CN101209556A - A robot dexterous arm joint drive and its deceleration device - Google Patents

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

A robot dexterous arm joint drive and its deceleration device

technical field

The invention relates to a robot dexterous arm joint drive and a deceleration device thereof, which are suitable for designing and manufacturing the joints of the robot's light dexterous arm.

Background technique

The design of joints is a key technology in the design and manufacture of light-duty dexterous robotic arms. The structural complexity, size, and weight of the joint drive and its deceleration device directly affect the structure, size, and weight of the robotic arm. Before the present invention is made, traditional design is to adopt servomotor to add planetary gear drive reducer, worm gear reducer. Its main disadvantages are large structural size, heavy weight, limited output torque of the planetary reducer, and low mechanical efficiency of the worm gear reducer. These factors limit the overall design effect and function of the dexterous arm, and increase the difficulty of dexterous arm control.

Contents of the invention

The task of the present invention is to overcome the shortcomings of the traditional method and the prior art, and provide a compact, small size, light-weight robot smart arm joint drive and its deceleration device.

The robot dexterous arm joint drive and its deceleration device consist of a flange (1), a first motor fixing frame (2), an end cover (3), a deep groove ball bearing (4) (15) (20), a screw pad ( 5), washer (6), hexagon socket head cap screw (7) (9) (14) (21), permanent magnet DC torque motor (8), hexagon thin nut (10), spring washer (11), the A sleeve (12), bearing cover (13) (25), tightening screw (16), second sleeve (17), second motor fixing frame (18), harmonic reducer (19), communication Shaft (22), retaining ring (23), needle roller bearing (24) (28), thrust needle roller bearing (26) (29), connecting flange (27), permanent magnet DC torque motor (8) The stator is fixed on the first motor fixing frame (2), the rotor of the motor is connected to the connecting flange (27) through screws (7), and the connecting flange (27) is connected to the harmonic generator (19) through fastening screws (16). ), the steel wheel of the harmonic reducer is fixed on the motor fixing frame by screws, the flexible wheel of the harmonic reducer (19) is connected with the through shaft (22) and the flange (1) by screws, the rotor of the motor and the harmonic A needle roller bearing is installed between the wave generator (19) and the through shaft (22), and a deep groove ball bearing is installed between the flange (1) and the first motor holder (2).

Compared with the prior art, the present invention has a simple and reasonable structure, mainly adopts a permanent magnet DC torque motor to provide power, and uses a harmonic reducer for deceleration. This joint drive and its deceleration device have compact structure, flexible movement, simple control, and easy to use The effect is good and has great implementation value.

Description of drawings

Figure 1 is a structural schematic diagram of the robot's dexterous arm joint drive and its deceleration device.

Among them: 1-flange, 2-first motor fixing frame, 3-end cover, 4-deep groove ball bearing, 5-screw pad, 6-washer, 7-hexagon socket head screw, 8-permanent magnet DC torque motor, 9-hexagon socket head screw, 10-hexagon thin nut, 11-spring washer, 12-sleeve, 13-bearing cover, 14-hexagon socket head screw, 15-deep groove ball bearing , 16-tightening screw, 17-second sleeve, 18 second motor fixing frame, 19-harmonic reducer, 20-deep groove ball bearing, 21-hexagon socket head cap screw, 22-through shaft, 23- Retaining ring, 24-thrust needle roller bearing, 25-bearing cover, 26-needle roller bearing, 27-connecting flange, 28-needle roller bearing, 29-thrust needle roller bearing.

Detailed ways

Fig. 1 is an embodiment of the present invention. As shown in Figure 1, the embodiment of the present invention is: robot dexterous arm joint drive and deceleration device thereof, by flange (1), the first motor fixing frame (2), end cover (3), deep groove ball bearing ( 4)(15)(20), washer(6), hexagon socket cap screw(7)(9)(14)(21), permanent magnet DC torque motor(8), hexagon thin nut(10), spring Washer (11), first sleeve (12), bearing cover (13), tightening screw (16), second sleeve (17), second motor fixing frame (18), harmonic reducer (19 ), through shaft (22), retaining ring (23), needle roller bearing (24) (28), thrust needle roller bearing (26) (29), connecting flange (27). The stator of the permanent magnet DC torque motor (8) is pasted and fixed on the first motor fixing frame (2) by an adhesive, the rotor of the motor is connected with the connection flange (27) by screws, and the connection flange (27) is connected by fastening screws It is connected with the harmonic generator of the harmonic reducer, the steel wheel of the harmonic reducer is fixed on the motor fixing frame by screws, and the flexible wheel of the harmonic reducer is connected with the through shaft (22) and the flange (1) by screws A needle roller bearing is installed between the rotor of the motor and the harmonic generator and the through shaft, and a deep groove ball bearing is installed between the flange (1) and the first motor fixing frame (2). The working principle of the present invention is: by supplying power to the permanent magnet DC torque motor (8) to drive the rotor of the motor to rotate, the output of the motor is decelerated through the harmonic reducer (19) and transmitted to the flange (1) through its flex spline. The output torque of Lan can be directly applied to drive the mechanical arm. The utility model has the advantages of compact structure, light weight, simple control and flexible movement, and has great implementation value.

Claims (1)

1. A robot dexterous arm joint drive and deceleration device thereof are characterized in that by flange (1), the first motor holder (2), end cover (3), deep groove ball bearing (4) (15) ( 20), screw spacer (5), washer (6), hexagon socket cap screw (7) (9) (14) (21), permanent magnet DC torque motor (8), hexagonal thin nut (10), Spring washer (11), first sleeve (12), bearing cover (13) (25), set screw (16), second sleeve (17), second motor fixing frame (18), harmonic Reducer (19), through shaft (22), retaining ring (23), needle roller bearing (24) (28), thrust needle roller bearing (26) (29), connecting flange (27), permanent magnet The stator of the DC torque motor (8) is fixed on the first motor fixing frame (2), the rotor of the motor is connected with the connection flange (27) through the screw (7), and the connection flange (27) is connected by the fastening screw (16) It is connected with the harmonic generator (19), the steel wheel of the harmonic reducer is fixed on the motor fixing frame through screws, and the flexible wheel of the harmonic reducer (19) is connected with the through shaft (22) and the flange (1) through the screws Link to each other, add needle roller bearings between the rotor of the motor and the harmonic generator (19) and the through shaft (22), and install additional deep groove ball bearings between the flange (1) and the first motor holder (2).

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