Joint module harmonic reducer cup-shaped flexible gear coaxiality measuring method

Abstract

The invention relates to a joint module harmonic reducer cup-shaped flexible gear coaxiality measuring method comprising the following steps: S1, rotatably connecting a reducer outer ring and a reducer inner ring, and fixing a steel wheel on one side of the reducer inner ring; s2, the flexible gear is arranged on the inner side of the steel wheel, and the flexible gear and the sensor are locked and fixed through a bolt A; S3, the sensor is connected to the outer ring of the speed reducer through a bolt B; s4, a positioning plate of the measuring tool is made to abut against the side face of the steel wheel, and a positioning flange of the measuring tool is made to abut against the inner wall of the joint of the flexible wheel and the sensor; s5, the bearing outer diameter measuring instrument and the testing tool are locked through a bolt, a meter hand of the bearing outer diameter measuring instrument abuts against the side wall of the speed reducer outer ring, the meter hand is manually rotated and observed, the speed reducer outer ring is knocked through a rubber rod, and after the coaxiality meets the requirement, the bolt B is locked, so that the sensor and the speed reducer outer ring are fastened. The method is convenient to operate and high in efficiency.

Description

Technical Field

[0001] This invention relates to the field of speed reducer manufacturing and assembly technology, and more specifically, to a method for measuring the coaxiality of the cup-shaped flexure in a joint module harmonic speed reducer. Background Technology

[0002] Harmonic reducers are transmission devices that utilize the elastic deformation of flexible working components to transmit motion and power. They offer advantages such as high transmission accuracy, high load capacity, small size, and smooth transmission. During the assembly of a harmonic reducer, the concentricity of the rigid wheel, flexible wheel, crossed roller bearings, and wave generator directly affects the reducer's accuracy, noise, transmission error, and service life. However, existing assembly methods are slow, impacting production capacity. Furthermore, these methods are prone to accumulating errors during concentricity adjustment, affecting the concentricity of the rigid wheel, flexible wheel, crossed roller bearings, and wave generator. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide a method for measuring the coaxiality of the cup-shaped flexible wheel in a joint module harmonic reducer. This method is convenient to operate and highly efficient.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0005] A method for measuring the coaxiality of a cup-shaped flexure in a harmonic reducer for a joint module includes a flexure, a steel wheel, an inner ring of the reducer, an outer ring of the reducer, a sensor, a measuring fixture, and a bearing outer diameter measuring instrument. The measuring fixture includes a positioning plate and extension columns and positioning flanges respectively disposed at both ends of the positioning plate. The method for debugging and measuring includes the following steps:

[0006] S1. Rotate the outer ring and inner ring of the reducer to connect them, and fix the steel wheel on one side of the inner ring of the reducer.

[0007] S2. The flexible wheel is placed inside the steel wheel and its teeth are offset from those of the steel wheel. The flexible wheel is then locked and fixed to the sensor using bolt A.

[0008] S3. Connect the sensor to the outer ring of the reducer using bolt B, with a gap between the sensor and the radial positioning surface of the outer ring of the reducer.

[0009] S4. Position the positioning plate of the measuring fixture close to the side of the steel wheel, and make the positioning flange of the measuring fixture close to the inner wall of the connection between the flexible wheel and the sensor.

[0010] S5. Tighten the bearing outer diameter measuring instrument and the testing fixture with bolts, and make the pointer of the bearing outer diameter measuring instrument abut against the side wall of the outer ring of the reducer. Manually rotate the pointer to observe it, and tap the outer ring of the reducer with a rubber rod. When the coaxiality meets the requirements, tighten bolt B to secure the sensor to the outer ring of the reducer.

[0011] As a preferred embodiment, the coaxiality between the outer ring of the reducer and the flexure is required to be ≤0.02.

[0012] As a preferred embodiment, the positioning plate, the extension column, and the positioning flange are integrally formed, with the extension column located at the center of the positioning plate.

[0013] As a preferred option, the measuring fixture is made of plastic, rubber, or wood.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] This invention addresses harmonic reducers with cup-shaped flexures by designing a measuring fixture. In conjunction with a bearing outer diameter measuring instrument, a rubber rod is used to tap the reducer outer ring during assembly to adjust the coaxiality, ensuring the coaxiality between the reducer outer ring and the flexure meets requirements. This method significantly reduces manual labor time (from 2 hours to achieve a coaxiality ≤0.05, to 3 minutes to guarantee a coaxiality ≤0.02). Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0017] Figure 1 This is a schematic diagram of the measuring fixture and harmonic reducer (without wave generator) of the present invention.

[0018] The attached diagram is labeled as follows: 11, positioning plate; 12, extension column; 13, positioning flange; 21, flexible wheel; 22, bolt A; 23, steel wheel; 24, reducer inner ring; 25, reducer outer ring; 3, sensor; 31, bolt B. Detailed Implementation

[0019] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] Furthermore, in the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless explicitly defined otherwise.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0026] like Figure 1 As shown, a method for measuring the coaxiality of a cup-shaped flexure in a harmonic reducer for a joint module includes a flexure 21, a steel wheel 23, an inner ring 24 of the reducer, an outer ring 25 of the reducer, a sensor 3, a measuring fixture, and a bearing outer diameter measuring instrument. The measuring fixture includes a positioning plate 11 and extension posts 12 and positioning flanges 13 respectively disposed at both ends of the positioning plate 11. The method for debugging and measuring includes the following steps:

[0027] S1. Rotately connect the outer ring 25 and the inner ring 24 of the reducer, and fix the steel wheel 23 on one side of the inner ring 24 of the reducer.

[0028] S2. The flexible wheel 21 is placed inside the steel wheel 23 and its teeth are staggered with those of the steel wheel 23. The flexible wheel 21 is then locked and fixed to the sensor 3 by bolt A22.

[0029] S3. Connect the sensor 3 to the outer ring 25 of the reducer using bolt B31, with a gap between the sensor 3 and the radial positioning surface of the outer ring 25 of the reducer.

[0030] S4. Position the positioning plate 11 of the measuring fixture close to the side of the steel wheel 23, and make the positioning flange 13 of the measuring fixture close to the inner wall of the connection between the flexible wheel 21 and the sensor 3.

[0031] S5. Tighten the bearing outer diameter measuring instrument and the testing fixture with bolts, and make the pointer of the bearing outer diameter measuring instrument abut against the side wall of the outer ring 25 of the reducer. Manually rotate the pointer to observe it, and tap the outer ring 25 of the reducer with a rubber rod. When the coaxiality meets the requirements, tighten bolt B31 to secure the sensor 3 to the outer ring 25 of the reducer.

[0032] The measuring fixture is made of plastic, rubber, or wood. The positioning plate 11, extension column 12, and positioning flange 13 are integrally formed, with the extension column 12 located at the center of the positioning plate 11. The coaxiality of the reducer outer ring 25 and the flexible wheel 21 is required to be ≤0.02.

[0033] This invention addresses harmonic reducers with cup-shaped flexures by designing a measuring fixture. In conjunction with a bearing outer diameter measuring instrument, a rubber rod is used to tap the reducer outer ring during assembly to adjust the coaxiality, ensuring the coaxiality between the reducer outer ring and the flexure meets requirements. This method significantly reduces manual labor time (from 2 hours to achieve a coaxiality ≤0.05, to 3 minutes to guarantee a coaxiality ≤0.02).

[0034] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "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 the invention. 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.

[0035] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A method for measuring the coaxiality of a cup-shaped flexible wheel in a joint module harmonic reducer, characterized in that: The components include a flexible wheel (21), a steel wheel (23), a reducer inner ring (24), a reducer outer ring (25), a sensor (3), a measuring fixture, and a bearing outer diameter measuring instrument. The measuring fixture includes a positioning plate (11) and extension columns (12) and positioning flanges (13) respectively set at both ends of the positioning plate (11). The measurement method includes the following steps: S1. Rotate the outer ring (25) and inner ring (24) of the reducer to connect them, and fix the steel wheel (23) on one side of the inner ring (24) of the reducer. S2. The flexible wheel (21) is placed inside the steel wheel (23) and its teeth are staggered with those of the steel wheel (23). The flexible wheel (21) is then locked and fixed to the sensor (3) by bolt A (22). S3. Connect the sensor (3) to the outer ring (25) of the reducer by bolt B (31), and leave a gap between the sensor (3) and the radial positioning surface of the outer ring (25) of the reducer; S4. Place the positioning plate (11) of the measuring fixture close to the side of the steel wheel (23), and make the positioning flange (13) of the measuring fixture close to the inner wall of the connection between the flexible wheel (21) and the sensor (3). S5. Tighten the bearing outer diameter measuring instrument and the testing fixture with bolts, and make the pointer of the bearing outer diameter measuring instrument abut against the side wall of the outer ring (25) of the reducer. Manually rotate the pointer to observe it, and tap the outer ring (25) of the reducer with a rubber rod. When the coaxiality meets the requirements, tighten the bolt B (31) to make the sensor (3) and the outer ring (25) of the reducer secure.

2. The method for measuring the coaxiality of a cup-shaped flexible wheel in a joint module harmonic reducer according to claim 1, characterized in that: The coaxiality requirement between the outer ring (25) of the reducer and the flexible wheel (21) is ≤0.

02.

3. The method for measuring the coaxiality of the cup-shaped flexible wheel in a joint module harmonic reducer according to claim 1, characterized in that: The positioning plate (11), the extension column (12) and the positioning flange (13) are integrally formed, and the extension column (12) is located at the center of the positioning plate (11).

4. The method for measuring the coaxiality of a cup-shaped flexible wheel in a joint module harmonic reducer according to claim 1, characterized in that: The measuring fixture is made of plastic, rubber, or wood.

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