CN106239127B - 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 PDFInfo
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- CN106239127B CN106239127B CN201610604531.0A CN201610604531A CN106239127B CN 106239127 B CN106239127 B CN 106239127B CN 201610604531 A CN201610604531 A CN 201610604531A CN 106239127 B CN106239127 B CN 106239127B
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- outer shaft
- wheel
- elliptical drive
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- annular groove
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse 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
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Abstract
The present invention relates to robot driver, the specifically method for processing and assembling of intelligent robot harmonic speed reducer, it is included in interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove, and process and assemble hole is distinguished on two elliptical drive for wheel, a ring spring is set in each pilot hole；Two elliptical drive for wheel are separately mounted on the interior outer shaft by pilot hole again；It is located at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth respectively；Finally two elliptical drive for wheel for being equipped with interior outer shaft are attached in flexbile gear, makes two elliptical drive for wheel are corresponding with two exclusive teeth to align, the elliptical drive for wheel assembled and flexbile gear is finally attached to the firm gear inner ring for forming two row's internal tooths.The mounting means of two axles inside and outside present invention use, it is possible to provide two kinds of driving powers, the gearratio of reductor etc. can be changed；Meanwhile in terms of process and assemble, elliptical drive for wheel is fixed by ring spring, be advantageous to reduce frictional force, avoid damaging elliptical drive for wheel.
Description
Technical field
The present invention relates to the method for processing and assembling of robot driver, specifically intelligent robot harmonic speed reducer.
Background technology
Existing robot is mainly divided to two major classes：Cartesian robot and prosthetic robot.Cartesian robot
Mainly it is made up of some linear motion units, motor, control system and end-effector etc..This robot can be directed to not
Same application, fast and easy are combined into different dimensions, various strokes and the wall-mounted of different load capacities, cantilevered, planer-type
Or the Cartesian robot of the diversified forms such as reversely hung Yong.Prosthetic robot mainly drives electricity by some rotary motion units
Machine, control system and end-effector etc. form.Prosthetic robot can be with Rapid Combination into not unlike Cartesian robot
Same dimension.For different applications, the prosthetic robot of fixed different dimensions can only be selected, such as arc welding robot, is carried
Robot, intelligent nursing machine people etc..
In current automatic industrial production, robot is core, but the certain operations of robot require speed all
It is slow, it is necessary to which speed reducer with high transmission ratio is driven, existing robot is generally adopted by prosthetic robot, its gear reduction
Mechanism is to add cycloid speed reducer or harmonic wave speed reducing machine using planet mostly, because the drive device of these reductors is mostly using single
Axle and the gear train of fixation etc. are driven so that the gearratio of reductor is fixed, it is difficult to meet robot to gearratio
Demand；And these drive devices axiality in terms of process and assemble is not high enough.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of adding for the higher intelligent robot harmonic speed reducer of axiality
Frock method of completing the square.
The technical solution adopted by the present invention is：The method for processing and assembling of intelligent robot harmonic speed reducer, it include with
Lower step：
（1）In interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove, on two elliptical drive for wheel respectively
Process and assemble hole, a ring spring is set in each pilot hole；
（2）Two elliptical drive for wheel are separately mounted on the interior outer shaft by pilot hole again, and make ring spring insertion pair
In the locating slot answered；
（3）Then interior axle is arranged on hollow outer shaft inner chamber, and the interior axle other end is stretched out the hollow outer shaft other end；
（4）Then in the axial centre position of flexbile gear base substrate circumferentially one flat annular groove of turning；Again in flat annular
Groove bottom land circumferentially processes an annular V groove；
（5）It is located at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth, teeth groove and the annular of each tooth respectively
Groove communicates, and bottom land flushes higher than annular groove bottom land or with annular groove bottom land；
（6）Outward-dipping breeze way is processed into one end of flexbile gear green state joining output shaft；
（7）Two elliptical drive for wheel for being equipped with interior outer shaft are attached to flexbile gear inner ring again, make two elliptical drive for wheel and two rows
External tooth correspondingly aligns；
（8）The elliptical drive for wheel assembled and flexbile gear are finally attached to the firm gear inner ring for forming two row's internal tooths, make two
Exclusive tooth is engaged with two row's internal tooths.
Preferably, being radially machined with annular groove along each pilot hole hole wall, first the ring spring is arranged at corresponding
In annular groove, then elliptical drive for wheel is arranged on corresponding axle by pilot hole.
Preferably, the hollow outer shaft both ends are machined with receiving space respectively, it is fixedly mounted in each receiving space
One bearing, the interior axle both ends are arranged on hollow outer shaft inner chamber by the two bearings.
Preferably, during installation interior axle, the interior axle other end is first penetrated into inner chamber from the bearing of one end described in hollow outer shaft, so
Passed afterwards from the bearing of the hollow outer shaft other end.
Preferably, first placing hollow outer shaft vertically, its described one end is above, then will be another described in interior axle
End is placed in the bearing centre hole of one end described in hollow outer shaft, then applies downward pressure to one end described in interior axle, makes its another
End penetrates inner chamber, then is passed from the bearing centre hole of the hollow outer shaft other end.
Preferably, when the interior axle other end passes from the bearing centre hole of the hollow outer shaft other end, it is another to hollow outer shaft
The bearing at end applies pressure from bottom to top.
Preferably, during processing tooth, from away from the laterally closer annular groove side feed of annular groove one.
Preferably, the breeze way extends to billet surface from teeth groove bottom land is axially inclined.
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 use inside and outside two axles mounting means, it is possible to provide two kinds of driving powers, can
Change the gearratio of reductor etc.；Meanwhile in terms of process and assemble, elliptical drive for wheel is fixed by ring spring, is advantageous to reduction and rubs
Power is wiped, avoids damaging elliptical drive for wheel；And two bearing installation interior axles, it can be ensured that the axiality of interior outer shaft.
Embodiment
The present invention is described more detail below, illustrative examples of the invention and explanation are used for explaining the present invention herein,
It is but not as a limitation of the invention.
The method for processing and assembling of intelligent robot harmonic speed reducer, it comprises the following steps：
In interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove；Interior outer shaft can be driven respectively by two motors
It is dynamic, it can also be driven respectively by two different transmission mechanisms by a motor；Locating slot can make driving wheel installed in the finger of axle
Positioning is put；Process and assemble hole is distinguished on two elliptical drive for wheel, elliptical drive for wheel can be arranged on by pilot hole corresponding
On axle；Two elliptical drive for wheel can drive the gear of the different numbers of teeth, wave producer of the elliptical drive for wheel as harmonic speed reducer.Make
For wave producer when, can have axially arranged several rollers in the peripheral distribution of the elliptical drive for wheel, can thus drive two
The flexbile gear of the individual different numbers of teeth rotates, so as to export the power of different drive ratios.
One ring spring is set in each pilot hole；In implementation process, radially add along each pilot hole hole wall
Work has annular groove, and the ring spring is arranged in corresponding annular groove, and elliptical drive for wheel is fixedly mounted on corresponding by corresponding ring spring
On axle；So on the one hand elliptical drive for wheel can be avoided directly to be contacted with corresponding axle and damage elliptical drive for wheel, the opposing party's donut
The elastic force of spring can make assembling more convenient；Meanwhile elliptical drive for wheel can even be carried out with respective shaft by the way of gap coordinates
Transmission, avoid both from contacting, wear phenomenon occur, and when the effect of attrition of axle and ring spring is driven, only need to change ring spring i.e.
Can, save maintenance and maintenance cost.In the present invention, ring spring is the elasticity part for having radical elasticity, in the effect of its elastic force
Under, elliptical drive for wheel can be fixed on axle, ensure that axle drives elliptical drive for wheel to rotate；Two elliptical drive for wheel pass through pilot hole
It is separately mounted on the interior outer shaft, and makes corresponding to ring spring insertion in locating slot；The processing of locating slot is unsuitable too deep wide, very
To only needing one to recessed impression can, because the effect of locating slot is spacing, and when driving wheel is mounted on an axle, ring spring
Radial load between axle is larger, only needs simple groove driving wheel can be avoided to move axially, so as to realize axially position.
Then interior axle is arranged on hollow outer shaft inner chamber, and the interior axle other end is stretched out the hollow outer shaft other end；As excellent
Choosing, the interior axle are arranged on hollow outer shaft inner chamber by bearing；Specifically, the hollow outer shaft both ends are machined with receiving respectively
Space, each receiving space is interior to be fixedly mounted a bearing, and the interior axle both ends are arranged on hollow by the two bearings
Outer shaft inner chamber；When interior axle is installed, the interior axle other end is first penetrated into inner chamber from the bearing of one end described in hollow outer shaft, then from hollow
The bearing of the outer shaft other end passes.Preferably, first placing hollow outer shaft vertically, 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, then one end described in interior axle applied downwards
Pressure, its other end is penetrated inner chamber, then passed from the bearing centre hole of the hollow outer shaft other end；The interior axle other end is from hollow outer
When the bearing centre hole of the axle other end passes, pressure is applied from bottom to top to the bearing of the hollow outer shaft other end, prevents the bearing
Because the downward pressure of interior axle disengages it from outer shaft.
In implementation process, the end face of bearing can not only save space with outer shaft end face, and in transmission process
In avoid interfering with miscellaneous part；Both ends described in interior axle are arranged in two bearings, so not only make interior outer shaft that phase can occur
To rotating, outer shaft has higher axiality in guarantee；And may be such that interior axle support is more firm, transmission is more steady.Interior outer shaft
Relative motion can use this sample loading mode, when interior axle is rotated by motor driven, outer shaft can be made not rotate, only by elliptical drive for wheel
Outer gear is driven to rotate, so as to export power；When outer shaft is rotated by motor driven, interior axle can be made not rotate, only by ellipse
The pinion rotation of the drive wheel different numbers of teeth in addition, so as to export the power with 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 numbers of teeth, because
This, when interior axle is rotated by motor driven, can be such that outer shaft does not rotate, and only be turned by the first Ellipse motion driven wheel drive first row external tooth
It is dynamic, and now second row external tooth is still within engagement with internal tooth, because outer shaft does not have driving force, second row external tooth will not drive
Dynamic flexbile gear is rotated, and it is rotated in the presence of engagement force with flexbile gear；Similarly, when outer shaft is rotated by motor driven, can make interior
Axle does not rotate, only by the pinion rotation of the second Ellipse motion driven wheel drive different numbers of teeth in addition, so as to export with the first driving wheel not
With the power of gearratio, it is seen that the transmission of the achievable different drive ratios of the present invention.
In implementation process, the axial centre position circumferentially one flat annular groove of turning, then in flat ring of flexbile gear base substrate
Connected in star bottom land circumferentially processes an annular V groove, and annular groove side is then located in flexbile gear base substrate periphery and processes an exclusive tooth,
It is located at annular groove opposite side in flexbile gear base substrate periphery and processes another exclusive tooth；In process, 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, teeth groove bottom land is higher than ring
Connected in star bottom land flushes with annular groove bottom land；It the chip in process is flowed into annular V groove, be provided for processing
It is convenient；Meanwhile when lubricating two toothrows, the precipitable a part of waste residue of lubricating oil in annular groove, ensure the lubricating oil at tooth
It is more clean；Annular V groove can facilitate chip and waste residue to flow into bottom land along inclined cell wall, prevent chip and waste residue etc. from splashing.
Two elliptical drive for wheel for being equipped with interior outer shaft are attached in flexbile gear, make two elliptical drive for wheel and two toothrows to reply
Just, that is, each driving wheel is caused to be located at flexbile gear inner ring corresponding to tooth, in flexbile gear transmission process, because wheel body is in elliptical wave hair
It is deformed during the driving of raw device, it exports one end and can be deformed, and transmission may be caused not steady enough, and then make output
Axle transmission is not steady enough, and one end of flexbile gear green state joining output shaft is processed into outward-dipping buffering can alleviate above-mentioned change
Shape, ensure that the transmission of output shaft is more steady.Finally the elliptical drive for wheel assembled and flexbile gear are attached to and form two row's internal tooths
Firm gear inner ring, two exclusive teeth is engaged with two row's internal tooths.
The breeze way of the present invention extends to billet surface from teeth groove bottom land is axially inclined, and the inclination extends to linear extension
Or to extend to recessed arc so that close to being relatively large in diameter for output shaft side；Due to wheel body in transmission process caused by
It is radially enlarged deformation, it, which has, makes the wheel body close to output shaft side produce the trend of radial deformation increase, therefore is transmitting
During power, the deformation effect that the major diameter buffer part close to output shaft side is subject to is smaller, so as to ensure the biography of flange
Dynamic stationarity.
In the present invention, the number of teeth of described two exclusive teeth is unequal, so as to provide two kinds of different gearratios, to meet machine
The transmission requirement of device people；The tip diameter of two exclusive teeth is unequal, also determines that the outside circle of two row's internal tooths is unequal, is filling
Timing, the less external tooth of tip diameter should may pass through outside circle close to assembly direction, so smaller external tooth of tip diameter
The internal tooth being relatively large in diameter engages with the less internal tooth of tip diameter, ensures that assembling process does not interfere phenomenon.
The technical scheme provided above the embodiment of the present invention is described in detail, specific case used herein
The principle and embodiment of the embodiment of the present invention are set forth, the explanation of above example is only applicable to help and understands this
The principle of inventive embodiments；Meanwhile for those of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party
There will be changes in formula and application, in summary, this specification content should not be construed as limiting the invention.
Claims (9)
1. the method for processing and assembling of intelligent robot harmonic speed reducer, it is characterised in that comprise the following steps：
（1）In interior axle one end and hollow outer shaft one end outer wall difference locating and machining groove, processed respectively on two elliptical drive for wheel
Pilot hole, a ring spring is set in each pilot hole；
（2）Two elliptical drive for wheel are separately mounted on the interior outer shaft by pilot hole again, and made corresponding to ring spring insertion
In locating slot；
（3）Then interior axle is arranged on hollow outer shaft inner chamber, and the interior axle other end is stretched out the hollow outer shaft other end；
（4）Then in the axial centre position of flexbile gear base substrate circumferentially one flat annular groove of turning；Again in flat annular groove
Bottom land circumferentially processes an annular V groove；
（5）It is located at annular groove both sides in flexbile gear base substrate periphery and processes an exclusive tooth, the teeth groove and annular groove of each tooth respectively
Communicate, and bottom land flushes higher than annular groove bottom land or with annular groove bottom land；
（6）Outward-dipping breeze way is processed into one end of flexbile gear green state joining output shaft；
（7）Two elliptical drive for wheel for being equipped with interior outer shaft are attached to flexbile gear inner ring again, make two elliptical drive for wheel and two exclusive teeth
Align；
（8）The elliptical drive for wheel assembled and flexbile gear are finally attached to the firm gear inner ring for forming two row's internal tooths, made two exclusive
Tooth is engaged with two row's internal tooths.
2. the method for processing and assembling of intelligent robot harmonic speed reducer according to claim 1, it is characterised in that：Along each
The pilot hole hole wall is radially machined with annular groove, first the ring spring is arranged in corresponding annular groove, then elliptical drive for wheel is led to
Pilot hole is crossed to be arranged on corresponding axle.
3. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that：It is described hollow
Outer shaft both ends are machined with receiving space respectively, a bearing are fixedly mounted in each receiving space, the interior axle both ends pass through
The two bearings are 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：Interior axle is installed
When, the interior axle other end is first penetrated into inner chamber from the bearing of one end described in hollow outer shaft, 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 placed vertically, and its described one end is above, and the other end described in interior axle then is placed in into one end described in hollow outer shaft
Bearing centre hole, then apply downward pressure to one end described in interior axle, its other end is penetrated inner chamber, then it is another from hollow outer shaft
The bearing centre hole of one end passes.
6. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 5, it is characterised in that：Interior axle is another
When end passes from the bearing centre hole of the hollow outer shaft other end, pressure is applied from bottom to top to the bearing of the hollow outer shaft other end.
7. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that：Process tooth
When, from away from the laterally closer annular groove side feed of annular groove one.
8. the method for processing and assembling of intelligent robot harmonic speed reducer as claimed in claim 1, it is characterised in that：The 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 it is unequal；The tip diameter of two exclusive teeth is unequal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610604531.0A CN106239127B (en) | 2016-07-29 | 2016-07-29 | The method for processing and assembling of intelligent robot harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610604531.0A CN106239127B (en) | 2016-07-29 | 2016-07-29 | The method for processing and assembling of intelligent robot harmonic speed reducer |
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| CN106239127A CN106239127A (en) | 2016-12-21 |
| CN106239127B true CN106239127B (en) | 2018-03-16 |
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Citations (6)
| 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, 72147 Nehren | 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 |
-
2016
- 2016-07-29 CN CN201610604531.0A patent/CN106239127B/en active Active
Patent Citations (6)
| 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, 72147 Nehren | 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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| Publication number | Publication date |
|---|---|
| CN106239127A (en) | 2016-12-21 |
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