CN108262743A - A kind of special harmonic wave speed reducing machine of robot - Google Patents
A kind of special harmonic wave speed reducing machine of robot Download PDFInfo
- Publication number
- CN108262743A CN108262743A CN201810170877.3A CN201810170877A CN108262743A CN 108262743 A CN108262743 A CN 108262743A CN 201810170877 A CN201810170877 A CN 201810170877A CN 108262743 A CN108262743 A CN 108262743A
- Authority
- CN
- China
- Prior art keywords
- bearing
- gear
- speed reducing
- harmonic wave
- reducing machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
Abstract
The invention discloses a kind of special harmonic wave speed reducing machines of robot, including speed reducer main body, bearing fastener, wave producer and hollow connecting shaft, connection fixed plate is installed above the speed reducer main body, rigid gear is provided with above the bearing fastener, fixing bolt is installed above the support plate, the wave producer is connected with above the fixing bolt, generator adjusting rod is installed below the wave producer, protection bearing is installed below the generator adjusting rod, bearing connecting rod is communicated with below the protection bearing, the hollow connecting shaft is installed above the bearing connecting rod, flexible gear is installed below the hollow connecting shaft, auxiliary through hole is installed above the flexible gear, it is equipped with below the auxiliary through hole and wears axis hole.The present invention is provided with hollow connecting shaft, simple in structure convenient for robot interior cabling, easy to use.
Description
Technical field
The present invention relates to speed reducer equipment technical field, more particularly to a kind of special harmonic wave speed reducing machine of robot.
Background technology
Robot is the automatic installations for performing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as the work of production industry, construction industry or danger.Its arm generally uses space open chain link mechanism,
In kinematic pair (revolute pair or prismatic pair) be frequently referred to joint, joint number is usually the number of degrees of freedom, of robot.According to pass
The difference of configuration and coordinates of motion form is saved, robot actuating mechanism can be divided into Cartesian coordinate type, circular cylindrical coordinate formula, pole seat
The types such as mark formula and joint coordinates formula.For the considerations of personalizing, often by the related position of robot body be referred to as pedestal,
Waist, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc..
The connecting shaft of the special harmonic wave speed reducing machine of robot that China uses at present is generally solid construction, to trace arrangements
When be merely able to be arranged on the outside of connecting shaft, be easy to cause electric wire abrasion, damage robot.
Invention content
The purpose of the present invention is that solve the above-mentioned problems and provides a kind of robot special harmonic wave speed reducing machine.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of special harmonic wave speed reducing machine of robot, including speed reducer main body, bearing fastener, wave producer and hollow connection
Axis, the speed reducer main body top is equipped with connection fixed plate, flexible bearing is equipped with above the connection fixed plate, described soft
Property bearing above the bearing fastener is installed, be provided with rigid gear, the rigid gear above the bearing fastener
Top is equipped with support plate, and fixing bolt is equipped with above the support plate, and the wave hair is connected with above the fixing bolt
Raw device, the wave producer lower section are equipped with generator adjusting rod, protection bearing, institute are equipped with below the generator adjusting rod
It states and bearing connecting rod is communicated with below protection bearing, the hollow connecting shaft is installed above the bearing connecting rod, in described
Flexible gear below empty connecting shaft is installed, auxiliary through hole above the flexible gear is installed, is pacified below the auxiliary through hole
Equipped with wearing axis hole.
Preferably, the speed reducer main body with it is described connection fixed plate be bolted, the flexible bearing with it is described
Bearing fastener is bolted.
Preferably, the rigid gear is connect with the speed reducer main body by gear, the fixing bolt and the wave
Generator is connected through a screw thread.
Preferably, generator adjusting rod and the wave producer are stated by axis connection, the bearing connecting rod with it is described soft
Property bearing passes through axis connection.
Preferably, the flexible gear is connect with the rigid gear by gear.
Preferably, the protection bearing is suppressed for steel alloy, and surface carries out plastic-spraying processing.
Preferably, the hollow connecting shaft is bolted with the speed reducer main body.
Preferably, a diameter of 5cm of the auxiliary through hole, the shaft hole diameter of wearing is 10cm.
The beneficial effects of the present invention are：Hollow connecting shaft is provided with, it is simple in structure convenient for robot interior cabling, make
With conveniently.
Description of the drawings
Fig. 1 is a kind of front view of the special harmonic wave speed reducing machine of robot of the present invention；
Fig. 2 is a kind of flexible gear figure of the special harmonic wave speed reducing machine of robot of the present invention；
Fig. 3 is a kind of generator adjusting rod figure of the special harmonic wave speed reducing machine of robot of the present invention.
Wherein：1st, speed reducer main body；2nd, fixed plate is connected；3rd, flexible bearing；4th, bearing fastener；5th, rigid gear；6、
Support plate；7th, fixing bolt；8th, wave producer；9th, generator adjusting rod；10th, bearing is protected；11st, bearing connecting rod；12nd, it is hollow
Connecting shaft；13rd, flexible gear；14th, auxiliary through hole；15th, axis hole is worn.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1-Figure 3, the special harmonic wave speed reducing machine of a kind of robot, including speed reducer main body 1, bearing fastener 4, wave
Generator 8 and hollow connecting shaft 12,1 top of speed reducer main body are equipped with connection fixed plate 2, and 2 top of connection fixed plate is equipped with
Flexible bearing 3,3 top of flexible bearing are equipped with bearing fastener 4, and 4 top of bearing fastener is provided with rigid gear 5, rigidity
5 top of gear is equipped with support plate 6, and 6 top of support plate is equipped with fixing bolt 7, and 7 top of fixing bolt is connected with wave producer
8,8 lower section of wave producer is equipped with generator adjusting rod 9, and 9 lower section of generator adjusting rod is equipped with protection bearing 10, protects bearing
10 lower sections are communicated with bearing connecting rod 11, and 11 top of bearing connecting rod is equipped with hollow connecting shaft 12, hollow 12 lower section of connecting shaft
Flexible gear 13 is installed, 13 top of flexible gear is equipped with auxiliary through hole 14, and 14 lower section of auxiliary through hole, which is equipped with, wears axis hole 15.
Speed reducer main body 1 is to protect parts above speed reducer, and connection fixed plate 2 is to subtracting flexible bearing
3 are attached fixation, and wave producer 8 is connect by bearing connecting rod 11 with flexible bearing 3, and flexible bearing 3 is pushed to generate controllably
Flexible deformation, bearing fastener 4 is to be fixed flexible bearing 3 support, and support plate 6 is propping up wave producer 8
Support is fixed, and rigid gear 5 is meshed to transmit movement and power with flexible gear 13, and protection bearing 10 carries out wave producer 8
Protection, generator adjusting rod 9 protection bearing 10 to be adjusted, in order to robot cabling worn by hollow connecting shaft 12
Axis hole 15 is connecting external axle portion.
Speed reducer main body 1 is bolted with connecting fixed plate 2, and flexible bearing 3 is connected with bearing fastener 4 by bolt
It connects, rigid gear 5 is connect with speed reducer main body 1 by gear, and fixing bolt 7 is connected through a screw thread with wave producer 8, states generation
Device adjusting rod 9 and wave producer 8 by axis connection, bearing connecting rod 11 and flexible bearing 3 by axis connection, flexible gear 13 with
Rigid gear 5 is connected by gear, and protection bearing 10 is suppressed for steel alloy, and surface carries out plastic-spraying processing, hollow connecting shaft
12 are bolted with speed reducer main body 1, and 14 a diameter of 5cm of auxiliary through hole wears 15 a diameter of 10cm of axis hole.
The basic principle and main feature of the present invention has been shown and described above.It should be understood by those skilled in the art that
The present invention is not limited to the above embodiments, and the above embodiments and description only illustrate the principle of the present invention,
Without departing from the spirit and scope, various changes and improvements may be made to the invention, these changes and improvements are all fallen
Enter in scope of the claimed invention.
Claims (8)
1. a kind of special harmonic wave speed reducing machine of robot, it is characterised in that：Including speed reducer main body (1), bearing fastener (4), wave
Generator (8) and hollow connecting shaft (12), speed reducer main body (1) top are equipped with connection fixed plate (2), and the connection is solid
Flexible bearing (3) above fixed board (2) is installed, the bearing fastener (4) is installed above the flexible bearing (3), it is described
Rigid gear (5) is provided with above bearing fastener (4), support plate (6), the branch are installed above the rigid gear (5)
Fixing bolt (7) above fagging (6) is installed, the wave producer (8), the wave are connected with above the fixing bolt (7)
Generator adjusting rod (9) below generator (8) is installed, protection bearing (10) is installed below the generator adjusting rod (9),
Bearing connecting rod (11) is communicated with below the protection bearing (10), is equipped with above the bearing connecting rod (11) described hollow
Connecting shaft (12), hollow connecting shaft (12) lower section are equipped with flexible gear (13), are installed above the flexible gear (13)
There is auxiliary through hole (14), be equipped with below the auxiliary through hole (14) and wear axis hole (15).
2. a kind of special harmonic wave speed reducing machine of robot according to claim 1, it is characterised in that：The speed reducer main body
(1) it is bolted with the connection fixed plate (2), the flexible bearing (3) passes through bolt with the bearing fastener (4)
Connection.
3. a kind of special harmonic wave speed reducing machine of robot according to claim 1, it is characterised in that：The rigid gear (5)
It is connect with the speed reducer main body (1) by gear, the fixing bolt (7) is connected through a screw thread with the wave producer (8).
4. a kind of special harmonic wave speed reducing machine of robot according to claim 1, it is characterised in that：The generator adjusting rod
(9) with the wave producer (8) by axis connection, the bearing connecting rod (11) passes through axis connection with the flexible bearing (3).
5. a kind of special harmonic wave speed reducing machine of robot according to claim 1, it is characterised in that：The flexible gear (13)
It is connect with the rigid gear (5) by gear.
6. a kind of special harmonic wave speed reducing machine of robot according to claim 1, it is characterised in that：The protection bearing (10)
It is suppressed for steel alloy, surface carries out plastic-spraying processing.
7. a kind of special harmonic wave speed reducing machine of robot according to claim 1, it is characterised in that：The hollow connecting shaft
(12) it is bolted with the speed reducer main body (1).
8. a kind of special harmonic wave speed reducing machine of robot according to claim 1, it is characterised in that：The auxiliary through hole (14)
A diameter of 5cm, it is described to wear axis hole (15) a diameter of 10cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810170877.3A CN108262743A (en) | 2018-03-01 | 2018-03-01 | A kind of special harmonic wave speed reducing machine of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810170877.3A CN108262743A (en) | 2018-03-01 | 2018-03-01 | A kind of special harmonic wave speed reducing machine of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108262743A true CN108262743A (en) | 2018-07-10 |
Family
ID=62774384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810170877.3A Pending CN108262743A (en) | 2018-03-01 | 2018-03-01 | A kind of special harmonic wave speed reducing machine of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108262743A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102734392A (en) * | 2012-06-11 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Hollow harmonic speed reducer |
| CN102889344A (en) * | 2012-09-14 | 2013-01-23 | 苏州绿的谐波传动科技有限公司 | Short barrel high-load hollow harmonic speed reducer |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| CN104847871A (en) * | 2015-05-26 | 2015-08-19 | 郭利平 | Integrated crossed roller bearing for harmonic speed reducer |
| CN205534040U (en) * | 2016-04-06 | 2016-08-31 | 南通慧幸智能科技有限公司 | Bearing capacity harmonic gear reduction gear when variably slows down |
| US20160305527A1 (en) * | 2015-03-04 | 2016-10-20 | Hiwin Technologies Corp. | Motor-incorporating reducer |
| CN106487158A (en) * | 2016-11-18 | 2017-03-08 | 四川福德机器人股份有限公司 | A kind of flat integration harmonic speed reducer device of built-in motor |
-
2018
- 2018-03-01 CN CN201810170877.3A patent/CN108262743A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102734392A (en) * | 2012-06-11 | 2012-10-17 | 苏州绿的谐波传动科技有限公司 | Hollow harmonic speed reducer |
| CN102889344A (en) * | 2012-09-14 | 2013-01-23 | 苏州绿的谐波传动科技有限公司 | Short barrel high-load hollow harmonic speed reducer |
| CN104608144A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Robot hollow speed reducer and harmonic generator installing structure |
| US20160305527A1 (en) * | 2015-03-04 | 2016-10-20 | Hiwin Technologies Corp. | Motor-incorporating reducer |
| CN104847871A (en) * | 2015-05-26 | 2015-08-19 | 郭利平 | Integrated crossed roller bearing for harmonic speed reducer |
| CN205534040U (en) * | 2016-04-06 | 2016-08-31 | 南通慧幸智能科技有限公司 | Bearing capacity harmonic gear reduction gear when variably slows down |
| CN106487158A (en) * | 2016-11-18 | 2017-03-08 | 四川福德机器人股份有限公司 | A kind of flat integration harmonic speed reducer device of built-in motor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180710 |
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| RJ01 | Rejection of invention patent application after publication |