and the multiple third screws 350 respectively until each second screw 340 and each third screw 350 is tightened to the rated torque.

[0104] It should be noted that in this step, the multiple second screws 340 and multiple third screws 350 are all tightened diagonally. Of course, in other embodiments, other methods can be used to tighten the corresponding screws, and this application does not limit this.

[0105] Step S600: Flip the connecting part 120 to the second posture.

[0106] It should be noted that the connecting part 120 can be flipped to the second posture by manual flipping or by mechanical structure to achieve automated flipping. In this application, no specific limitation is made.

[0107] Step S700: Tighten the multiple first screws 310 one by one until each first screw 310 is tightened to the rated torque.

[0108] It should be noted that in this step, the multiple first screws 310 are tightened diagonally. Of course, in other embodiments, other methods can be used to tighten the corresponding screws, and this application does not limit this.

[0109] Step S800: Unlock the third end face from the connecting part 120, separate the drive shaft of the debugging motor 200 from the reducer 300 to be debugged, remove the reducer 300 to be debugged, and complete the installation and debugging of the reducer 300 to be debugged.

[0110] According to the reducer debugging method of this application, a debugging motor 200 is connected to the reducer 300 to be debugged. The debugging motor 200 directly drives the reducer 300 to rotate. The reducer 300 drives the second assembly wheel 330 to rotate via the first assembly wheel 320. Simultaneously, during the rotation of the reducer 300, the concentricity of the first assembly wheel 320 and the second assembly wheel 330 is dynamically adjusted. This improves the overall accuracy of the reducer 300, reduces transmission error, lowers operating noise, increases service life, and improves efficiency. Furthermore, by tightening multiple first screws 310, multiple second screws 340, and multiple third screws 350, the concentrically adjusted first assembly wheel 320, second assembly wheel 330, and bearing 360 are assembled and fixed.

[0111] In one embodiment, step S300, which involves flipping the connecting portion 120 to the first posture, further includes:

[0112] Step S200: Tighten the multiple third screws 350 respectively so that the multiple third screws 350 are connected to the connecting part 120.

[0113] It should be noted that in this step, since further adjustments are needed later, tightening the multiple third screws 350 does not require tightening them to the rated torque; it is sufficient to keep the reducer 300 under adjustment stable and without shaking. Furthermore, the multiple third screws 350 are tightened diagonally, meaning two screws located diagonally are tightened sequentially. Since this diagonal tightening method is existing technology, it will not be elaborated upon here. Of course, in other embodiments, other methods can be used to tighten the corresponding screws, and this application does not limit this approach.

[0114] Thirdly, this application also provides a reducer after being adjusted based on the above-mentioned reducer adjustment method. The reducer includes a first assembly wheel 320, a second assembly wheel 330 and a wave generator assembly 370, and the first assembly wheel 320, the second assembly wheel 330 and the wave generator assembly 370 are concentric.

[0115] According to the reducer of this application, a test motor 200 is connected to the reducer 300 to be tested. The test motor 200 directly drives the reducer 300 to rotate. The reducer 300 is driven by the first assembly wheel 320 and the second assembly wheel 330 to rotate. During the rotation of the reducer 300, the second end face of the second assembly wheel 330 away from the second side 122 is locked and fixed to the inner ring of the bearing 360, and the outer ring of the bearing 360 away from the third end face of the second side 122 is locked and fixed to the connecting part 120. By turning multiple first screws 310, the concentricity of the first assembly wheel 320, the second assembly wheel 330, and the wave generator assembly 370 is consistent, which reduces transmission error, reduces operating noise, increases service life, and improves efficiency.

[0116] It should be noted that the speed reducer after debugging in this application is debugged by adjusting the rigid wheel and the flexible wheel. The first screw 310, the second screw 340 and the third screw 350 are tightened diagonally to make the concentricity of the flexible wheel, the rigid wheel and the wave generator assembly consistent, thereby reducing transmission error, reducing operating noise, increasing service life and improving efficiency.

[0117] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0118] In the description of this application, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0119] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0120] In the description of this application, "multiple" means two or more.

[0121] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0122] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0123] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0124] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A speed reducer debugging device, characterized in that, include: Base; as well as, The connecting part has a first side and a second side that are opposite to each other. The first side is provided with a first connecting structure for connecting to a test motor, and the second side is provided with a second connecting structure for connecting to a reducer to be tested. When the reducer to be tested is installed on the second side, a plurality of first screws provided on the first end face of the reducer to be tested facing the second side are exposed. The connecting part is provided with a first mounting through hole for connecting the test motor and the reducer to be tested. The connecting part is rotatably installed on the base around a first axis so that the connecting part has a first posture with the second side facing upward and a second posture with the first side facing upward. The reducer debugging device is used to, during the process of the debugging motor driving the reducer to be debugged to rotate, rotate the connecting part, and in the first posture, lock and fix the second assembly wheel of the reducer to be debugged to the inner ring of the bearing, and lock and fix the outer ring of the bearing to the connecting part. In the second posture, it tightens multiple first screws to make the concentricity of the first assembly wheel, the second assembly wheel, and the wave generator assembly consistent.

2. The reducer debugging device according to claim 1, characterized in that, The connecting part is provided with a plurality of adjustment through holes, which are spaced apart circumferentially along the first mounting through hole, and the plurality of adjustment through holes are used to correspond to a plurality of first screws provided on the first end face of the reducer to be debugged.

3. The reducer debugging device according to claim 1, characterized in that, The base is provided with a first locking part and a second locking part, and the connecting part is provided with a locking engagement part. The first locking part and the second locking part are respectively provided on both sides of the first axis. In the first posture, the first locking part is adapted to lock and engage with the locking engagement part. In the second posture, the second locking part is adapted to lock and engage with the locking engagement part.

4. The reducer debugging device according to claim 3, characterized in that, The first locking portion includes a first supporting surface and a first boss provided on the first supporting surface. The connecting portion has a first notch, and the locking mating portion includes the first notch. In the first posture, the first notch is adapted to match the first boss; and / or, The second locking part includes a second supporting surface and a second boss provided on the second supporting surface. The connecting part is provided with a second notch. The locking mating part includes the second notch. In the second posture, the second notch is adapted to match the second boss.

5. The reducer debugging device according to claim 4, characterized in that, It also includes a first locking pin, the first boss having a first through hole, and the connecting portion having a first locking hole at the first notch. In the first posture, one end of the first locking pin is adapted to pass through the first through hole and lock into the first locking hole; and / or, The reducer debugging device further includes a second locking pin, the second boss is provided with a second through hole, and the connecting part is provided with a second locking hole at the second notch. In the second posture, the second locking pin is adapted to pass through the second through hole and lock into the second locking hole.

6. The reducer debugging device according to claim 4, characterized in that, Both ends of the connecting portion are provided with the first notch, and both ends of the first support surface are provided with the first boss. The first notches at both ends of the connecting portion and the first bosses at both ends of the first support surface are respectively provided; and / or, Both ends of the connecting part are provided with the second notch, and both ends of the second support surface are provided with the second boss. The second notch at both ends of the connecting part and the second boss at both ends of the second support surface are respectively provided in a one-to-one correspondence.

7. A method for adjusting a speed reducer, based on the speed reducer adjusting device as described in any one of claims 1 to 6, characterized in that, The reducer to be debugged includes a first assembly wheel, a second assembly wheel, and a bearing. A plurality of first screws are provided on the first end face of the first assembly wheel facing the second side. These first screws are used to connect to the outer ring of the bearing. The reducer debugging method includes the following steps: The debugging motor is installed on the first side, and the reducer to be debugged is installed on the second side, so that the drive shaft of the debugging motor and the reducer to be debugged are driven connected through the first mounting through hole; Flip the connecting part to the first posture; Control the operation of the debugging motor to drive the reducer to be debugged to rotate; The second end face of the second assembly wheel, which is away from the second side, is locked and fixed to the inner ring of the bearing, and the outer ring of the bearing, which is away from the second side, is locked and fixed to the connecting part. Flip the connecting part to the second posture; Tighten each of the first screws until each of the first screws is tightened to the rated torque; Unlock the third end face from the connecting part, separate the drive shaft of the debugging motor from the reducer to be debugged, remove the reducer to be debugged, and complete the installation and debugging of the reducer to be debugged.

8. The reducer debugging method according to claim 7, characterized in that, The second end face is provided with a plurality of second screws for connecting to the inner ring of the bearing. The third end face is provided with a plurality of third screws, the threaded end of each third screw passing through the first end face. The steps of locking the second end face of the second assembly wheel away from the second side to the inner ring of the bearing, and locking the outer ring of the bearing away from the second side to the connecting part include: Tighten the plurality of second screws and the plurality of third screws respectively until each of the second screws and each of the third screws is tightened to the rated torque.

9. The reducer debugging method according to claim 8, characterized in that, Before the step of flipping the connecting part to the first posture, the method further includes: Tighten each of the third screws so that each of the third screws is connected to the connecting part.

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