CN106239127A - The method for processing and assembling of intelligent robot harmonic speed reducer - Google Patents

The method for processing and assembling of intelligent robot harmonic speed reducer Download PDF

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Publication number
CN106239127A
CN106239127A CN201610604531.0A CN201610604531A CN106239127A CN 106239127 A CN106239127 A CN 106239127A CN 201610604531 A CN201610604531 A CN 201610604531A CN 106239127 A CN106239127 A CN 106239127A
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China
Prior art keywords
outer shaft
wheel
annular groove
assembling
speed reducer
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Granted
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CN201610604531.0A
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Chinese (zh)
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CN106239127B (en
Inventor
李应煌
梁娟
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Liuzhou Funeng Robot Development Co Ltd
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Liuzhou Funeng Robot Development Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The present invention relates to robot driver, the specifically method for processing and assembling of intelligent robot harmonic speed reducer, its be included axle one end and hollow outer shaft one end outer wall locating and machining groove respectively, on two elliptical drive for wheel, difference process and assemble hole, arranges a ring spring in each pilot hole;Again two elliptical drive for wheel are separately mounted on described interior outer shaft by pilot hole;It is positioned at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth respectively;Finally will be equipped with two elliptical drive for wheel of interior outer shaft to install in flexbile gear, make that two elliptical drive for wheel are corresponding with two exclusive teeth to be aligned, finally the elliptical drive for wheel assembled and flexbile gear installation are just taken turns inner ring to form two row's internal tooths.The present invention uses the mounting means of inside and outside two axles, it is possible to provide two kinds drive power, can change the gear ratio of reductor etc.;Meanwhile, in terms of process and assemble, fix elliptical drive for wheel by ring spring, be conducive to reducing frictional force, it is to avoid damage elliptical drive for wheel.

Description

The method for processing and assembling of intelligent robot harmonic speed reducer
Technical field
The present invention relates to robot driver, specifically the method for processing and assembling of intelligent robot harmonic speed reducer.
Background technology
Existing robot mainly divides two big classes: Cartesian robot and prosthetic robot.Cartesian robot Mainly by some linear motion units, motor, control system and end-effector etc. is driven to form.This robot can be for not Same application, fast and easy is combined into different dimension, various stroke and wall-mounted, cantilevered, the planer-type of different band loading capability Or the Cartesian robot of the various ways such as reversely hung Yong.Prosthetic robot is mainly driven electricity by some rotary motion unit Machine, control system and end-effector etc. form.Prosthetic robot can become not with Rapid Combination unlike Cartesian robot Same dimension.For different application, the prosthetic robot of fixing different dimensions can only be selected, such as arc welding robot, carrying Robot, intelligent nursing machine people etc..
In current automatic industrial produces, robot is core, but the certain operations of robot requires speed all Slow, need speed reducer with high transmission ratio transmission, existing robot to be generally adopted by prosthetic robot, its gear reduction Mechanism is to use planet to add cycloid speed reducer or harmonic wave speed reducing machine, owing to the driving means of these reductors uses list mostly mostly Axle and fixing gear train etc. carry out transmission so that the gear ratio of reductor is fixed, and are difficult to meet robot to gear ratio Demand;And these driving means axiality in terms of process and assemble is not high enough.
Summary of the invention
For above-mentioned technical problem, the present invention provides adding of the intelligent robot harmonic speed reducer that a kind of axiality is higher Frock method of completing the square.
The technical solution used in the present invention is: the method for processing and assembling of intelligent robot harmonic speed reducer, it include with Lower step:
(1) at interior axle one end and hollow outer shaft one end outer wall locating and machining groove respectively, two elliptical drive for wheel are processed respectively Pilot hole, arranges a ring spring in each pilot hole;
(2) again two elliptical drive for wheel are separately mounted on described interior outer shaft by pilot hole, and make ring spring embed correspondence In locating slot;
(3) then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end;
(4) then at the axial centre position of the flexbile gear base substrate circumferentially flat annular groove of turning one;Again at flat annular groove Bottom land circumferentially processes an annular V groove;
(5) it is positioned at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth, the teeth groove of each tooth and annular groove respectively Communicate, and bottom land higher than annular groove bottom land or flushes with annular groove bottom land;
(6) outward-dipping breeze way is processed in one end of flexbile gear green state joining output shaft;
(7) will be equipped with two elliptical drive for wheel of interior outer shaft again to install and entirely enclose to flexbile gear, make two elliptical drive for wheel and two exclusive Tooth correspondence aligns;
(8) finally the elliptical drive for wheel assembled and flexbile gear are installed to form two row's internal tooths and just take turns inner ring, make two exclusive Tooth and the two corresponding engagements of row's internal tooth.
As preferably, radially it is machined with annular groove along each described pilot hole hole wall, first described ring spring is arranged at correspondence In annular groove, then elliptical drive for wheel is arranged on the axle of correspondence by pilot hole.
As preferably, described hollow outer shaft two ends are machined with receiving space respectively, and each fixedly mounts in accommodating space One bearing, described interior axle two ends are arranged on hollow outer shaft inner chamber by this two bearings.
As preferably, in installing during axle, first the interior axle other end bearing from one end described in hollow outer shaft is penetrated inner chamber, so After pass from the bearing of the hollow outer shaft other end.
As preferably, first vertically being placed by hollow outer shaft, its described one end is above, then by described in interior axle another End is placed in the bearing centre hole of one end described in hollow outer shaft, and then one end described in internal axle applies downward pressure so that it is another End penetrates inner chamber, then passes from the bearing centre hole of the hollow outer shaft other end.
As preferably, when the interior axle other end passes from the bearing centre hole of the hollow outer shaft other end, to hollow outer shaft another The bearing of end applies pressure from bottom to top.
As preferably, during processing tooth, from away from annular groove one laterally closer annular groove side feed.
As preferably, described breeze way extends to billet surface from teeth groove bottom land is axially inclined.
As preferably, the number of teeth of two exclusive teeth is unequal;The tip diameter of two exclusive teeth is unequal.
As can be known from the above technical solutions, the present invention uses the mounting means of inside and outside two axles, it is possible to provide two kinds drive power, can Change the gear ratio of reductor etc.;Meanwhile, in terms of process and assemble, fixing elliptical drive for wheel by ring spring, beneficially reduction rubs Wiping power, it is to avoid damage elliptical drive for wheel;And axle in two bearings installations, it can be ensured that the axiality of interior outer shaft.
Detailed description of the invention
The present invention is described more detail below, and illustrative examples and explanation in this present invention are used for explaining the present invention, But it is not as a limitation of the invention.
The method for processing and assembling of intelligent robot harmonic speed reducer, it comprises the following steps:
At interior axle one end and hollow outer shaft one end outer wall locating and machining groove respectively;Interior outer shaft can be driven, also respectively by two motors Can be driven respectively by two different drive mechanisms by a motor;Locating slot can make driving wheel be arranged on the specific bit of axle Put;Difference process and assemble hole on two elliptical drive for wheel, can be arranged on elliptical drive for wheel on the axle of correspondence by pilot hole; Two elliptical drive for wheel can drive the gear of the different number of teeth, and elliptical drive for wheel is as the wave producer of harmonic speed reducer.As ripple During generator, can there be axially arranged several rollers in the peripheral distribution of described elliptical drive for wheel, thus can drive two not Rotate with the flexbile gear of the number of teeth, thus export the power of different drive ratios.
One ring spring is set in each pilot hole;In implementation process, radially add along each described pilot hole hole wall Work has annular groove, described ring spring to be arranged in the annular groove of correspondence, and elliptical drive for wheel is fixedly mounted on correspondence by corresponding ring spring On axle;So on the one hand, elliptical drive for wheel can be avoided directly to contact with corresponding axle and damage elliptical drive for wheel, on the other hand circle The elastic force of spring can make assembling convenient;Meanwhile, elliptical drive for wheel and respective shaft even can use the mode of matched in clearance to carry out , there is wear phenomenon in transmission, it is to avoid both contacts, and once the effect of attrition transmission of axle Yu ring spring, only need to change ring spring i.e. Can, save maintenance and maintenance cost.In the present invention, ring spring is the elasticity part with radical elasticity, in the effect of its elastic force Under, elliptical drive for wheel can be fixed on axle, it is ensured that axle drives elliptical drive for wheel to rotate;Two elliptical drive for wheel pass through pilot hole It is separately mounted on described interior outer shaft, and makes ring spring embed in corresponding locating slot;The processing of locating slot should not be crossed the most wide, very To only need one the most permissible to recessed impression because the effect of locating slot is spacing, and when driving wheel is mounted on an axle, ring spring And the radial force between axle is relatively big, only needs simple groove that driving wheel just can be avoided to move axially, thus realize axially location.
Then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end;As excellent Choosing, described interior axle is arranged on hollow outer shaft inner chamber by bearing;Specifically, described hollow outer shaft two ends are machined with receiving respectively Space, fixedly mounts a described bearing in each receiving space, and described interior axle two ends are arranged on hollow by this two bearings Outer shaft inner chamber;In installing during axle, first the interior axle other end bearing from one end described in hollow outer shaft is penetrated inner chamber, then from hollow The bearing of the outer shaft other end passes.As preferably, first vertically being placed by hollow outer shaft, its described one end is above, then The other end described in interior axle is placed in the bearing centre hole of one end described in hollow outer shaft, and then one end described in internal axle applies downward Pressure so that it is the other end penetrates inner chamber, then passes from the bearing centre hole of the hollow outer shaft other end;The interior axle other end is from hollow When the bearing centre hole of the axle other end passes, the bearing of the hollow outer shaft other end is applied pressure from bottom to top, prevents this bearing Because of interior axial under pressure disengage it from outer shaft.
In implementation process, the end face of bearing not only can be saved space with outer shaft end face, and keep away in transmission process Exempt to interfere with miscellaneous part;Two ends described in interior axle are arranged in two bearings, the most not only make interior outer shaft can occur relatively and turn Dynamic, it is ensured that interior outer shaft has higher axiality;And it is more firm that interior axle can be made to support, transmission is more steady.The phase of interior outer shaft Motion can be used this sample loading mode, when interior axle is rotated by driven by motor, outer shaft can be made not rotate, only by Ellipse motion driven wheel drive Outer gear rotates, thus exports power;When outer shaft is rotated by driven by motor, interior axle can be made not rotate, only by Ellipse motion driven The pinion rotation of the wheel drive additionally different numbers of teeth, thus output and the power of outer shaft different drive ratios, it is seen that the present invention can realize The transmission of different drive ratios.In implementation process, two elliptical drive for wheel can drive the flexbile gear gear of the different number of teeth, therefore, When interior axle is rotated by driven by motor, outer shaft can be made not rotate, only be rotated by the first Ellipse motion driven wheel drive first row external tooth, and this Time second row external tooth and internal tooth be still within engagement, owing to outer shaft does not has driving force, second row external tooth will not drive flexbile gear Rotate, and it rotates with flexbile gear under the effect of engagement force;In like manner, when outer shaft is rotated by driven by motor, interior axle can be made not turn Dynamic, only by the pinion rotation of the second Ellipse motion driven wheel drive additionally different numbers of teeth, thus output and the first different transmission of driving wheel The power of ratio, it is seen that the present invention can realize the transmission of different drive ratios.
In implementation process, the axial centre position of the flexbile gear base substrate circumferentially flat annular groove of turning one, then at flat ring Connected in star bottom land circumferentially processes an annular V groove, is then positioned at annular groove side in flexbile gear base substrate periphery and processes an exclusive tooth, It is positioned at annular groove opposite side in flexbile gear base substrate periphery and processes another exclusive tooth;In the course of processing, should be from away from annular groove One laterally closer annular groove side feed, and the teeth groove of each tooth communicates with annular groove, and teeth groove bottom land also should be made higher than ring Connected in star bottom land or flush with annular groove bottom land;The chip in the course of processing so can be made to flow into annular V groove, provide for processing Convenient;Meanwhile, when lubricating two toothrows, the precipitable a part of waste residue of lubricating oil in annular groove, it is ensured that the lubricating oil at tooth More clean;Annular V groove can facilitate chip and waste residue to flow into bottom land along the cell wall tilted, and prevents chip and waste residue etc. from splashing.
Two elliptical drive for wheel that will be equipped with interior outer shaft are installed to flexbile gear, make two elliptical drive for wheel and two toothrows to reply Just, each driving wheel is i.e. made to be positioned at the flexbile gear inner ring that tooth is corresponding, in flexbile gear transmission process, owing to wheel body is sent out in elliptical wave Being deformed during the driving of raw device, its output one end can be deformed, and transmission may be caused steady not, and then make output Through-drive is steady not, and one end of flexbile gear green state joining output shaft is processed into outward-dipping buffering and can alleviate above-mentioned change Shape, it is ensured that the transmission of output shaft is more steady.Finally the elliptical drive for wheel assembled and flexbile gear are installed to forming two row's internal tooths Just take turns inner ring, make two exclusive teeth and the two corresponding engagements of row's internal tooth.
The breeze way of the present invention is from the axially inclined billet surface that extends to of teeth groove bottom land, and described inclination extends to straight-line extension Or be to extend to recessed arc so that near being relatively large in diameter of output shaft side;Owing to wheel body produces in transmission process Being radially enlarged deformation, it has the wheel body made near output shaft side to produce the trend that radial deformation increases, therefore in transmission During power, the deformation effect that the major diameter buffer part near output shaft side is subject to is less, thus ensures the biography of flange Dynamic stationarity.
In the present invention, the number of teeth of described two exclusive teeth is unequal, thus provides two kinds of different gear ratios, to meet machine The transmission requirement of device people;The tip diameter of two exclusive teeth is unequal, and the outside circle also determining two row's internal tooths is unequal, at dress Timing, the external tooth that tip diameter is less should be near assembly direction, and the less external tooth of such tip diameter may pass through outside circle The internal tooth that the internal tooth being relatively large in diameter is less with tip diameter engages, it is ensured that assembling process does not interfere phenomenon.
The technical scheme provided the embodiment of the present invention above is described in detail, specific case used herein Principle and embodiment to the embodiment of the present invention are set forth, and the explanation of above example is only applicable to help to understand this The principle of inventive embodiments;Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party All will change in formula and range of application, in sum, this specification content should not be construed as limitation of the present invention.

Claims (9)

1. the method for processing and assembling of intelligent robot harmonic speed reducer, it comprises the following steps:
(1) at interior axle one end and hollow outer shaft one end outer wall locating and machining groove respectively, two elliptical drive for wheel are processed respectively Pilot hole, arranges a ring spring in each pilot hole;
(2) again two elliptical drive for wheel are separately mounted on described interior outer shaft by pilot hole, and make ring spring embed correspondence In locating slot;
(3) then interior axle is arranged on hollow outer shaft inner chamber, and makes the interior axle other end stretch out the hollow outer shaft other end;
(4) then at the axial centre position of the flexbile gear base substrate circumferentially flat annular groove of turning one;Again at flat annular groove Bottom land circumferentially processes an annular V groove;
(5) it is positioned at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth, the teeth groove of each tooth and annular groove respectively Communicate, and bottom land higher than annular groove bottom land or flushes with annular groove bottom land;
(6) outward-dipping breeze way is processed in one end of flexbile gear green state joining output shaft;
(7) will be equipped with two elliptical drive for wheel of interior outer shaft again to install and entirely enclose to flexbile gear, make two elliptical drive for wheel and two exclusive Tooth correspondence aligns;
(8) finally the elliptical drive for wheel assembled and flexbile gear are installed to form two row's internal tooths and just take turns inner ring, make two exclusive Tooth and the two corresponding engagements of row's internal tooth.
The method for processing and assembling of intelligent robot harmonic speed reducer the most according to claim 1, it is characterised in that: along each Described pilot hole hole wall is radially machined with annular groove, is first arranged at by described ring spring in the annular groove of correspondence, then is led to by elliptical drive for wheel Cross pilot hole to be arranged on the axle of correspondence.
3. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that: described hollow Outer shaft two ends are machined with receiving space respectively, and each fixedly mounts a bearing in accommodating space, and described interior axle two ends are passed through This two bearings is arranged on hollow outer shaft inner chamber.
4. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 3, it is characterised in that: axle in installing Time, first the interior axle other end bearing from one end described in hollow outer shaft is penetrated inner chamber, then from the bearing of the hollow outer shaft other end Pass.
5. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 4, it is characterised in that: first by sky Heart outer shaft is vertically placed, and its described one end is above, then the other end described in interior axle is placed in one end described in hollow outer shaft Bearing centre hole, then one end described in internal axle applies downward pressure so that it is the other end penetrates inner chamber, more another from hollow outer shaft The bearing centre hole of one end passes.
6. the method for processing and assembling of as claimed in claim 5 intelligent robot harmonic speed reducer, it is characterised in that: interior axle another When end passes from the bearing centre hole of the hollow outer shaft other end, the bearing of the hollow outer shaft other end is applied pressure from bottom to top.
7. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that: processing tooth Time, from away from annular groove one laterally closer annular groove side feed.
8. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that: described buffering Section extends to billet surface from teeth groove bottom land is axially inclined.
9. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that: two exclusive teeth The number of teeth unequal;The tip diameter of two exclusive teeth is unequal.
CN201610604531.0A 2016-07-29 2016-07-29 The method for processing and assembling of intelligent robot harmonic speed reducer Active CN106239127B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2281440Y (en) * 1996-10-31 1998-05-13 中国科学院沈阳科学仪器研制中心 Sealed harmonic speed reducer
DE29705170U1 (en) * 1997-03-21 1998-07-30 Hirn Marliese Reduction gear
CN2352757Y (en) * 1998-09-25 1999-12-08 张翰璧 Combination as adaptation type rigid body resonance device for speed-reducing
CN2831592Y (en) * 2005-10-10 2006-10-25 綦学尧 Harmonic geared down motro with double outlet shafts
CN2886215Y (en) * 2006-04-26 2007-04-04 哈尔滨工业大学 Ring type harmonic wave gear reducer
CN103291609A (en) * 2012-02-24 2013-09-11 常州大学 Biaxial harmonic gear pump

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2281440Y (en) * 1996-10-31 1998-05-13 中国科学院沈阳科学仪器研制中心 Sealed harmonic speed reducer
DE29705170U1 (en) * 1997-03-21 1998-07-30 Hirn Marliese Reduction gear
CN2352757Y (en) * 1998-09-25 1999-12-08 张翰璧 Combination as adaptation type rigid body resonance device for speed-reducing
CN2831592Y (en) * 2005-10-10 2006-10-25 綦学尧 Harmonic geared down motro with double outlet shafts
CN2886215Y (en) * 2006-04-26 2007-04-04 哈尔滨工业大学 Ring type harmonic wave gear reducer
CN103291609A (en) * 2012-02-24 2013-09-11 常州大学 Biaxial harmonic gear pump

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