CN101209556A - Robot smart arm joint drive and reduction device thereof - Google Patents
Robot smart arm joint drive and reduction device thereof Download PDFInfo
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- CN101209556A CN101209556A CNA2006101556509A CN200610155650A CN101209556A CN 101209556 A CN101209556 A CN 101209556A CN A2006101556509 A CNA2006101556509 A CN A2006101556509A CN 200610155650 A CN200610155650 A CN 200610155650A CN 101209556 A CN101209556 A CN 101209556A
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Abstract
The invention provides a robot smart arm joint driver and a decelerating device thereof, consisting of a flange, a motor fixed frame, an end cover, a deep ditch ball bearing, a permanent magnetic DC moment motor, a hexagon thin nut, a spring washer, a sleeve 1, a bearing retaining cover, a second sleeve, a harmonic reducer, a through shaft, a rolling needle bearing, a thrust rolling needle bearing and a connecting flange. The permanent magnetic DC moment motor is fixed on the motor fixed frame; the rotor of the motor is connected with the connecting flange which is connected with the harmonic generator of the harmonic reducer; the steel wheel of the harmonic reducer is fixed on the motor fixed frame by a screw; the flexible wheel of the harmonic reducer is connected with the through shaft and the flange; the rolling needle bearing is arranged between the rotor of the motor and the harmonic generator and the through shaft; the deep ditch ball bearing is arranged between the flange and the motor fixed frame. The joint driver and the decelerating device have the advantages of compact structure, smart motion, simple control, good application effect and great implementation value.
Description
Technical field
The present invention relates to a kind of robot smart arm joint and drive and deceleration device, be applicable to the joint that designs and produces the light-duty Nimble arm of robot.
Background technology
The design in joint is a key technology during light-duty dexterous mechanical arm designs and produces, and the complex structure degree of joint driving and deceleration device thereof, size, weight etc. directly have influence on structure, size and the weight thereof of mechanical arm.Before the present invention made, traditional design was to adopt servomotor to add planetary gear transmission speed reducer, worm type of reduction gearing.Its major defect is that physical dimension is big, Heavy Weight, and the output torque of planetary reduction gear is limited, and the mechanical efficiency of worm type of reduction gearing is low excessively.These effects limit the whole design effect and the function of Nimble arm, increased the difficulty of Nimble arm control.
Summary of the invention
Task of the present invention is the shortcoming that overcomes conventional method and prior art, and a kind of compact conformation is provided, and size is little, and the robot smart arm joint of light weight drives and deceleration device.
Robot smart arm joint drives and deceleration device, by flange (1), first motor fixing frame (2), end cap (3), deep groove ball bearing (4) (15) (20), screw cushion block (5), pad (6), hexagon socket cap head screw (7) (9) (14) (21), permanent magnet D.C. torque motor (8), hexagon thin nut (10), spring washer (11), first sleeve (12), bearing door (13) (25), mark closely screw (16), second sleeve (17), second motor fixing frame (18), harmonic speed reducer (19), axis (22), back-up ring (23), needle bearing (24) (28), needle roller thrust bearing (26) (29), adpting flange (27) is formed, the stator of permanent magnet D.C. torque motor (8) is fixed on first motor fixing frame (2), the rotor of motor is connected with adpting flange (27) by screw (7), adpting flange (27) links to each other with harmonic oscillator (19) by marking closely screw (16), the steel wheel of harmonic speed reducer is fixed on the motor fixing frame by screw, the flexbile gear of harmonic speed reducer (19) links to each other with axis (22) and flange (1) by screw, install needle bearing additional between the rotor of motor and harmonic oscillator (19) and the axis (22), install deep groove ball bearing additional between flange (1) and first motor fixing frame (2).
The present invention compared with prior art, it is simple and reasonable, mainly adopts permanent magnet D.C. torque motor that power is provided, use harmonic speed reducer to slow down, this joint drives and the deceleration device compact conformation, and motion flexibly, control is simple, and result of use is good, has bigger implementary value.
Description of drawings
Fig. 1 drives and the deceleration device structural representation for robot smart arm joint.
Wherein: 1-flange, 2-first motor fixing frame, 3-end cap, the 4-deep groove ball bearing, 5-screw cushion block, 6-pad, the 7-hexagon socket cap head screw, 8-permanent magnet D.C. torque motor, 9-hexagon socket cap head screw, the 10-hexagon thin nut, 11-spring washer, 12-the-sleeve, 13-bearing door, 14-hexagon socket cap head screw, 15-deep groove ball bearing, 16-is marked closely screw, 17-second sleeve, 18 second motor fixing frames, the 19-harmonic speed reducer, 20-deep groove ball bearing, 21-hexagon socket cap head screw, the 22-axis, 23-back-up ring, 24-needle roller thrust bearing, 25-bearing door, 26-needle bearing, 27-adpting flange, the 28-needle bearing, the 29-needle roller thrust bearing.
The specific embodiment
Fig. 1 is one embodiment of the present of invention.As shown in Figure 1, embodiment of the present invention are: robot smart arm joint drives and deceleration device, by flange (1), first motor fixing frame (2), end cap (3), deep groove ball bearing (4) (15) (20), pad (6), hexagon socket cap head screw (7) (9) (14) (21), permanent magnet D.C. torque motor (8), hexagon thin nut (10), spring washer (11), first sleeve (12), bearing door (13), mark closely screw (16), second sleeve (17), second motor fixing frame (18), harmonic speed reducer (19), axis (22), back-up ring (23), needle bearing (24) (28), needle roller thrust bearing (26) (29), adpting flange (27) is formed.The stator of permanent magnet D.C. torque motor (8) is pasted and fixed on first motor fixing frame (2) by alite paste, the rotor of motor is connected with adpting flange (27) by screw, adpting flange (27) links to each other with the harmonic oscillator of harmonic speed reducer by marking closely screw, the steel wheel of harmonic speed reducer is fixed on the motor fixing frame by screw, the flexbile gear of harmonic speed reducer links to each other with axis (22) and flange (1) by screw, install needle bearing additional between the rotor of motor and harmonic oscillator and the axis, install deep groove ball bearing additional between flange (1) and first motor fixing frame (2).Operation principle of the present invention is: by giving permanent magnet D.C. torque motor (8) power supply drive motors rotor rotation, the output of motor is slowed down through harmonic speed reducer (19) and is passed to flange (1) by its flexbile gear, and the output torque of flange can directly apply to the driving device arm.Its compact conformation, light weight is controlled simple and easyly, and motion flexibly has bigger implementary value.
Claims (1)
1. a robot smart arm joint drives and deceleration device, it is characterized in that by flange (1), first motor fixing frame (2), end cap (3), deep groove ball bearing (4) (15) (20), screw cushion block (5), pad (6), hexagon socket cap head screw (7) (9) (14) (21), permanent magnet D.C. torque motor (8), hexagon thin nut (10), spring washer (11), first sleeve (12), bearing door (13) (25), mark closely screw (16), second sleeve (17), second motor fixing frame (18), harmonic speed reducer (19), axis (22), back-up ring (23), needle bearing (24) (28), needle roller thrust bearing (26) (29), adpting flange (27) is formed, the stator of permanent magnet D.C. torque motor (8) is fixed on first motor fixing frame (2), the rotor of motor is connected with adpting flange (27) by screw (7), adpting flange (27) links to each other with harmonic oscillator (19) by marking closely screw (16), the steel wheel of harmonic speed reducer is fixed on the motor fixing frame by screw, the flexbile gear of harmonic speed reducer (19) links to each other with axis (22) and flange (1) by screw, install needle bearing additional between the rotor of motor and harmonic oscillator (19) and the axis (22), install deep groove ball bearing additional between flange (1) and first motor fixing frame (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101556509A CN101209556A (en) | 2006-12-30 | 2006-12-30 | Robot smart arm joint drive and reduction device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101556509A CN101209556A (en) | 2006-12-30 | 2006-12-30 | Robot smart arm joint drive and reduction device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101209556A true CN101209556A (en) | 2008-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006101556509A Pending CN101209556A (en) | 2006-12-30 | 2006-12-30 | Robot smart arm joint drive and reduction device thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN101209556A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085667A (en) * | 2009-12-04 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Robot arm part |
| CN102272480A (en) * | 2009-07-22 | 2011-12-07 | 松下电器产业株式会社 | Motion conversion device, flexible actuator using the same, and articulation driving unit |
| CN102001095B (en) * | 2009-09-03 | 2014-07-09 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component and robot |
| CN104747929A (en) * | 2013-12-26 | 2015-07-01 | 广东卓耐普智能股份有限公司 | Integrated drive LED light source |
| CN104908058A (en) * | 2015-07-06 | 2015-09-16 | 周健华 | Joint transmission mechanism |
| CN107061690A (en) * | 2017-06-16 | 2017-08-18 | 杨庆华 | Harmonic speed reducer and manipulator |
| CN110919688A (en) * | 2019-11-30 | 2020-03-27 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN114017622A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Harmonic reducer for monitoring cradle head and cradle head |
-
2006
- 2006-12-30 CN CNA2006101556509A patent/CN101209556A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102272480A (en) * | 2009-07-22 | 2011-12-07 | 松下电器产业株式会社 | Motion conversion device, flexible actuator using the same, and articulation driving unit |
| US8683884B2 (en) | 2009-07-22 | 2014-04-01 | Panasonic Corporation | Motion conversion device, flexible actuator using the same, and joint driving unit |
| CN102272480B (en) * | 2009-07-22 | 2014-07-30 | 松下电器产业株式会社 | Motion conversion device, flexible actuator using the same, and articulation driving unit |
| CN102001095B (en) * | 2009-09-03 | 2014-07-09 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component and robot |
| CN102085667A (en) * | 2009-12-04 | 2011-06-08 | 鸿富锦精密工业（深圳）有限公司 | Robot arm part |
| CN102085667B (en) * | 2009-12-04 | 2013-10-09 | 鸿富锦精密工业（深圳）有限公司 | Robot arm part |
| CN104747929A (en) * | 2013-12-26 | 2015-07-01 | 广东卓耐普智能股份有限公司 | Integrated drive LED light source |
| CN104908058A (en) * | 2015-07-06 | 2015-09-16 | 周健华 | Joint transmission mechanism |
| CN107061690A (en) * | 2017-06-16 | 2017-08-18 | 杨庆华 | Harmonic speed reducer and manipulator |
| CN110919688A (en) * | 2019-11-30 | 2020-03-27 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| CN110919688B (en) * | 2019-11-30 | 2021-07-16 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN111745630B (en) * | 2020-06-04 | 2023-12-15 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN114017622A (en) * | 2021-11-22 | 2022-02-08 | 无锡巨蟹智能驱动科技有限公司 | Harmonic reducer for monitoring cradle head and cradle head |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
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