CN105387159A - Robot harmonic reducer device - Google Patents
Robot harmonic reducer device Download PDFInfo
- Publication number
- CN105387159A CN105387159A CN201510921232.5A CN201510921232A CN105387159A CN 105387159 A CN105387159 A CN 105387159A CN 201510921232 A CN201510921232 A CN 201510921232A CN 105387159 A CN105387159 A CN 105387159A
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- Prior art keywords
- flexbile gear
- wave
- harmonic reducer
- generator
- bearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/02—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members without members having orbital motion
- F16H13/04—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members without members having orbital motion with balls or with rollers acting in a similar manner
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a robot harmonic reducer device. The robot harmonic reducer device comprises a rigid gear, a flexible gear and a wave generator which are assembled together. A coaxial positioning device is arranged between the flexible gear and the wave generator. The assembly accuracy between the wave generator and the flexible gear is reduced to be less than 2 microns through the coaxial positioning device, and the radial run-out error between the wave generator and the flexible gear is reduced to be less than 5 microns. According to the robot harmonic reducer device, an inner ring and an outer ring of a cross roller bearing are integrally machined on the rigid gear and the flexible gear respectively, roller pins are directly assembled, the inner ring and the outer ring are omitted, and raw materials are saved; moreover, the situation that multiple assembly errors are generated due to the fact that an inner ring, an outer ring and roller pins of a cross roller bearing are machined respectively and then assembled and finally are assembled between a rigid gear and a flexible gear is avoided. The overall assembly error is reduced to be less than 2 microns.
Description
Technical field
The present invention relates to a kind of harmonic wave speed reducing machine, specifically, relate to a kind of harmonic reducer of robot device increasing positioning precision, reduce driving error, belong to retarder technical field.
Background technique
Harmonic gear reducer is a kind of Novel reducer utilizing Planetary Gear Transmission principle to grow up.Harmonic Gears (abbreviation harmonic driving), it is a kind of Planetary Gear Transmission relying on flexible part generation elastic mechanical ripple to come transferring power and motion.
As shown in Figure 1, harmonic gear reducer the most frequently used in the market, primarily of three basic building blocks composition: A, rigid gear with ring gear, be called for short just wheel 1, it is equivalent to the central gear in planetary system;
B, flexible gear with external toothing, be called for short flexbile gear 5, it is equivalent to planetary pinion;
C, wave-generator 2, it is equivalent to planet carrier.As retarder use, wave-generator is usually adopted initiatively, just to take turns fixing, flexbile gear output form.
But the retarder of this structure has following defect:
One be wave-generator 2 excircle by bearing spider 3 and flexible bearing 4 with just take turns 1 and be rotationally connected, multiple component will be processed respectively, more repeatedly assemble, and its assembly error is larger;
Two be flexbile gear 5 excircle also by roller bearing fitting seat 6 and cross roller bearing 7 with just take turns 1 and be rotationally connected, there are multiple component equally will process respectively, more repeatedly assembles, the defect that assembly error is larger;
Three is the central shaft mounting hole of flexbile gear 5 and the central shaft mounting hole of wave-generator 2, require coaxial, in actual assembled process, owing to there is no direct positioning device between flexbile gear 5 and wave-generator 2, rely on the coaxality that the assembly precision of transmission shaft decides between the central shaft mounting hole of flexbile gear 5 and the central shaft mounting hole of wave-generator 2 completely, error will be caused so comparatively large, greatly reduce assembly precision.Cause overall Power output precision lower.
Summary of the invention
The problem to be solved in the present invention is the above-mentioned defect in order to overcome conventional harmonic retarder, provides a kind of harmonic reducer of robot device that can increase positioning precision, reduce driving error.
In order to solve the problem, the present invention by the following technical solutions:
A kind of harmonic reducer of robot device, comprises the firm wheel, flexbile gear and the wave-generator that fit together; Coaxial positioning apparatus is provided with between described flexbile gear and wave-generator.Coaxial positioning apparatus makes the assembly precision between wave-generator and flexbile gear drop to less than 2 microns, and its run-out error drops to less than 5 microns.
Below the further optimization of the present invention to such scheme:
Described coaxial positioning apparatus comprises the positioning shaft extended along the central axis of wave-generator to flexbile gear, and the rear end of described positioning shaft is connected by deep groove ball bearing rotational support with flexbile gear.
The rear end of described positioning shaft is integrally processed with bearing mounting platform, described deep groove ball bearing is arranged on bearing mounting platform, position corresponding with the rear end of positioning shaft on described flexbile gear is integrally processed with deep gouge, the outer end of described deep groove ball bearing be positioned at deep gouge and with deep gouge compact siro spinning technology.
Further optimization: the central position of wave-generator is provided with the axle mounting hole for installing transmission shaft, the center of described positioning shaft has and communicates and the center hole of concentric with axle mounting hole.
In order to increase transmission accuracy and the assembly precision of transmission shaft, the Cross section Design of this axle mounting hole is elongated hole, prevents transmission shaft from axle mounting hole, producing radial rotating.
The setting of positioning shaft, make the assembly precision between wave-generator and flexbile gear drop to below micron, its run-out error drops to less than 2 microns.
Further optimization: described firm wheel is connected by cross roller bearing-transmission with between flexbile gear, the cross roller bearing inner race groove that the cross roller bearing outer ring groove that this cross roller bearing is included in the upper one processing of just wheel is processed with position corresponding with cross roller bearing outer ring groove on flexbile gear one, is equipped with needle roller between cross roller bearing outer ring groove and cross roller bearing inner race groove.
The present invention adopts such scheme, the inner ring of cross roller bearing, outer ring are integrally processed respectively on firm wheel and flexbile gear, needle roller is directly assembled, eliminate inner ring and outer ring, save raw material, avoiding former cross roller bearing will process inner ring, outer ring and needle roller simultaneously respectively, and then assembles, finally be assembled to the multiple assembly error just produced between wheel with flexbile gear again, the assembly error of entirety is dropped to less than 2 microns.
Further optimization: be in transmission connection by flexible bearing between wave-generator and flexbile gear, described flexible bearing comprises outer ring and ring recess in the flexible bearing of one processing on the excircle of wave-generator, arranges ball in outer ring and flexible bearing between ring recess.
Present invention eliminates the inner ring processing of flexible bearing, save raw material, the excircle simultaneously by wave-generator is processed into ring recess in flexible bearing, refill and join outer ring and ball, improve its assembly precision, the assembly error of entirety is dropped to less than 2 microns, reach international and use level.
Below in conjunction with drawings and Examples, the invention will be further described.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of conventional harmonic wave speed reducing machine in background technique of the present invention;
Accompanying drawing 2 is the structural representation of harmonic wave speed reducing machine in the embodiment of the present invention;
Accompanying drawing 3 is the structural representation of flexbile gear and wave-generator in the embodiment of the present invention;
Accompanying drawing 4 is the structural representation of wave-generator in the embodiment of the present invention;
Accompanying drawing 5 is the side view of accompanying drawing 4.
In figure: 1-just takes turns; 2-wave-generator; 3-bearing spider; 4-flexible bearing; Ring recess in 41-flexible bearing; 5-flexbile gear; 6-roller bearing fitting seat; 7-cross roller bearing; 71-cross roller bearing outer ring groove; 72-cross roller bearing inner race groove; 8-deep groove ball bearing; 9-positioning shaft; 10-deep gouge; 11-center hole; 12-axle mounting hole; 13-bearing mounting platform.
Embodiment
Embodiment, as in Figure 2-4, a kind of harmonic reducer of robot device, comprises the firm wheel 1, flexbile gear 5 and the wave-generator 2 that fit together; Coaxial positioning apparatus is provided with between described flexbile gear 5 and wave-generator 2.
Described coaxial positioning apparatus comprises the positioning shaft 9 extended along the central axis of wave-generator 2 to flexbile gear 5, and the rear end of described positioning shaft 9 is connected by deep groove ball bearing 8 rotational support with flexbile gear 5.
The rear end of described positioning shaft 9 is integrally processed with bearing mounting platform 13, described deep groove ball bearing 8 is arranged on bearing mounting platform 13, position corresponding with the rear end of positioning shaft 9 on described flexbile gear 5 is integrally processed with deep gouge 10, the outer end of described deep groove ball bearing 8 be positioned at deep gouge 10 and with deep gouge 10 compact siro spinning technology.
The central position of wave-generator 2 is provided with the axle mounting hole 12 for installing transmission shaft, and the center of described positioning shaft 9 has and communicates and the center hole 11 of concentric with axle mounting hole 12.
The setting of positioning shaft 9, make the assembly precision between wave-generator 2 and flexbile gear 5 drop to less than 2 microns, its run-out error drops to less than 5 microns.
Be in transmission connection by cross roller bearing 7 between described firm wheel 1 and flexbile gear 5, this cross roller bearing 7 is included in the cross roller bearing inner race groove 72 that the cross roller bearing outer ring groove 71 of one processing on just wheel 1 and position corresponding with cross roller bearing outer ring groove 71 on flexbile gear 5 one are processed, and is equipped with needle roller between cross roller bearing outer ring groove 71 and cross roller bearing inner race groove 72.
The present invention adopts such scheme, integrally being processed respectively in the inner ring of cross roller bearing 7, outer ring is just taking turns on 1 and flexbile gear 5, needle roller is directly assembled, eliminate inner ring and outer ring, save raw material, avoiding former cross roller bearing 7 will process inner ring, outer ring and needle roller simultaneously respectively, and then assembles, finally be assembled to the multiple assembly error just produced between wheel 1 and flexbile gear 5 again, the assembly error of entirety is dropped to less than 2 microns.
Be in transmission connection by flexible bearing 4 between wave-generator 2 and flexbile gear 5, described flexible bearing 4 comprises outer ring and ring recess 41 in the flexible bearing of one processing on the excircle of wave-generator 2, arranges ball in outer ring and flexible bearing between ring recess 41.
Present invention eliminates the inner ring processing of flexible bearing 4, save raw material, the excircle simultaneously by wave-generator 2 is processed into ring recess 41 in flexible bearing, refill and join outer ring and ball, improve its assembly precision, the assembly error of entirety is dropped to less than 2 microns, reach international and use level.
As shown in Figure 5, in order to increase transmission accuracy and the assembly precision of transmission shaft, the Cross section Design of this axle mounting hole 12 is elongated hole, prevents transmission shaft from axle mounting hole 12, producing radial rotating.
Claims (9)
1. a harmonic reducer of robot device, comprises the firm wheel (1), flexbile gear (5) and the wave-generator (2) that fit together; It is characterized in that: be provided with coaxial positioning apparatus between described flexbile gear (5) and wave-generator (2), the assembly precision between flexbile gear (5) and wave-generator (2) is less than 2 microns, and its run-out error is less than 5 microns.
2. harmonic reducer of robot device according to claim 1, is characterized in that:
Described coaxial positioning apparatus comprises the positioning shaft (9) extended along the central axis of wave-generator (2) to flexbile gear (5), and the rear end of described positioning shaft (9) is connected with flexbile gear (5) rotational support.
3. harmonic reducer of robot device according to claim 2, is characterized in that:
The rear end of described positioning shaft (9) is integrally processed with bearing mounting platform (13), described bearing mounting platform (13) is provided with deep groove ball bearing (8), the upper position corresponding with the rear end of positioning shaft (9) of described flexbile gear (5) is integrally processed with deep gouge (10), the outer end of described deep groove ball bearing (8) be positioned at deep gouge (10) and with deep gouge (10) compact siro spinning technology.
4. harmonic reducer of robot device according to claim 2, is characterized in that:
The central position of wave-generator (2) is provided with the axle mounting hole (12) for installing transmission shaft, and the center of described positioning shaft (9) has and communicates and the center hole of concentric (11) with axle mounting hole (12).
5. harmonic reducer of robot device according to claim 4, is characterized in that:
The cross section of axle mounting hole (12) is elongated hole, prevents transmission shaft from axle mounting hole (12), producing radial rotating.
6. harmonic reducer of robot device according to claim 1, is characterized in that:
Be in transmission connection by cross roller bearing (7) between described firm wheel (1) and flexbile gear (5).
7. harmonic reducer of robot device according to claim 5, is characterized in that:
The cross roller bearing outer ring groove (71) that this cross roller bearing (7) is included in the processing of firm wheel (1) upper one and the cross roller bearing inner race groove (72) processed in flexbile gear (5) the upper position corresponding with cross roller bearing outer ring groove (71) one, be equipped with needle roller between cross roller bearing outer ring groove (71) and cross roller bearing inner race groove (72).
8. harmonic reducer of robot device according to claim 1, is characterized in that:
Be in transmission connection by flexible bearing (4) between wave-generator (2) and flexbile gear (5).
9. harmonic reducer of robot device according to claim 8, is characterized in that:
Described flexible bearing (4) comprises outer ring and ring recess (41) in the flexible bearing of one processing on the excircle of wave-generator (2), arranges ball in outer ring and flexible bearing between ring recess (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510921232.5A CN105387159A (en) | 2015-12-14 | 2015-12-14 | Robot harmonic reducer device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510921232.5A CN105387159A (en) | 2015-12-14 | 2015-12-14 | Robot harmonic reducer device |
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| CN105387159A true CN105387159A (en) | 2016-03-09 |
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| CN201510921232.5A Pending CN105387159A (en) | 2015-12-14 | 2015-12-14 | Robot harmonic reducer device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105845016A (en) * | 2016-05-31 | 2016-08-10 | 南京康尼机电股份有限公司 | Transparent harmonic reducer device for teaching demonstration |
| CN108775382A (en) * | 2018-07-31 | 2018-11-09 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with one group of ball bearing arranged side by side |
| WO2020087924A1 (en) * | 2018-10-30 | 2020-05-07 | 高克 | Harmonic reducer assembly and wave generator |
| CN111120621A (en) * | 2020-01-10 | 2020-05-08 | 浙江来福谐波传动股份有限公司 | Harmonic reducer capable of reducing vibration and manufacturing method thereof |
| CN113719585A (en) * | 2021-08-31 | 2021-11-30 | 北京柏惠维康科技有限公司 | Harmonic reducer, mechanical arm and robot |
| CN116292822A (en) * | 2023-03-01 | 2023-06-23 | 深圳逐际动力科技有限公司 | Harmonic reducer, joint module, mechanical arm, mobile platform and robot |
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| US20100288066A1 (en) * | 2009-05-15 | 2010-11-18 | Denso Wave Incorporated | Harmonic speed reducer for robots |
| CN202684927U (en) * | 2012-05-23 | 2013-01-23 | 深圳众为兴技术股份有限公司 | High-precision joint mechanism of robot |
| CN103438157A (en) * | 2013-09-09 | 2013-12-11 | 南京信息工程大学 | Bi-arc harmonic reducer |
| CN103629306A (en) * | 2012-08-20 | 2014-03-12 | 刘旭训 | Harmonic reducer of electric bicycle driver |
| CN203714116U (en) * | 2014-01-17 | 2014-07-16 | 南京信息工程大学 | Driving mechanism for electric moped |
| CN204420011U (en) * | 2014-12-31 | 2015-06-24 | 山东帅克机械制造股份有限公司 | A kind of harmonic speed reducer |
| CN205173388U (en) * | 2015-12-14 | 2016-04-20 | 山东帅克机械制造股份有限公司 | Harmonic speed reducer of robot ware device |
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2015
- 2015-12-14 CN CN201510921232.5A patent/CN105387159A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100288066A1 (en) * | 2009-05-15 | 2010-11-18 | Denso Wave Incorporated | Harmonic speed reducer for robots |
| CN202684927U (en) * | 2012-05-23 | 2013-01-23 | 深圳众为兴技术股份有限公司 | High-precision joint mechanism of robot |
| CN103629306A (en) * | 2012-08-20 | 2014-03-12 | 刘旭训 | Harmonic reducer of electric bicycle driver |
| CN103438157A (en) * | 2013-09-09 | 2013-12-11 | 南京信息工程大学 | Bi-arc harmonic reducer |
| CN203714116U (en) * | 2014-01-17 | 2014-07-16 | 南京信息工程大学 | Driving mechanism for electric moped |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105845016A (en) * | 2016-05-31 | 2016-08-10 | 南京康尼机电股份有限公司 | Transparent harmonic reducer device for teaching demonstration |
| CN108775382A (en) * | 2018-07-31 | 2018-11-09 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer with one group of ball bearing arranged side by side |
| WO2020087924A1 (en) * | 2018-10-30 | 2020-05-07 | 高克 | Harmonic reducer assembly and wave generator |
| CN111120621A (en) * | 2020-01-10 | 2020-05-08 | 浙江来福谐波传动股份有限公司 | Harmonic reducer capable of reducing vibration and manufacturing method thereof |
| CN111120621B (en) * | 2020-01-10 | 2023-07-14 | 浙江来福谐波传动股份有限公司 | Harmonic reducer capable of reducing vibration and manufacturing method thereof |
| CN113719585A (en) * | 2021-08-31 | 2021-11-30 | 北京柏惠维康科技有限公司 | Harmonic reducer, mechanical arm and robot |
| CN113719585B (en) * | 2021-08-31 | 2024-01-19 | 北京柏惠维康科技股份有限公司 | Harmonic reducer, mechanical arm and robot |
| CN116292822A (en) * | 2023-03-01 | 2023-06-23 | 深圳逐际动力科技有限公司 | Harmonic reducer, joint module, mechanical arm, mobile platform and robot |
| CN116292822B (en) * | 2023-03-01 | 2023-11-03 | 深圳逐际动力科技有限公司 | Harmonic reducer, joint module, mechanical arm, mobile platform and robot |
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Application publication date: 20160309 |