Torque locking tool for cup-type harmonic reducer

Abstract

The utility model relates to cup type harmonic gear mechanism assembly technical field's cup type harmonic gear mechanism torque locking frock, aims at solving the problem of poor general performance and locking torque inaccuracy of existing frock. Its technical scheme's main point is: including fixed base, annular outer ring, cross bearing mounting seat, cross bearing and two torque locking components, annular outer ring is located on the base, its inside is equipped with replaceable limit block to adapt to different models of speed reducer, cross bearing mounting seat is connected coaxially with annular outer ring through positioning pin, two torque locking components are symmetrically set up, each includes moment transmission shaft and drive interface, one end of moment transmission shaft is connected with bearing inner ring through fixed structure, the other end drive interface connects torque wrench, realizes bilateral synchronous or alternate force and constant centering locking. The utility model is mainly used for cup type harmonic gear mechanism's high accuracy, constant torque assembly locking operation.

Description

Technical Field

[0001] This utility model relates to the technical field of cup-shaped harmonic reducer assembly, and in particular to a universal torque locking fixture for cup-shaped harmonic reducers. Background Technology

[0002] The cup-shaped harmonic reducer is a high-precision reduction mechanism composed of a wave generator, a flexible wheel, and a rigid wheel. With its advantages of large transmission ratio, small size, and high transmission accuracy, it is widely used in industrial robots, aerospace, and precision machine tools.

[0003] During its assembly, precisely tightening the inner ring of the cross-bearing to the flexure with a specified preload torque is a critical step. Currently, this step mainly faces two types of prominent problems:

[0004] Firstly, the traditional method relies heavily on operators using manual tools and experience to tighten the gears. This method makes it difficult to guarantee the accuracy and uniformity of the torque, easily leading to improper preload. Furthermore, it is highly prone to uneven loading during the application of force, causing the inner ring of the cross bearing and the axis of the flexspline to not fully align, resulting in an "misalignment" assembly error. This error severely degrades the transmission accuracy, smoothness, and service life of the reducer.

[0005] Secondly, even with tooling assistance, existing locking tooling is mostly designed with fixed models, which has poor versatility and cannot be adapted to reducers of different sizes, increasing the cost of use and management complexity. At the same time, it generally lacks effective torque calibration function, making it difficult to fundamentally guarantee the stability and consistency of assembly quality.

[0006] Therefore, there is an urgent need in this field for a special tooling that can achieve precise, centering torque locking and is compatible with various models, in order to replace traditional manual and outdated tooling operations and ensure assembly quality. Utility Model Content

[0007] The technical problem to be solved by this utility model is: in order to overcome the shortcomings of the existing technology, a universal torque locking fixture for cup-shaped harmonic reducers is provided, which has a universal structure, high precision and simple operation.

[0008] The technical solution adopted by this utility model to solve its technical problem is: a torque locking fixture for a cup-shaped harmonic reducer, comprising: a fixed base, an annular outer ring, a cross-bearing mounting base, a cross-bearing, and two torque locking components; the annular outer ring is fixed to the fixed base by a first screw, and a replaceable limiting block is provided inside the annular outer ring to adapt to different models of cup-shaped harmonic reducer bodies; the cross-bearing mounting base is detachably connected to the annular outer ring by a positioning pin, and the axis of the cross-bearing mounting base is coaxial with the axis of the cup-shaped harmonic reducer body; the cross-bearing is installed on the fixed base. The cross-bearing mounting base is provided with two torque locking assemblies arranged opposite to each other on the cross-bearing mounting base, and each torque locking assembly includes a torque transmission shaft and a drive interface; the two torque transmission shafts are rotatably mounted on the cross-bearing mounting base, and one end of each torque transmission shaft is provided with a fixing structure for connecting to the inner ring of the cross-bearing; the two drive interfaces are respectively fixedly mounted on the other end of the two torque transmission shafts for connecting to an external torque wrench, and by applying force synchronously or alternately from both sides through the torque wrench, a constant, centered torque locking of the cup-shaped harmonic reducer body is achieved.

[0009] To achieve the connection between the torque transmission shaft and the inner ring of the bearing, this utility model further specifies that, in the above technical solution, the fixing structure is an arc-shaped structure, and two arc-shaped structures are symmetrically arranged on the inner ring of the cross-shaped bearing; the arc-shaped structure has several threaded holes distributed circumferentially for connecting to the inner ring of the cross-shaped bearing via a second screw. The use of circumferential threaded holes achieves reliable connection, high alignment, and ease of assembly and disassembly.

[0010] To enable the same tooling to accommodate different types of reducers, this invention further specifies that, in the above technical solution, the inner sidewall of the annular outer ring is provided with multiple mounting grooves along the radial direction; the replaceable limiting block is detachably embedded in the mounting groove and fixed by fasteners; different types of cup-shaped harmonic reducer bodies correspond to the limiting blocks of different radial dimensions to radially limit their outer contours. By setting replaceable limiting blocks on the annular outer ring, the tooling's versatility is achieved, and costs are reduced.

[0011] To address the problem of inaccurate torque output caused by transmission errors, this invention further specifies that the torque locking assembly includes a torque calibration mechanism to correct torque output errors. The torque calibration mechanism includes a strain gauge mounted on the torque transmission shaft, a signal processor electrically connected to the strain gauge, and a display showing the torque value. By adding the torque calibration mechanism, real-time monitoring and calibration of the locking torque are achieved, ensuring locking quality.

[0012] To enable rapid adaptation of the tooling to different workbenches, this invention further specifies that the fixed base in the above technical solution is equipped with an array of positioning holes, allowing for quick docking with different assembly surfaces. By setting an array of positioning holes on the fixed base, the installation flexibility and repeatability of the tooling are enhanced.

[0013] The beneficial effects of this utility model are:

[0014] 1. High-precision alignment and locking ensure product performance: The cross-bearing mounting base and the precision locating pin of the outer ring ensure precise alignment between the tooling and the reducer body. Combined with the dual-sided symmetrical drive torque locking assembly, it completely eliminates the problem of uneven load caused by unilateral force application, achieving pure torque transmission, thereby ensuring the reducer's assembly accuracy, transmission smoothness, and service life.

[0015] 2. High versatility and significantly reduced costs: Adopting a modular design, various models of cup-type harmonic reducers can be quickly adapted by replacing the limit blocks of different sizes within the outer ring. Simultaneously, the array of positioning holes on the fixed base allows for flexible installation on different workbenches. This "one-piece, multi-purpose" feature greatly improves equipment utilization and reduces the purchase and management costs of specialized tooling.

[0016] 3. Controllable torque, convenient and efficient operation: The tooling can be directly connected to a standard torque wrench, making operation intuitive. Furthermore, the optional torque calibration mechanism can monitor and display the actual output torque in real time, achieving quantitative control of the tightening process and ensuring consistent assembly quality. The overall structure adopts a quick-release design with locating pins and standard screws, simplifying workpiece replacement and tooling maintenance, significantly improving assembly efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the tooling of this utility model;

[0019] Figure 2 yes Figure 1 A sectional view;

[0020] Figure 3 yes Figure 2 Top view.

[0021] The labels in the diagram are: 1. Fixed base; 2. Annular outer ring; 3. Cross-bearing mounting base; 4. Fixed structure; 5. Cross-bearing; 6. Torque transmission shaft; 7. Drive interface. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] Example 1

[0024] This embodiment provides a torque locking fixture for a cup-shaped harmonic reducer, used to apply a precise and constant locking torque to the output end of the cup-shaped harmonic reducer during assembly.

[0025] like Figures 1 to 3 As shown, the torque locking fixture mainly includes a fixed base 1, an annular outer ring 2, a cross bearing mounting base 3, a torque locking assembly, and a cross bearing 5.

[0026] The fixed base 1 is the base of the entire tooling, and its bottom is provided with an array of positioning holes. This array of positioning holes consists of multiple threaded holes or smooth holes arranged in a certain pattern, which allows the tooling to be flexibly and quickly connected and fixed to assembly tables or workbenches of different specifications by bolts, thereby enhancing the tooling's versatility and on-site adaptability.

[0027] The annular outer ring 2 is fixed to the upper surface of the fixed base 1 by multiple first screws. Multiple mounting slots are radially formed on the inner sidewall of the annular outer ring 2. Replaceable limiting blocks are detachably fitted into these mounting slots using fasteners (such as screws). By replacing the limiting blocks with different radial dimensions, the tooling can be adapted to cup-shaped harmonic reducer bodies of different outer diameters. During installation, the outer contour of the cup-shaped harmonic reducer body contacts the inner side of these limiting blocks, thereby achieving precise radial limiting and preventing movement during testing or locking.

[0028] The cross-bearing mounting base 3 is precisely and detachably connected to the outer annular ring 2 via a locating pin. This locating pin connection ensures that, after installation, the axis of the cross-bearing mounting base 3 is strictly coaxial with the axis of the cup-shaped harmonic reducer body placed within the limiting block, which is a crucial prerequisite for ensuring accurate torque transmission. The cross-bearing 5 (also commonly referred to as a cross roller bearing) is fixedly installed within the bearing cavity of the cross-bearing mounting base 3, and its outer ring is fixed to the cross-bearing mounting base 3.

[0029] Two torque locking assemblies are arranged symmetrically with respect to the axis of the cross-bearing 5 on the cross-bearing mounting base 3. Each torque locking assembly core includes a torque transmission shaft 6 and a drive interface 7. The two torque transmission shafts 6 are rotatably mounted in two opposing through holes on the cross-bearing mounting base 3 via bearings. One end of each torque transmission shaft 6 is provided with a fixing structure 4 for connection to the inner ring of the cross-bearing 5. In this embodiment, the two fixing structures 4 are symmetrically arranged arc-shaped structures, which can fit and clamp the outer surface of the inner ring of the cross-bearing 5 well from both sides. Several threaded holes are distributed circumferentially on each arc-shaped structure. By screwing in a second screw, the ends of the two torque transmission shafts 6 can be securely connected to the inner ring of the cross-bearing 5.

[0030] Two drive interfaces 7 are fixedly mounted at the other end of the two torque transmission shafts 6. The drive interface 7 can be an internal hexagonal socket, an external hexagonal head, a square tenon, or any standard form that can mate with an external torque wrench socket. During operation, the torque wrench is connected to the drive interface 7, and by rotating the torque wrench, torque is transmitted to the torque transmission shaft 6.

[0031] Working Process: The cup-shaped harmonic reducer body to be locked is placed inside the annular outer ring 2, and radially limited by its replaceable limit block. At this time, the wave generator input end of the reducer body (or the structure to be locked) is connected to the inner ring of the cross bearing 5. The operator can use a torque wrench to apply force alternately on the two drive interfaces 7, or use two torque wrenches to apply force simultaneously. The torque is transmitted balancedly to the inner ring of the cross bearing 5 through the two torque transmission shafts 6 and the fixed structure 4, thereby driving the corresponding components of the cup-shaped harmonic reducer to rotate until the torque wrench reaches the preset torque value and emits a prompt (such as a click), thus completing a constant torque locking operation. During this process, the cross bearing 5 bears the overturning moment generated during locking, ensuring the stability and accuracy of the rotation of the torque transmission shaft 6. This dual-side force application method effectively avoids the off-center load that may be generated by single-side drive, ensuring absolute alignment and stability during the rotation process.

[0032] Example 2

[0033] This embodiment is a further optimization based on Embodiment 1. Its basic structure is the same as that of Embodiment 1. To avoid repetition, only the differences are described here.

[0034] In this embodiment, the torque locking assembly also integrates a torque calibration mechanism to correct torque output errors in real time, ensuring the absolute accuracy of the locking torque, which is particularly suitable for precision assembly applications with extremely high torque requirements.

[0035] The torque calibration mechanism includes strain gauges, a signal processor, and a display. The strain gauges can be attached to sensitive locations on one or two of the torque transmission shafts 6 (e.g., the calculated surface of the shaft segment subjected to maximum shear stress). When the torque transmission shaft 6 is subjected to torque, it undergoes a minute deformation, which is sensed by the strain gauges and converted into a change in resistance. The signal processor is electrically connected to the strain gauges via wires, receives the signals from the strain gauges, amplifies, filters, and calculates them to ultimately determine the actual torque value currently applied to the shaft. The display is connected to the signal processor and displays the calculated torque value in real time. This display can be a standalone digital meter mounted in a prominent position on the fixture.

[0036] Working process: When applying torque, the operator can simultaneously observe the preset value of the torque wrench and the actual measured value on the display. If there is a deviation between the two, the torque wrench can be adjusted in time or the tooling status can be checked, thereby realizing online monitoring and calibration of the output torque, which greatly improves the quality control level of the tightening process.

[0037] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A torque locking fixture for a cup-shaped harmonic reducer, characterized in that, include: The components include a fixed base (1), an annular outer ring (2), a cross bearing mounting base (3), a cross bearing (5), and two torque locking assemblies. The annular outer ring (2) is fixed to the fixed base (1) by the first screw. The annular outer ring (2) is provided with a replaceable limiting block for adapting to different models of cup-shaped harmonic reducer bodies. The cross-bearing mounting seat (3) is detachably connected to the annular outer ring (2) by a positioning pin, and the axis of the cross-bearing mounting seat (3) is coaxial with the axis of the cup-shaped harmonic reducer body. The cross-bearing (5) is mounted on the cross-bearing mounting seat (3). The two torque locking components are arranged opposite to each other on the cross-bearing mounting seat (3). A torque locking assembly includes a torque transmission shaft (6) and a drive interface (7); the two torque transmission shafts (6) are rotatably mounted on the cross bearing mounting base (3), and one end of each torque transmission shaft (6) is provided with a fixing structure (4) for connecting with the inner ring of the cross bearing (5); the two drive interfaces (7) are respectively fixedly mounted on the other end of the two torque transmission shafts (6) for connecting with an external torque wrench. By applying force synchronously or alternately from both sides through the torque wrench, a constant, centering torque locking of the cup-shaped harmonic reducer body can be achieved.

2. The torque locking fixture for the cup-shaped harmonic reducer according to claim 1, characterized in that: The fixing structure (4) is an arc-shaped structure, and two arc-shaped structures are symmetrically arranged on the inner ring of the cross bearing (5). The arc-shaped structure has several threaded holes distributed in the circumference for connecting to the inner ring of the cross bearing (5) through a second screw.

3. The torque locking fixture for the cup-shaped harmonic reducer according to claim 1, characterized in that: The inner sidewall of the annular outer ring (2) is provided with multiple mounting grooves along the radial direction; the replaceable limiting block is detachably embedded in the mounting groove and fixed by fasteners; different models of cup-shaped harmonic reducer bodies correspond to the limiting blocks with different radial dimensions to radially limit their outer contours.

4. The torque locking fixture for the cup-shaped harmonic reducer according to claim 1, characterized in that: The torque locking assembly also includes a torque calibration mechanism for correcting torque output errors; the torque calibration mechanism includes a strain gauge disposed on the torque transmission shaft (6), a signal processor electrically connected to the strain gauge, and a display for displaying torque values.

5. The torque locking fixture for the cup-shaped harmonic reducer according to claim 1, characterized in that: The fixed base (1) is equipped with an array of positioning holes, which can be quickly connected with different assembly surfaces.

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