Harmonic reducer flexible gear machining tool

Abstract

The utility model relates to the technical field of harmonic reducer flexible gears, and discloses a harmonic reducer flexible gear machining tool which comprises a rotating assembly and an arranged lower connecting seat, and an inner cavity of the lower connecting seat is connected with an upper connecting seat. And a camera shooting assembly is installed at the top of the annular frame plate, an annular connecting plate is additionally arranged on the back face of the annular frame plate, a third driving motor and a rotating connecting plate are additionally arranged on the two sides of the annular connecting plate respectively, and the rotating connecting plate is connected with a rotating connecting cylinder. According to the machining tool for the flexible gear of the harmonic reducer, a clamping mechanism or a machining mechanism is installed on a rotating connecting cylinder firstly, a rotating assembly drives a lower connecting base to rotate through a built-in motor, and a third driving motor drives the rotating connecting cylinder to rotate on an annular frame plate through a rotating connecting plate on an annular connecting plate; and then the camera shooting assembly shoots surrounding pictures, the pictures are separated through the built-in controller, and the flexible gear is adjusted to be clamped or machined. And the structure is high in automation degree.

Description

Technical Field

[0001] The utility model relates to the technical field of flexible wheels of harmonic reducers, and specifically relates to a processing tooling for flexible wheels of harmonic reducers. Background Technique

[0002] A harmonic reducer is a high-precision mechanical transmission device mainly used to reduce speed and increase torque. Its working principle is based on the harmonic effect. Through the action of a harmonic generator and a flexible gear, the rotational speed and torque of the input shaft are transmitted to the output shaft through elastic deformation, thereby achieving the effect of speed reduction and torque increase. A harmonic reducer mainly consists of a fixed internal gear rigid wheel, a flexible wheel, and a wave generator. Tooling is an important device for clamping, positioning, and guiding workpieces during the processing process, and plays a crucial role in ensuring processing accuracy and product quality. Tooling is required for the processing of flexible wheels of harmonic reducers.

[0003] Common processing tooling for flexible wheels of harmonic reducers usually consists of mechanisms such as a mandrel, an expansion sleeve, a fastening mechanism, and other auxiliary components. The mandrel is the core component in the tooling, used to support and position the flexible wheel. The expansion sleeve is the key deformation component in the tooling, which clamps the flexible wheel through elastic deformation. Other fastening devices are used to fix the expansion sleeve on the mandrel, and other auxiliary components ensure the correct positioning and stable clamping of the flexible wheel in the tooling.

[0004] For traditional processing tooling for flexible wheels of harmonic reducers, the flexible wheel needs to be placed on the tooling first, and then the tooling is fixed at the corresponding position of the tooling. At the same time, due to the reduced automation level, it is not convenient to operate the flexible wheel for processing. To solve the above problems, some processing tooling for flexible wheels of harmonic reducers use a robotic arm to operate the flexible wheel. Due to the flexible joint design of the robotic arm, it can achieve multi-degree-of-freedom movement and can adapt to flexible wheels of different shapes and positions for operation, thereby improving the automation level of the processing tooling. However, in this way, due to the limited applicable range of the robotic arm, and at the same time, for complex or dynamically changing working environments, the adaptability and flexibility of the robotic arm are limited, resulting in weak adaptability of the robotic arm to the environment. This will not only reduce the quality of flexible wheel processing but also reduce production stability. Therefore, a processing tooling for flexible wheels of harmonic reducers is proposed. Content of the Utility Model

[0005] (1) Technical Problems to be Solved

[0006] In view of the deficiencies of the prior art, the utility model provides a processing tooling for flexible wheels of harmonic reducers to solve the technical problems that not only reduce the quality of flexible wheel processing but also reduce production stability.

[0007] (2) Technical Solutions

[0008] To achieve the above object, the present utility model provides the following technical solution: A flexible gear processing tooling for a harmonic reducer, comprising:

[0009] A moving component, and a support base disposed on the top of the moving component, and a rotating component is installed on the top of the support base, and a lower connecting seat is additionally provided on the top of the rotating component;

[0010] A first driving motor is disposed outside the lower connecting seat, and an upper connecting seat is rotatably connected to the inner cavity of the lower connecting seat. The first driving motor is coaxially connected to the upper connecting seat, and a second driving motor is additionally provided on the outside of the upper connecting seat;

[0011] An annular frame plate is disposed in the inner cavity of the upper connecting seat, and the annular frame plate is coaxially connected to the second driving motor, and a camera component is installed on the top of the annular frame plate. An annular connecting plate is additionally provided on the back of the annular frame plate, and the annular connecting plate is connected to the annular frame plate, and a third driving motor is installed on one side of the annular connecting plate. A rotating connecting plate is rotatably connected to the other side of the annular connecting plate, and the rotating connecting plate is coaxially connected to the third driving motor. The rotating connecting plate is connected to a rotating connecting cylinder, and the rotating connecting cylinder is rotatably connected to the annular frame plate. By first installing the clamping mechanism or the processing mechanism on the rotating connecting cylinder, the moving component drives the support base to move, and the rotating component uses the built-in motor to drive the lower connecting seat to rotate. The first driving motor drives the upper connecting seat to adjust the pitch angle on the lower connecting seat, and the second driving motor drives the annular frame plate to adjust the pitch angle on the upper connecting seat. The third driving motor drives the rotating connecting cylinder to rotate on the annular frame plate through the rotating connecting plate on the annular connecting plate, and then the camera component takes pictures of the surrounding pictures, and is separated by the built-in controller, and adjusts to clamp or process the flexible gear. On the one hand, the operation mode of this structure is similar to that of a robot. By taking pictures of the pictures through the camera component and analyzing them, and then controlling the clamping mechanism or the processing mechanism to move, the automation degree of this structure is high, which not only improves the quality of flexible gear processing, but also ensures production stability; on the other hand, this structure can control the clamping mechanism or the processing mechanism to move, rotate and adjust the pitch angle, so that the working range is increased and the adaptability is strong.

[0012] Preferably, universal wheels are installed around the bottom of the support base, and the bottom of the universal wheels is in contact with the top of the moving component. The universal wheels facilitate the displacement of the support base on the top of the moving component.

[0013] Preferably, fixed side plates are installed at the front and rear ends on both sides of the rotating connecting cylinder, and guide rods are inserted and connected to the surfaces of the fixed side plates. The guide rods can move along the fixed side plates.

[0014] Preferably, an extrusion spring is sleeved on the surface of the guide rod, and the end parts of the extrusion spring are closely attached to the guide rod and the fixed side plate respectively. The end of the guide rod penetrates through the outer wall of the rotating connecting cylinder and extends inwards to be connected with a fixed head. Under the action of the extrusion spring, the guide rod drives the fixed head to move inwards along the fixed side plate, and the fixed head can be connected with the clamping mechanism or the processing mechanism, so that the disassembly and assembly operation between the clamping mechanism or the processing mechanism and the rotating connecting cylinder can be facilitated according to the conditions of different flexible gears.

[0015] Preferably, sliding grooves are transversely formed in the centers of the front and back of the moving assembly, and a fourth driving motor is installed on the outer side of the moving assembly. The fourth driving motor drives the connecting structure to rotate on the moving assembly and adjusts the steering.

[0016] Preferably, a threaded lead screw is additionally arranged in the inner cavity of the moving assembly, and the threaded lead screw is coaxially connected with the fourth driving motor. A sliding block is sleeved on the surface of the threaded lead screw, and side connecting rods are installed on the front and back of the sliding block. The side connecting rods are connected with the support base. The fourth driving motor drives the threaded lead screw on the moving assembly and adjusts the steering of the threaded lead screw, while the sliding block drives the side connecting rods to move along the sliding grooves according to the steering of the threaded lead screw, and the side connecting rods drive the support base to move in the same direction.

[0017] (III) Beneficial effects

[0018] Compared with the prior art, the present utility model provides a flexible gear processing tooling for a harmonic reducer, which has the following beneficial effects:

[0019] In this flexible gear processing tooling for a harmonic reducer, by first installing the clamping mechanism or the processing mechanism on the rotating connecting cylinder, the moving assembly drives the support base to move, the rotating assembly uses the built-in motor to drive the lower connecting seat to rotate, the first driving motor drives the upper connecting seat to adjust the pitching angle on the lower connecting seat, the second driving motor drives the annular frame plate to adjust the pitching angle on the upper connecting seat, the third driving motor drives the rotating connecting cylinder to rotate on the annular frame plate through the rotating connecting plate on the annular connecting plate, and then the camera assembly takes pictures of the surrounding pictures and separates them by the built-in controller, and adjusts the clamping or processing operation on the flexible gear. Not only does the operation mode of this structure resemble that of a robot, taking pictures through the camera assembly, analyzing them, and then controlling the movement of the clamping mechanism or the processing mechanism, making the automation degree of this structure high, which not only improves the quality of flexible gear processing, but also ensures production stability, but also can control the movement, rotation and pitching angle adjustment of the clamping mechanism or the processing mechanism, increasing the working range and having strong adaptability. Description of the drawings

[0020] Figure 1 It is a schematic diagram of the overall structure of the present utility model;

[0021] Figure 2 This is a schematic diagram of the support base of the present utility model and its connection structure;

[0022] Figure 3 This is a schematic diagram of the upper connection seat of the present utility model and its connection structure;

[0023] Figure 4 This is a partially sectional structural schematic diagram of the moving component of the present utility model.

[0024] In the figure: 1. Moving component; 2. Support base; 3. Universal wheel; 4. Rotating component; 5. Lower connection seat; 6. First driving motor; 7. Upper connection seat; 8. Second driving motor; 9. Annular frame plate; 10. Camera component; 11. Annular connecting plate; 12. Third driving motor; 13. Rotating connecting plate; 14. Rotating connecting cylinder; 15. Fixed side plate; 16. Guide rod; 17. Compression spring; 18. Fixed head; 19. Chute; 20. Fourth driving motor; 21. Threaded lead screw; 22. Sliding block; 23. Side connecting rod. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0026] The present utility model provides a technical solution, a harmonic reducer flexible gear processing tooling, including: Please refer to Figure 1 , a moving component 1, and a support base 2 arranged on the top of the moving component 1, and a rotating component 4 is installed on the top of the support base 2, and a lower connection seat 5 is additionally provided on the top of the rotating component 4;

[0027] Please refer to Figure 2 , a first driving motor 6, arranged on the outside of the lower connection seat 5, and the inner cavity of the lower connection seat 5 is rotatably connected with an upper connection seat 7, the first driving motor 6 is coaxially connected with the upper connection seat 7, and a second driving motor 8 is additionally provided on the outside of the upper connection seat 7;

[0028] Please refer to Figure 3, the annular frame plate 9 is arranged in the inner cavity of the upper connecting seat 7, and the annular frame plate 9 is coaxially connected with the second driving motor 8. A camera assembly 10 is installed on the top of the annular frame plate 9. An annular connecting plate 11 is additionally provided on the back of the annular frame plate 9, and the annular connecting plate 11 is connected to the annular frame plate 9. A third driving motor 12 is installed on one side of the annular connecting plate 11. A rotating connecting plate 13 is rotatably connected to the other side of the annular connecting plate 11, and the rotating connecting plate 13 is coaxially connected with the third driving motor 12. The rotating connecting plate 13 is connected to a rotating connecting cylinder 14, and the rotating connecting cylinder 14 is rotatably connected to the annular frame plate 9. By first installing the clamping mechanism or the processing mechanism on the rotating connecting cylinder 14, the moving assembly 1 drives the support base 2 to move. The rotating assembly 4 uses the built-in motor to drive the lower connecting seat 5 to rotate. The first driving motor 6 drives the upper connecting seat 7 to adjust the pitch angle on the lower connecting seat 5. The second driving motor 8 drives the annular frame plate 9 to adjust the pitch angle on the upper connecting seat 7. The third driving motor 12 drives the rotating connecting cylinder 14 to rotate on the annular frame plate 9 through the rotating connecting plate 13 on the annular connecting plate 11. Then, the camera assembly 10 takes pictures of the surrounding pictures, and the built-in controller separates them and adjusts the clamping or processing operation on the flexspline. On the one hand, the operation mode of this structure is similar to that of a robot. The camera assembly 10 takes pictures and analyzes them, and then controls the clamping mechanism or the processing mechanism to move, making the automation degree of this structure high. It will not only improve the quality of flexspline processing but also ensure production stability. On the other hand, this structure can control the clamping mechanism or the processing mechanism to move, rotate, and adjust the pitch angle, increasing the working range and having strong adaptability.

[0029] Please refer to Figure 2 , universal wheels 3 are installed around the bottom of the support base 2, and the bottom of the universal wheels 3 is in contact with the top of the moving assembly 1. The universal wheels 3 facilitate the displacement of the support base 2 on the top of the moving assembly 1.

[0030] Please refer to Figure 3 , fixed side plates 15 are installed at the front and rear ends on both sides of the rotating connecting cylinder 14, and guide rods 16 are inserted and connected to the surfaces of the fixed side plates 15. The guide rods 16 can move along the fixed side plates 15. Compression springs 17 are sleeved on the surfaces of the guide rods 16, and the ends of the compression springs 17 are in close contact with the guide rods 16 and the fixed side plates 15 respectively. The ends of the guide rods 16 penetrate the outer wall of the rotating connecting cylinder 14 and extend inward to be connected with fixed heads 18. Under the action of the compression springs 17, the guide rods 16 drive the fixed heads 18 to move inward along the fixed side plates 15, and the fixed heads 18 can be connected to the clamping mechanism or the processing mechanism, so as to facilitate the disassembly and assembly operation between the clamping mechanism or the processing mechanism and the rotating connecting cylinder 14 according to the conditions of different flexsplines.

[0031] Please refer to Figure 4, a chute 19 is horizontally provided at the centers of the front and back of the moving component 1, and a fourth driving motor 20 is installed on the outside of the moving component 1. The fourth driving motor 20 drives the connecting structure to rotate on the moving component 1 and adjusts the steering. A threaded lead screw 21 is additionally provided in the inner cavity of the moving component 1, and the threaded lead screw 21 is coaxially connected to the fourth driving motor 20. A sliding block 22 is sleeved on the surface of the threaded lead screw 21, and side connecting rods 23 are installed on the front and back of the sliding block 22. The side connecting rods 23 are connected to the support base 2. The fourth driving motor 20 drives the threaded lead screw 21 on the moving component 1 and adjusts the steering of the threaded lead screw 21. The sliding block 22 drives the side connecting rod 23 to move along the chute 19 according to the steering of the threaded lead screw 21, and the side connecting rod 23 drives the support base 2 to move in the same direction.

[0032] In this solution: Under the action of the compression spring 17, the guide rod 16 drives the fixed head 18 to move inward along the fixed side plate 15, and the fixed head 18 can be connected to the clamping mechanism or the processing mechanism. The fourth driving motor 20 drives the threaded lead screw 21 on the moving component 1 and adjusts the steering of the threaded lead screw 21. The sliding block 22 drives the side connecting rod 23 to move along the chute 19 according to the steering of the threaded lead screw 21, and the side connecting rod 23 drives the support base 2 and the universal wheel 3 to move in the same direction. The rotating component 4 drives the lower connecting seat 5 to rotate by using the built-in motor. The first driving motor 6 drives the upper connecting seat 7 to adjust the pitch angle on the lower connecting seat 5. The second driving motor 8 drives the annular frame plate 9 to adjust the pitch angle on the upper connecting seat 7. The third driving motor 12 drives the rotating connecting cylinder 14 to rotate on the annular frame plate 9 through the rotating connecting plate 13 on the annular connecting plate 11. Then, the imaging component 10 takes pictures of the surrounding pictures, and the built-in controller separates them and adjusts the clamping or processing operation on the flexspline.

[0033] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0034] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible gear processing tooling for a harmonic reducer, characterized in that Including: A moving component (1), and a support base (2) arranged on the top of the moving component (1). A rotating component (4) is installed on the top of the support base (2), and a lower connecting seat (5) is additionally provided on the top of the rotating component (4); A first driving motor (6) is arranged on the outside of the lower connecting seat (5). An upper connecting seat (7) is rotatably connected to the inner cavity of the lower connecting seat (5). The first driving motor (6) is coaxially connected to the upper connecting seat (7), and a second driving motor (8) is additionally provided on the outside of the upper connecting seat (7); An annular frame plate (9) is arranged in the inner cavity of the upper connecting seat (7). The annular frame plate (9) is coaxially connected to the second driving motor (8). A camera component (10) is installed on the top of the annular frame plate (9). An annular connecting plate (11) is additionally provided on the back of the annular frame plate (9), and the annular connecting plate (11) is connected to the annular frame plate (9). A third driving motor (12) is installed on one side of the annular connecting plate (11). A rotating connecting plate (13) is rotatably connected to the other side of the annular connecting plate (11), and the rotating connecting plate (13) is coaxially connected to the third driving motor (12). The rotating connecting plate (13) is connected to a rotating connecting cylinder (14), and the rotating connecting cylinder (14) is rotatably connected to the annular frame plate (9).

2. The flexible gear processing tooling for a harmonic reducer according to claim 1, characterized in that: Universal wheels (3) are installed around the bottom of the support base (2), and the bottom of the universal wheels (3) is in contact with the top of the moving component (1).

3. The flexible gear processing tooling for a harmonic reducer according to claim 1, characterized in that: Fixed side plates (15) are installed at the front and rear ends on both sides of the rotating connecting cylinder (14), and guide rods (16) are inserted and connected to the surfaces of the fixed side plates (15).

4. A flexible gear processing tooling for a harmonic reducer according to claim 3, characterized in that: A compression spring (17) is sleeved on the surface of the guide rod (16), and the ends of the compression spring (17) are in close contact with the guide rod (16) and the fixed side plate (15) respectively. The end of the guide rod (16) penetrates the outer wall of the rotating connecting cylinder (14) and extends inward to be connected to a fixed head (18).

5. A flexible gear processing tooling for a harmonic reducer according to claim 1, characterized in that: Chutes (19) are horizontally opened at the centers of the front and back of the moving component (1), and a fourth driving motor (20) is installed on the outside of the moving component (1).

6. The flexible gear processing tooling for a harmonic reducer according to claim 5, characterized in that: A threaded lead screw (21) is additionally provided in the inner cavity of the moving component (1), and the threaded lead screw (21) is coaxially connected to the fourth driving motor (20). A sliding block (22) is sleeved on the surface of the threaded lead screw (21), and side connecting rods (23) are installed on the front and back of the sliding block (22). The side connecting rods (23) are connected to the support base (2).

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