CN1436635A - Electrically resonant longitudinal joint of robot - Google Patents
Electrically resonant longitudinal joint of robot Download PDFInfo
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- CN1436635A CN1436635A CN 03117452 CN03117452A CN1436635A CN 1436635 A CN1436635 A CN 1436635A CN 03117452 CN03117452 CN 03117452 CN 03117452 A CN03117452 A CN 03117452A CN 1436635 A CN1436635 A CN 1436635A
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- wheel
- sleeve
- impeller
- steel wheel
- double
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Abstract
The present invention relates to longitudinal robot joint with servo motor to drive and resonant transmission to increase moment. The longitudinal robot joint includes servo motor, input terminal and output terminal as well as one characterized resonant moment-increasing mechanism comprising wavy wheel, flexible wheel and steel wheel, where the wavy wheel is elliptical double-wave structure and the flexible wheel is between the wavy wheel and the steel wheel, is meshed with the steel wheel under the extrusion of the wavy wheel and connected to output terminal. By means of the resonant mechanism to reduce speed and increase moment, the combination of motor and the resonant mechanism and no low speed and great moment load of the motor, the present invention is one universal modular standard longitudinal joint with compact structure, great moment increasing time and small size.
Description
Technical field:
The robot humorous vertical joint of electricity that the present invention relates to adopt driven by servomotor harmonic wave mechanism's reinforcement and make the actuating arm rotation.
Background technology:
At present the driving mechanism in the vertical joint of robot has worm-and-wheel, planetary gear train type, cycloidal-pin wheel formula etc. multiple, but majority all has or mechanism's complexity or output torque is little or size big or precision is low or shortcoming such as poor stability.
Summary of the invention:
The purpose of this invention is to provide a kind of simple in structure, output torque is big, size is little, precision is high, working stability, be convenient to generalization, modularization, standardized, adopt driven by servomotor harmonic wave mechanism's reinforcement and make the robot humorous vertical joint of electricity of actuating arm rotation.
For addressing the above problem, the technical solution used in the present invention is such, and promptly a kind of robot humorous vertical joint of electricity comprises servomotor, out splice going splice; It is characterized in that: also comprise by impeller, flexbile gear and steel wheel constituting harmonic wave reinforcement square mechanism; Wherein, impeller is oval double wave structure, and flexbile gear meshes with the few tooth difference of steel wheel, and is connected with out splice going splice between impeller and steel wheel.
The present invention adopts the overcoat core structure, motor and harmonic wave reinforcement square mechanism can be combined as a whole, when having shed the low speed torque load for motor, saved impeller supporting axis architecture, form unified location and back-up system structure, improve the whole mechanical property in vertical joint, and significantly shortened the axial dimension in vertical joint.
Description of drawings:
Fig. 1 is the main cross section figure in the robot humorous vertical joint of electricity;
Fig. 2 is the A-A sectional view of Fig. 1.
Referring to accompanying drawing: flat strong, the 9-flexbile gear of 1-input adapter among the figure, 3-sleeve, 4-motor, 5--, 6-roller, 7-impeller, 8-, 10-snap ring, 11-sleeve, 12-intermediate sleeve, 13-rolling bearing, 1--output shaft.
The specific embodiment:
Below by accompanying drawing, the specific embodiment of the invention is further specified.
Among Fig. 1, input adapter (1) is connected on its fixed arm, and during work, it does not rotate.Servomotor (4) is positioned at sleeve (3), when motor (4) rotates, drives impeller (7) by flat key (8) and rotates.Because impeller is oval double wave structure, do undulation by the roller on it (6) extruding flexbile gear (9), tooth on the flexbile gear (9) is meshed with firm wheel (11) on circumference successively, owing to adopt the double wave impeller, and flexbile gear lacks 2 teeth than just taking turns, therefore, just the moving flexbile gear of the cingulum of wheel (11) is made slow rotation.One end of the output shaft of double as out splice going splice (16) and the end face of flexbile gear are fixed, and therefore, the slow rotation of flexbile gear (9) will drive output shaft (16) and rotate.Output shaft (16) is supported in the sleeve (11) of the firm wheel of double as by reach system, reach system is made up of sleeve (11), rolling bearing (13), output shaft (16) that rolling bearing (13), intermediate sleeve (12), sleeve (3), double as have just been taken turns, bears low speed, big moment and other single power that load produces.Outer frame is the motor off-load, so motor only bears at a high speed, the load of little moment.
The present invention has compact conformation, simple, drive path weak point, and the torque-increasing multiple is big, and size is little, the worker Make stable advantage.
Claims (3)
1, the electric humorous vertical joint of a kind of robot comprises servomotor, input adapter, out splice going splice; It is characterized in that: also comprise by impeller, flexbile gear and steel wheel constituting harmonic wave reinforcement square mechanism; Wherein, impeller is oval double wave structure, and flexbile gear meshes with the few tooth difference of steel wheel under the extruding of impeller, and is connected with out splice going splice between impeller and steel wheel.
2, the electric humorous vertical joint of robot according to claim 1 is characterized in that adopting the overcoat core structure, and motor and harmonic wave reinforcement square mechanism are combined as a whole.
3, the humorous vertical joint of robot according to claim 1 electricity is characterized in that the end of output shaft (16) of double as out splice going splice and the end face of flexbile gear fix; Output shaft (16) is supported in the sleeve (11) of the firm wheel of double as by reach system, reach system is made up of sleeve (11), rolling bearing (13), output shaft (16) that rolling bearing (13), intermediate sleeve (12), sleeve (3), double as have just been taken turns, and steel wheel one end of its middle sleeve (11) is positioned at sleeve (3) one end formula structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03117452 CN1436635A (en) | 2003-03-13 | 2003-03-13 | Electrically resonant longitudinal joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03117452 CN1436635A (en) | 2003-03-13 | 2003-03-13 | Electrically resonant longitudinal joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1436635A true CN1436635A (en) | 2003-08-20 |
Family
ID=27634362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03117452 Pending CN1436635A (en) | 2003-03-13 | 2003-03-13 | Electrically resonant longitudinal joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1436635A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100484727C (en) * | 2006-03-31 | 2009-05-06 | 中国科学院沈阳自动化研究所 | Rotary joint structure of underwater electric manipulator |
| CN103128746A (en) * | 2011-11-24 | 2013-06-05 | 上海电气集团股份有限公司 | Mechanical arm modular joint |
| CN103722562A (en) * | 2012-10-15 | 2014-04-16 | 台达电子工业股份有限公司 | Mechanical joint and robot arm comprising same |
-
2003
- 2003-03-13 CN CN 03117452 patent/CN1436635A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100484727C (en) * | 2006-03-31 | 2009-05-06 | 中国科学院沈阳自动化研究所 | Rotary joint structure of underwater electric manipulator |
| CN103128746A (en) * | 2011-11-24 | 2013-06-05 | 上海电气集团股份有限公司 | Mechanical arm modular joint |
| CN103722562A (en) * | 2012-10-15 | 2014-04-16 | 台达电子工业股份有限公司 | Mechanical joint and robot arm comprising same |
| CN103722562B (en) * | 2012-10-15 | 2016-05-25 | 台达电子工业股份有限公司 | Mechanical joint and the mechanical arm of applying it |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |