CN102904365B - Combined harmonic wave reducer of robot - Google Patents
Combined harmonic wave reducer of robot Download PDFInfo
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- CN102904365B CN102904365B CN201210344932.9A CN201210344932A CN102904365B CN 102904365 B CN102904365 B CN 102904365B CN 201210344932 A CN201210344932 A CN 201210344932A CN 102904365 B CN102904365 B CN 102904365B
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- steel wheel
- joint part
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Abstract
The invention discloses a combined harmonic wave reducer of a robot. The combined harmonic wave reducer comprises a steel wheel, wherein a flexible wheel is connected in the steel wheel in transmission mode, a bearing fixing frame is fixedly connected at one end of the steel wheel, a servo motor is connected with the other end of the steel wheel, an output flange is connected in the bearing fixing frame in transmission mode and fixedly connected with the flexible wheel, a harmonic wave generator is connected in the flexible wheel in rotating mode, and the harmonic wave generator is fixedly connected with a power output shaft of the servo motor. The steel wheel comprises a motor installation base, and an elastic connection device is arranged between one side of the motor installation base and the servo motor. By means of the technical scheme, conform concentricity is achieved, and the accuracy is greatly improved.
Description
Technical field
The present invention relates to a kind of decelerator, relate to specifically the combined harmonic speed reducer of a kind of robot.
Background technology
Harmonic wave speed reducing machine is novel, high-precision transmission decelerating device, and this decelerator moment of torsion is large, gearratio is high, lightweight, volume is little is used widely.Traditional assembly type harmonic speed reducer tooth-shape structure is complicated, and machining accuracy is low, and it is consistent that each member difficulty has reached concentricity.
In production, when using harmonic speed reducer, conventionally adopt harmonic speed reducer and other member separable assembled, first harmonic speed reducer is assembled on decelerator holder, then assembling is for the servomotor of power input and the output flange of exporting for power, because harmonic speed reducer installs, during assembling, want to guarantee the coaxial position that often needs to adjust frequently servomotor of servomotor and harmonic speed reducer, simultaneously also very difficult to the detection of tightness after assembling.
Summary of the invention
The problem to be solved in the present invention is in order to overcome above-mentioned technological deficiency, provides a kind of robot simple in structure, that concentricity is high combined harmonic speed reducer.
In order to address the above problem, the present invention by the following technical solutions:
The combined harmonic speed reducer of robot, comprise steel wheel, in described steel wheel, be connected with flexbile gear, steel wheel one end is fixedly connected with bearing fixed mount, the other end is connected with servomotor, in bearing fixed mount, be rotatably connected to output flange, output flange is fixedly connected with flexbile gear, in flexbile gear, be rotatably connected to harmonic oscillator, harmonic oscillator is fixedly connected with the power output shaft of servomotor, described steel wheel comprises motor mount, between a side of motor mount and servomotor, is provided with elastic connecting device.
Below further improvement of these options of the present invention:
Elastic connecting device comprises the connecting portion of the ring-type being fixedly connected with servomotor, between described connecting portion and motor mount, be provided with the elastic joint part of ring-type, connecting portion is identical with elastic joint part concentric and internal diameter, and the external diameter of elastic joint part is less than the external diameter of connecting portion.
Further improve: described steel wheel also comprises the joint portion of the ring-type that is arranged on motor mount opposite side, the inner side of joint portion is meshed with flexbile gear, the first elastic joint part that is connected with the ring-type of coaxial setting between joint portion and motor mount, the wall thickness of the first elastic joint part is less than the wall thickness of joint portion.
Further improve: described steel wheel also comprises the installation portion being connected with bearing fixed mount, be connected with the second elastic joint part of the ring-type of coaxial setting between installation portion and joint portion, the wall thickness of the second elastic joint part is less than the wall thickness of joint portion and installation portion.
Further improve: bearing fixed mount is in transmission connection by crossed roller bearing and output flange.
During installation, the connecting portion of steel wheel is fixedly connected with the shell of machine shaft end, motor mount is fixedly connected with decelerator holder, motor is fixed away from one end and the motor fixing seat of connecting portion, the internal diameter of decelerator holder regulates according to the external diameter of steel wheel, installation portion and decelerator holder interference fit, joint portion and decelerator holder matched in clearance, the rotating shaft of motor is fixedly connected with harmonic oscillator.
During work, because motor and connecting portion are fixed, connecting portion is provided with elastic joint part, make connecting portion there is certain elasticity, when the rotating shaft of motor and harmonic oscillator disalignment, the shell of motor can drive connecting portion skew certain angle to offset the side-play amount of the relative harmonic oscillator of rotating shaft of motor, thereby guarantees that the rotating shaft of motor and harmonic oscillator keep coaxial.
Simultaneously, the two ends of joint portion are provided with the first elastic joint part, the second elastic joint part, between joint portion and decelerator holder, leave gap, when there is skew in flexbile gear, joint portion is offset in Ke gap, adapts to the side-play amount of flexbile gear, thereby guarantees that the gear in joint portion coordinates more accurate with the profile of tooth of flexbile gear, substantially realize zero allowance and coordinate, in precision, be greatly improved.
During use, harmonic speed reducer and motor, output flange have been assembled and as an integral module and other member, have been used in conjunction with afterwards, above-mentioned module is tested separately, avoided owing to first assembling the poor problem of axiality between debug difficulties that harmonic speed reducer causes and motor and harmonic speed reducer, improve packaging efficiency and installation accuracy, can realize rapid-assembling.
The combined harmonic speed reducer of robot provided by the invention is connected together flexbile gear, steel wheel, wave producer, output shaft, has reached concentricity consistent, and has been greatly improved in precision.
Below in conjunction with drawings and Examples, the invention will be further described.
Accompanying drawing explanation
Fig. 1 is the front view of the embodiment of the present invention.
In figure: 1-crossed roller bearing; 2-output flange; 3-flexbile gear; 4-steel wheel; 5-flexible bearing; 6-harmonic oscillator; 7-bearing fixed mount; 8-servomotor; 9-decelerator holder; 401-motor mount; 402-connecting portion; 403-elastic joint part; 404-joint portion; 405-the first elastic joint part; 406-installation portion; 407-the second elastic joint part.
Embodiment
Embodiment, as shown in Figure 1, the combined harmonic speed reducer of a kind of robot, comprise steel wheel 4, in described steel wheel 4, be connected with flexbile gear 3, steel wheel 4 one end are fixedly connected with bearing fixed mount 7, the other end is connected with servomotor 8, in bearing fixed mount 7, be rotatably connected to output flange 2, output flange 2 is fixedly connected with flexbile gear 3, in flexbile gear 3, be rotatably connected to harmonic oscillator 6, harmonic oscillator 6 is fixedly connected with the power output shaft of servomotor 8, described steel wheel 4 comprises motor mount 401, between one side of motor mount 401 and servomotor 8, be provided with elastic connecting device.
Steel wheel 4 can be adjusted the quality of fit with flexbile gear 3 automatically, and steel wheel 4 can be adjusted the axiality of machine shaft and harmonic oscillator 6 automatically.
Elastic connecting device comprises the connecting portion 402 of the ring-type being fixedly connected with servomotor 8, between described connecting portion 402 and motor mount 401, be provided with the elastic joint part 403 of ring-type, connecting portion 402 is identical with elastic joint part 403 concentrics and internal diameter, and the external diameter of elastic joint part 403 is less than the external diameter of connecting portion 402.
Described steel wheel 4 also comprises the joint portion 404 of the ring-type that is arranged on motor mount 401 opposite sides, the inner side of joint portion 404 is meshed with flexbile gear 3, the wall thickness of the first elastic joint part 405, the first elastic joint parts 405 that is connected with the ring-type of coaxial setting between joint portion 404 and motor mount 401 is less than the wall thickness of joint portion 404.
Described steel wheel 4 also comprises the installation portion 406 being connected with bearing fixed mount 7, the wall thickness of the second elastic joint part 407, the second elastic joint parts 407 that is connected with the ring-type of coaxial setting between installation portion 406 and joint portion 404 is less than the wall thickness of joint portion 404 and installation portion 406.
The setting of the first elastic joint part 405, the second elastic joint part 407 can flexbile gear 3 with steel wheel 4 between coordinate more accurate.
Bearing fixed mount 7 is in transmission connection by crossed roller bearing 1 and output flange 2.
During installation, the connecting portion 402 of steel wheel 4 is fixedly connected with the shell of motor 8 rotating shaft ends, motor mount 401 is fixedly connected with decelerator holder 9, motor 8 is fixed away from one end and the motor fixing seat of connecting portion 402, the internal diameter of decelerator holder 9 regulates according to the external diameter of steel wheel 4, installation portion 406 and decelerator holder 9 interference fit, joint portion 404 and decelerator holder 9 matched in clearance, the rotating shaft of motor 8 is fixedly connected with harmonic oscillator 6.
During work, because motor 8 is fixing with connecting portion 402, connecting portion 402 is provided with elastic joint part 403, make connecting portion 402 there is certain elasticity, when the rotating shaft of motor 8 and harmonic oscillator 6 disalignment, the shell of motor 8 can drive connecting portion 402 skew certain angles to offset the side-play amount of the relative harmonic oscillator 6 of rotating shaft of motor 8, thereby guarantees that the rotating shaft of motor 8 and harmonic oscillator 6 keep coaxial.
Simultaneously, the two ends of joint portion 404 are provided with the first elastic joint part 405, the second elastic joint part 407, between joint portion 404 and decelerator holder 9, leave gap, when there is skew in flexbile gear 3, joint portion is offset in 404Ke gap, adapts to the side-play amount of flexbile gear 3, thereby guarantees that the gear in joint portion 404 coordinates more accurate with the profile of tooth of flexbile gear 3, substantially realize zero allowance and coordinate, in precision, be greatly improved.
During use, harmonic speed reducer and motor 8, output flange 2 have been assembled and as an integral module and other member, have been used in conjunction with afterwards, above-mentioned module is tested separately, avoided owing to first assembling the poor problem of axiality between debug difficulties that harmonic speed reducer causes and motor and harmonic speed reducer, improve packaging efficiency and installation accuracy, can realize rapid-assembling.
Claims (2)
- The combined harmonic speed reducer of 1.Yi Zhong robot, comprise steel wheel (4), in described steel wheel (4), be connected with flexbile gear (3), steel wheel (4) one end is fixedly connected with bearing fixed mount (7), the other end is connected with servomotor (8), in bearing fixed mount (7), be rotatably connected to output flange (2), output flange (2) is fixedly connected with flexbile gear (3), in flexbile gear (3), be rotatably connected to harmonic oscillator (6), harmonic oscillator (6) is fixedly connected with the power output shaft of servomotor (8), it is characterized in that:Described steel wheel (4) comprises motor mount (401), between a side of motor mount (401) and servomotor (8), is provided with elastic connecting device;Elastic connecting device comprises the connecting portion (402) of the ring-type being fixedly connected with servomotor (8), between described connecting portion (402) and motor mount (401), be provided with the elastic joint part (403) of ring-type, connecting portion (402) is identical with elastic joint part (403) concentric and internal diameter, and the external diameter of elastic joint part (403) is less than the external diameter of connecting portion (402);Described steel wheel (4) also comprises the joint portion (404) of the ring-type that is arranged on motor mount (401) opposite side, the inner side of joint portion (404) is meshed with flexbile gear (3), the first elastic joint part (405) that is connected with the ring-type of coaxial setting between joint portion (404) and motor mount (401), the wall thickness of the first elastic joint part (405) is less than the wall thickness of joint portion (404);Described steel wheel (4) also comprises the installation portion (406) being connected with bearing fixed mount (7), the second elastic joint part (407) that is connected with the ring-type of coaxial setting between installation portion (406) and joint portion (404), the wall thickness of the second elastic joint part (407) is less than the wall thickness of joint portion (404) and installation portion (406).
- 2. the combined harmonic speed reducer of robot according to claim 1, is characterized in that: bearing fixed mount (7) is in transmission connection by crossed roller bearing (1) and output flange (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210344932.9A CN102904365B (en) | 2012-09-18 | 2012-09-18 | Combined harmonic wave reducer of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210344932.9A CN102904365B (en) | 2012-09-18 | 2012-09-18 | Combined harmonic wave reducer of robot |
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| Publication Number | Publication Date |
|---|---|
| CN102904365A CN102904365A (en) | 2013-01-30 |
| CN102904365B true CN102904365B (en) | 2014-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210344932.9A Active CN102904365B (en) | 2012-09-18 | 2012-09-18 | Combined harmonic wave reducer of robot |
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| CN (1) | CN102904365B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624794A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN104578565A (en) * | 2014-12-31 | 2015-04-29 | 山东帅克机械制造股份有限公司 | Combined harmonic wave speed reduction and motor integrated machine |
| CN106151472A (en) * | 2015-04-15 | 2016-11-23 | 浙江宁波智动机器人技术有限公司 | A kind of harmonic speed reducer with lubricating function |
| CN106151449A (en) * | 2015-04-15 | 2016-11-23 | 浙江宁波智动机器人技术有限公司 | A kind of dust-proof harmonic speed reducer |
| CN106826926A (en) * | 2017-03-27 | 2017-06-13 | 江苏汇博机器人技术股份有限公司 | A kind of test device of robot Power Component |
| CN107186695B (en) * | 2017-05-25 | 2023-07-18 | 广州瑞松智能科技股份有限公司 | Connection structure of mechanical joint and installation method thereof |
| CN107294278B (en) * | 2017-08-18 | 2019-08-02 | 迪百仕电机科技（苏州）有限公司 | A kind of reset motor |
| CN111654152A (en) * | 2020-06-15 | 2020-09-11 | 博雅工道（北京）机器人科技有限公司 | Single-drive double-shaft motor and mechanical arm |
| CN115070816B (en) * | 2022-08-16 | 2022-11-22 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
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|---|---|---|---|---|
| CN2498781Y (en) * | 2001-04-29 | 2002-07-03 | 桂林电器科学研究所 | Electric drive arranged at middle position for moped |
| CN102312987A (en) * | 2011-02-01 | 2012-01-11 | 配天(安徽)电子技术有限公司 | Flexible gear, harmonic speed reducer as well as robot joint structure |
| CN202162808U (en) * | 2011-07-13 | 2012-03-14 | 江阴纳尔捷机器人有限公司 | High-efficiency integral rotating head |
| CN202209382U (en) * | 2011-09-02 | 2012-05-02 | 杭州电子科技大学 | Transmission mechanism for thin type harmonic retarder |
| CN202833879U (en) * | 2012-09-18 | 2013-03-27 | 华创机器人制造有限公司 | Robot combined type harmonic wave reducer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59113341A (en) * | 1982-12-17 | 1984-06-30 | Matsushita Electric Ind Co Ltd | Reduction gear |
| JP2700847B2 (en) * | 1993-01-07 | 1998-01-21 | 昇 丸山 | Central hot water supply system |
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2012
- 2012-09-18 CN CN201210344932.9A patent/CN102904365B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2498781Y (en) * | 2001-04-29 | 2002-07-03 | 桂林电器科学研究所 | Electric drive arranged at middle position for moped |
| CN102312987A (en) * | 2011-02-01 | 2012-01-11 | 配天(安徽)电子技术有限公司 | Flexible gear, harmonic speed reducer as well as robot joint structure |
| CN202162808U (en) * | 2011-07-13 | 2012-03-14 | 江阴纳尔捷机器人有限公司 | High-efficiency integral rotating head |
| CN202209382U (en) * | 2011-09-02 | 2012-05-02 | 杭州电子科技大学 | Transmission mechanism for thin type harmonic retarder |
| CN202833879U (en) * | 2012-09-18 | 2013-03-27 | 华创机器人制造有限公司 | Robot combined type harmonic wave reducer |
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| JP昭59-113341A 1984.06.30 |
| JP昭6-201143A 1985.10.11 |
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| CN102904365A (en) | 2013-01-30 |
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