Harmonic reducer rigid gear and flexible gear tooth pairing inspection tool and inspection method

Abstract

The invention relates to a harmonic reducer rigid gear and flexible gear tooth pairing inspection tool and method, and belongs to the technical field of harmonic reducer detection.The tool comprises a bottom plate, supporting columns are fixed to the periphery of the bottom plate, and the tops of the supporting columns are connected with a fixing plate; the supporting columns are slidably connected with a movable plate, and the bottom of the movable plate is detachably connected with a pressing head. One side of the fixing plate is fixedly connected with dial indicators. A pressing rod is connected to the movable plate, and a supporting and positioning assembly is detachably connected to the bottom plate. The flexible gear and rigid gear assembly comprises a wave generator, a flexible gear and a rigid gear. The upper end face of the flexible gear is higher than the upper end face of the rigid gear. According to the invention, the risk of pressure deviation can be reduced, the disadvantage of different pre-pressure is avoided, the detection accuracy is improved, and the performance of the harmonic reducer is improved; the measuring result is accurate, repeated measurement is not needed, and the measuring efficiency of workers is improved; by adopting the split structure design, the rigid and flexible gears of different models can be measured by replacing corresponding weights, pressure heads and the like, and the application range is wide.

Description

Technical Field

[0001] The present invention relates to a tool and method for inspecting the pairing of a rigid wheel and a flexible wheel of a harmonic reducer, and belongs to the technical field of harmonic reducer detection. Background Art

[0002] A harmonic reducer is a new type of transmission device that offers advantages such as high precision, high transmission ratio, high load capacity, compact size, and light weight. It has been widely used in industrial robotics, aerospace, and medical devices. A harmonic reducer consists of three basic components: a wave generator, a flexspline, and a rigid pulley. The wave generator is an elliptical cam mounted inside the flexspline. The flexspline is a thin-walled elastic gear with fewer teeth than the rigid pulley. The rigid pulley is a rigid gear that meshes with the flexspline. When the wave generator rotates, it causes elastic deformation of the flexspline, resulting in relative motion between the flexspline and the rigid pulley. Because the flexspline has fewer teeth than the rigid pulley, each rotation of the flexspline produces a tooth difference between the flexspline and the rigid pulley. This allows the harmonic reducer to achieve a large transmission ratio reduction motion.

[0003] During the production process of the harmonic reducer, it is necessary to check the accuracy of the pairing of the rigid wheel and the flexspline teeth. The traditional pairing method is to measure the cross-pin diameter of the rigid wheel and the flexspline teeth after they are processed, and then classify and assemble them according to the standards and specifications formulated within the company. Due to factors such as processing errors, dimensional measurement errors, and manual classification errors in this pairing method, the meshing performance of the rigid wheel and the flexspline will be unstable, which will greatly affect the performance of the harmonic reducer. Therefore, it is necessary to further check the tightness of the pairing of the rigid wheel and the flexspline teeth. The operation steps are as follows:

[0004] 1. After the wave generator, flexspline and rigid pulley are assembled, measure the size from the upper end face of the flexspline to the upper end face of the wave generator. Proceed with subsequent operations while ensuring that this size remains unchanged.

[0005] 2. Lift the rigid pulley until it can no longer be lifted, and then measure the dimension from the upper end face of the flexible pulley to the upper end face of the rigid pulley. This dimension is defined as the preload value.

[0006] 3. Compare the above measured dimensions with the standard dimensions formulated within the company. If they are within the specified error range, the pairing is qualified.

[0007] The above operation steps are mainly measured manually. Especially in step 2, the force of lifting the rigid wheel varies from person to person, so there are many human factors, which lead to large measurement errors, repeated measurement processes, long time consumption and many other disadvantages. Summary of the Invention

[0008] In view of the above deficiencies in the prior art, the technical problem to be solved by the present invention is: to provide a tool and an inspection method for the pairing inspection of the rigid wheel and flexspline teeth of a harmonic reducer, which is used to inspect the tightness of the pairing of the rigid wheel and flexspline teeth, avoid human factors, ensure the accuracy of the inspection results, and improve the inspection efficiency.

[0009] The tooling for inspecting the pairing of the rigid wheel and flexspline teeth of a harmonic reducer described in the present invention comprises a base plate, support columns are fixed around the base plate, and the tops of the support columns are connected to the fixed plate; the support columns are slidably connected to a movable plate, and a pressure head is detachably connected to the bottom of the movable plate; a dial indicator is fixedly connected to one side of the fixed plate to read measurement data; a pressure rod is connected to the movable plate; a support positioning assembly is detachably connected to the base plate, and the support positioning assembly is used to place a flexspline and rigid wheel assembly; the flexspline and rigid wheel assembly comprises a wave generator, a flexspline and a rigid wheel, and the upper end surface of the flexspline is higher than the upper end surface of the rigid wheel.

[0010] Preferably, the movable plate is slidably connected to the support column via a linear bearing, the bottom of the linear bearing is in elastic contact with the base plate via a spring, and the elastic force of the spring is equal to the gravity of the movable plate.

[0011] Furthermore, the center position of the movable plate is fixedly connected to a lifting link, which passes through the fixed plate and is hinged to the middle of the operating rod. One end of the operating rod is fixedly connected to a locking piece. By lifting the operating rod, the movable plate can be lifted. When the operating rod is continuously lifted until it is parallel to the lifting link, the side of the locking piece abuts against the top surface of the fixed plate, thereby locking the movable plate and the pressure head.

[0012] Preferably, a pressure rod connecting column is fixed on the movable plate, and the pressure rod connecting column is connected to the pressure rod after passing through the fixed plate. An adjusting screw is threaded on the pressure rod, and the adjusting screw can contact the measuring head of the micrometer. The height of the adjusting screw on the pressure rod can be adjusted.

[0013] Preferably, the support and positioning assembly includes a support base, a pressure cover and a movable cover. The pressure cover is fixed above the support base. Openings are provided on one side of the support base and the pressure cover to accommodate the flexible wheel and rigid wheel assembly. The movable cover is movably arranged at the opening of the pressure cover. Steps are provided on the pressure cover and the movable cover to support the bottom of the rigid wheel.

[0014] Preferably, the support and positioning assembly also includes a positioning connector, which is used to synchronously position the wave generator and the flexible wheel; when in use, the positioning connector is connected to the bottom of the flexible wheel by a bolt, and at the same time, the positioning connector abuts against the bottom of the wave generator to support it, so as to keep the size from the upper end face of the flexible wheel to the upper end face of the wave generator unchanged.

[0015] Preferably, the support and positioning components, pressure heads and weights are provided in various specifications, and the support and positioning components, pressure heads and weights of corresponding specifications can be selected according to the different specifications of the flexible wheel and rigid wheel assembly.

[0016] The method for inspecting the pairing of the rigid wheel and flexspline teeth of a harmonic reducer according to the present invention comprises the following steps:

[0017] S1. Place the rigid wheel into the supporting base, cover it with the movable cover, and lock the rigid wheel. Then place the corresponding weight on the movable plate, hold the operating lever and slowly lower it until the pressure head is firmly pressed on the rigid wheel. At this time, read the value M1 of the dial indicator.

[0018] S2. Assemble the wave generator, the flexspline and the rigid wheel into a flexspline-rigid wheel assembly, connect the flexspline to the positioning connector, and then place the entire assembly into the support base. Cover it with a movable cover to lock the flexspline-rigid wheel assembly.

[0019] S3. Keep the weight on the movable plate, hold the operating lever and slowly move it downward. Under the action of gravity, the indenter slowly presses down on the flexible wheel. When the indenter is compacted and the flexible wheel no longer moves downward, read the value M2 on the dial indicator again.

[0020] S4. Calculate the preload value M using the formula M=M1-M2, and compare the calculated preload value M with the company's internal standards to recheck whether the rigid-flexible gear tooth pairing is qualified.

[0021] Preferably, in step S2, the positioning connector is abutted against the bottom of the wave generator to ensure that the dimension from the upper end face of the flexspline to the upper end face of the wave generator remains unchanged and meets the internal enterprise standard, that is, the step height of the positioning connector.

[0022] Preferably, in step S2, the bottom of the rigid wheel is supported by steps on the pressure cover and the movable cover.

[0023] By replacing the corresponding weights, pressure heads, support bases, pressure covers and movable covers, the preload values ​​of the rigid and flexible pulleys of various types of harmonic reducers can be measured.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. During measurement, the present invention can always ensure that the rigid wheel and the flexible wheel are pressed vertically, reducing the risk of pressure deviation. At the same time, the use of weights instead of manual pre-pressing can avoid the disadvantage of different pre-pressure sizes, improve the accuracy of the inspection, and greatly improve the performance of the harmonic reducer;

[0026] 2. The original method has measurement errors, requiring workers to measure repeatedly to ensure the accuracy of the final measurement results. The measurement results of the present invention are accurate and do not require re-measurement. The operation method of the present invention is simple, which improves the measurement efficiency of workers.

[0027] 3. The present invention adopts a split structure design. When measuring the preload value of different types of rigid-flexible wheels, it can be achieved by replacing the corresponding weights, pressure heads, support bases, pressure covers and movable covers. The conversion is convenient and fast, and the application range is wide. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 This is a front view of the pressure head of the present invention when it is in a locked state;

[0030] Figure 3 This is a front view of the pressure head of the present invention when it is in a downward pressing state;

[0031] Figure 4 It is a cross-sectional view during the process of measuring the value M1 using the present invention;

[0032] Figure 5 It is a cross-sectional view during the process of measuring the value M2 using the present invention;

[0033] Figure 6 It is a cross-sectional view of the flexspline and rigid spline assembly.

[0034] In the figure: 1. Adjusting screw; 2. Pressure rod; 3. Operating rod; 4. Locking piece; 5. Fixed plate; 6. Movable plate; 7. Linear bearing; 8. Spring; 9. Base plate; 10. Flexspline and rigid wheel assembly; 11. Support and positioning assembly; 12. Micrometer; 13. Pressure rod connecting column; 14. Lifting connecting rod; 15. Pressure head; 16. Support column; 17. Pressure cover; 18. Moving cover; 19. Support base; 20. Weight; 21. Rigid wheel; 22. Flexspline; 23. Positioning connector; 24. Wave generator. DETAILED DESCRIPTION

[0035] like Figure 1-6 As shown, this embodiment is implemented by the following technical solutions: it includes a base plate 9, support columns 16 are fixed around the base plate 9, and the top of the support column 16 is connected to the fixed plate 5; the support column 16 is slidably connected to the movable plate 6, and the bottom of the movable plate 6 is detachably connected to the pressure head 15; a micrometer 12 is fixedly connected to one side of the fixed plate 5 to read the measurement data; a pressure rod 2 is connected to the movable plate 6; the base plate 9 is detachably connected to a support positioning component 11, and the support positioning component 11 is used to place a flexible wheel and rigid wheel assembly 10; the flexible wheel and rigid wheel assembly 10 includes a wave generator 24, a flexible wheel 22 and a rigid wheel 21, and the upper end surface of the flexible wheel 22 is higher than the upper end surface of the rigid wheel 21.

[0036] In this embodiment, the movable plate 6 is slidably connected to the support column 16 via a linear bearing 7. The bottom of the linear bearing 7 is in elastic contact with the base plate 9 via a spring 8. The elastic force of the spring 8 is equal to the weight of the movable plate 6. The center of the movable plate 6 is fixedly connected to a lifting link 14. The lifting link 14 passes through the fixed plate 5 and is hinged to the middle of the operating rod 3. One end of the operating rod 3 is fixedly connected to a locking member 4. By lifting the operating rod 3, the movable plate 6 can be lifted. When the operating rod 3 is continuously lifted until it is parallel to the lifting link 14, the side of the locking member 4 abuts against the top surface of the fixed plate 5, thereby locking the movable plate 6 and the pressure head 15.

[0037] A pressure rod connecting column 13 is fixed on the movable plate 6, and the pressure rod connecting column 13 is connected to the pressure rod 2 after passing through the fixed plate 5. An adjusting top screw 1 is threadedly connected to the pressure rod 2, and the adjusting top screw 1 can contact the measuring head of the micrometer 12. The height position of the adjusting top screw 1 on the pressure rod 2 can be adjusted.

[0038] The support and positioning assembly 11 includes a support base 19, a pressure cover 17 and a movable cover 18. The pressure cover 17 is fixed above the support base 19. Openings are provided on one side of the support base 19 and the pressure cover 17 to accommodate the flexible wheel and rigid wheel assembly 10. The movable cover 18 is movably arranged at the opening of the pressure cover 17. Steps are provided on the pressure cover 17 and the movable cover 18 to support the bottom of the rigid wheel 21.

[0039] The support and positioning assembly 11 also includes a positioning connector 23, which is used to synchronously position the wave generator 24 and the flexspline 22. During use, the positioning connector 23 is bolted to the bottom of the flexspline 22 and abuts against the bottom of the wave generator 24, providing support to maintain the distance from the upper end surface of the flexspline 22 to the upper end surface of the wave generator 24. The support and positioning assembly 11, pressure head 15, and weight 20 are available in various sizes. Depending on the specifications of the flexspline-rigid wheel assembly 10, the corresponding support and positioning assembly, pressure head, and weight can be selected.

[0040] The method for checking the pairing of the rigid wheel and flexspline teeth of a harmonic reducer described in this embodiment includes the following steps:

[0041] S1. Place the rigid wheel 21 into the supporting base 19, cover it with the movable cover 18, and lock the rigid wheel 21. Then place the corresponding weight 20 on the movable plate 6, hold the operating lever 3 and slowly lower it until the pressure head 15 is pressed on the rigid wheel 21. At this time, read the value M1 on the dial indicator 12.

[0042] S2. Assemble the wave generator 24, the flexspline 22, and the rigid wheel 21 into a flexspline-rigid wheel assembly 10, and connect the flexspline 22 to the positioning connector 23, so that the positioning connector 23 abuts against the bottom of the wave generator 24 to ensure that the dimension from the upper end surface of the flexspline 22 to the upper end surface of the wave generator 24 remains unchanged and meets the internal enterprise standard, that is, the step height of the positioning connector 23; then place the entire assembly into the support base 19, cover it with the movable cover 18, and lock the flexspline-rigid wheel assembly 10. Support the bottom of the rigid wheel 21 with the steps on the pressure cover 17 and the movable cover 18 to prevent it from moving;

[0043] S3. Keep the weight 20 on the movable plate 6 and slowly move the operating lever 3 downward. Under the action of gravity, the indenter 15 slowly presses down on the flexible spline 22. When the indenter 15 compacts and the flexible spline 22 stops moving downward, read the value M2 on the dial indicator 12 again.

[0044] S4. Calculate the preload value M using the formula M=M1-M2, and compare the calculated preload value M with the company's internal standards to recheck whether the rigid-flexible gear tooth pairing is qualified.

[0045] By replacing the corresponding weights, pressure heads, support bases, pressure covers and movable covers, the preload values ​​of the rigid and flexible pulleys of various types of harmonic reducers can be measured.

Claims

1. A tool for testing the matching of the rigid wheel and flexible wheel teeth of a harmonic reducer, characterized in that: The invention comprises a base plate (9), support columns (16) are fixed around the base plate (9), and the top of the support columns (16) is connected to the fixed plate (5); the support columns (16) are slidably connected to the movable plate (6), and the bottom of the movable plate (6) is detachably connected to a pressure head (15); a micrometer (12) is fixedly connected to one side of the fixed plate (5), and a pressure rod (2) is connected to the movable plate (6); a support positioning component (11) for placing a flexible wheel and rigid wheel assembly (10) is detachably connected to the base plate (9); the flexible wheel and rigid wheel assembly (10) comprises a wave generator (24), a flexible wheel (22) and a rigid wheel (21), and the upper end surface of the flexible wheel (22) is higher than the upper end surface of the rigid wheel (21).

2. The tool for testing the matching of the rigid wheel and flexspline teeth of a harmonic reducer according to claim 1 is characterized in that: The movable plate (6) is slidably connected to the support column (16) through a linear bearing (7), and the bottom of the linear bearing (7) is elastically contacted with the bottom plate (9) through a spring (8), and the elastic force of the spring (8) is equal to the gravity of the movable plate (6).

3. The tool for testing the matching of the rigid wheel and flexspline teeth of a harmonic reducer according to claim 2 is characterized in that: The center position of the movable plate (6) is fixedly connected to a lifting link (14), which passes through the fixed plate (5) and is hinged to the middle of the operating rod (3), and one end of the operating rod (3) is fixedly connected to a locking member (4).

4. The tool for testing the matching of the rigid wheel and flexspline teeth of a harmonic reducer according to claim 3 is characterized in that: A pressure rod connecting column (13) is fixed on the movable plate (6), and the pressure rod connecting column (13) is connected to the pressure rod (2) after passing through the fixed plate (5). An adjusting top screw (1) is threadedly connected to the pressure rod (2), and the adjusting top screw (1) can contact the measuring head of the micrometer (12). The height of the adjusting top screw (1) on the pressure rod (2) can be adjusted.

5. The tool for testing the matching of the rigid wheel and flexspline teeth of a harmonic reducer according to claim 1 is characterized in that: The support and positioning assembly (11) comprises a support base (19), a pressure cover (17) and a movable cover (18); the pressure cover (17) is fixed above the support base (19); openings are provided on one side of the support base (19) and the pressure cover (17); the movable cover (18) is movably arranged at the opening of the pressure cover (17); and steps are provided on the pressure cover (17) and the movable cover (18) for supporting the bottom of the rigid wheel (21).

6. The tool for testing the matching of the rigid wheel and flexspline teeth of a harmonic reducer according to claim 5, characterized in that: The support and positioning assembly (11) further includes a positioning connector (23) for synchronously positioning the wave generator (24) and the flexible wheel (22); when in use, the positioning connector (23) is connected to the bottom of the flexible wheel (22) via bolts, and the positioning connector (23) abuts against the bottom of the wave generator (24).

7. A method for testing the pairing of rigid wheel and flexspline teeth of a harmonic reducer, characterized in that: The following steps are involved: S1. Place the rigid wheel (21) into the supporting base (19), cover it with the movable cover (18), and lock the rigid wheel (21); then place the corresponding weight (20) on the movable plate (6), hold the operating lever (3) and slowly lower it until the pressure head (15) is firmly pressed on the rigid wheel (21), and then read the value M1 of the dial indicator (12); S2, assembling the wave generator (24), the flexible wheel (22) and the rigid wheel (21) into a flexible wheel and rigid wheel assembly (10), and connecting the flexible wheel (22) to the positioning connector (23), and then placing the entire assembly into the support base (19), covering it with a movable cover (18), and locking the flexible wheel and rigid wheel assembly (10); S3. Keep the weight (20) on the movable plate (6), hold the operating lever (3) and slowly move it downward. Under the action of gravity, the pressure head (15) slowly presses down on the flexible wheel (22). When the pressure head (15) is pressed firmly and the flexible wheel (22) no longer moves downward, read the value M2 of the dial indicator (12) again. S4. Calculate the preload value M using the formula M=M1-M2, and compare the calculated preload value M with the company's internal standards to recheck whether the rigid-flexible gear tooth pairing is qualified.

8. The method for inspecting the pairing of the rigid wheel and flexspline teeth of a harmonic reducer according to claim 7, characterized in that: In step S2, the positioning connector (23) is brought into contact with the bottom of the wave generator (24) to ensure that the size from the upper end surface of the flexible wheel (22) to the upper end surface of the wave generator (24) remains unchanged and meets the internal enterprise standard.

9. The method for inspecting the pairing of the rigid wheel and flexspline teeth of a harmonic reducer according to claim 7, characterized in that: In step S2, the bottom of the rigid wheel (21) is supported by the steps on the pressure cover (17) and the movable cover (18).

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