CN202165573U - Outer ring type harmonic speed reducer used for robot - Google Patents
Outer ring type harmonic speed reducer used for robot Download PDFInfo
- Publication number
- CN202165573U CN202165573U CN2011202821476U CN201120282147U CN202165573U CN 202165573 U CN202165573 U CN 202165573U CN 2011202821476 U CN2011202821476 U CN 2011202821476U CN 201120282147 U CN201120282147 U CN 201120282147U CN 202165573 U CN202165573 U CN 202165573U
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- outer ring
- ring type
- robot
- harmonic speed
- type harmonic
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Abstract
The utility model relates to an outer ring type harmonic speed reducer used for a robot. The outer ring type harmonic speed reducer comprises a wave generator component and is characterized in that a steel wheel is sleeved at the periphery of a work end of the wave generator component, wherein positioning components are distributed at two ends of the steel wheel; the end heads of the positioning components are connected to one end of a bearing component; and a flexible gear is connected to the other end of the bearing component. Accordingly, the steel wheel and the bearing component can be effectively separated, the processing is further simplified, the follow-up assembly is facilitated at the same time; in addition, the heat treatment is easier to operate based on the distribution of positioning screws; owing to a special design, the transmission accuracy is high, the efficiency is high, and the load-bearing capacity is large; moreover, the robot can move stably and has low noise in the practical operation.
Description
Technical field
The utility model relates to a kind of speed reducer, relates in particular to a kind of outer ring type harmonic speed changer that is used for robot.
Background technique
Along with the development of industrial automatization, the increasing production links such as packing, welding, assembling that are applied to of industrial machinery.Harmonic wave speed reducing machine is simple in structure, and volume is little, and is in light weight, has been widely used in the robot field at present.
Harmonic wave speed reducing machine can mesh a plurality of teeth and the few characteristics of moving element simultaneously, makes that transmission accuracy is high, efficient is high, and the bearing capacity of tooth is big, thereby realizes big reduction speed ratio.
Be the distortion by gear during the harmonic wave speed reducing machine transmission, make the process that tooth is constantly engaging-in, nibble out, because overall process is the contact between the flank of tooth, slip velocity is little, and does not have big variation, makes motion steadily, does not have and impacts, the characteristics that noise is little.
But, should be used for seeing that its structure that adopts can't be realized separating of steel wheel and bearing unit with regard to existing robots, make that then assembly process is comparatively loaded down with trivial details, do not utilize daily maintenance.Moreover, existing design, biography degree precision is not high, and bearing capacity is also poor.Can not well realize for some high-precision operations.And the motion of existing robots harmonic speed changer is steadily poor, and noise is big.
The model utility content
The purpose of the utility model is to overcome the above problem that existing technology exists, and a kind of outer ring type harmonic speed changer that is used for robot is provided.
The outer ring type harmonic speed changer that is used for robot for the purpose that realizes the utility model; Include the wave-generator assembly; Wherein: the working end outer race of said wave-generator assembly is provided with steel wheel; The two ends of said steel wheel are distributed with positioning component, and the termination of said positioning component is connected with an end of bearing unit, and the other end of said bearing unit is connected with flexbile gear.
Further, the above-mentioned outer ring type harmonic speed changer that is used for robot, wherein, described positioning component is a positioning screwn.
Further, the above-mentioned outer ring type harmonic speed changer that is used for robot, wherein, described bearing unit is the criss-crossing bearing.
Further, the above-mentioned outer ring type harmonic speed changer that is used for robot wherein, is distributed with lubrication channel in the described criss-crossing bearing.
Again further, the above-mentioned outer ring type harmonic speed changer that is used for robot wherein, is distributed with shock relieve vent on the described steel wheel.
Adopt the utility model technological scheme, can effectively realize separating of steel wheel and bearing unit, can promote the simple degree of processing thus, also be convenient to follow-up assembling simultaneously.And, rely on the distribution of positioning screwn, make heat treatment more easy to operate.Through distinctive design, transmission accuracy is high, and efficient is high, and bearing capacity is big.Moreover in the actual robot operation process, motion is steady, and noise is little.Because adopted the design of criss-crossing bearing, the utility model volume can be little, structure is very compact.
The purpose of the utility model, advantage and characteristics will illustrate through following preferential embodiment's non-limitative illustration and explain that these embodiments only provide with reference to accompanying drawing as an example.
Description of drawings
Fig. 1 is the unitary construction schematic representation that is used for the outer ring type harmonic speed changer of robot;
Fig. 2 is the profile construction schematic representation of Fig. 1 along a-a ' line direction.
The implication of each reference character is following among the figure:
1 wave-generator assembly, 2 steel wheels
3 positioning screwns, 4 criss-crossing bearings
5 lubrication channels, 6 shock relieve vents
7 flexbile gears
Embodiment
Like Fig. 1, the outer ring type harmonic speed changer that is used for robot shown in Figure 2, include wave-generator assembly 1, its unusual part is: the working end outer race of the wave-generator assembly 1 that the utility model adopted is provided with steel wheel 2.Further, for the ease of realizing the strong fix of follow-up connection, be distributed with positioning component at the two ends of steel wheel 2.Simultaneously, consider and can effectively transmit driving, be connected with an end of bearing unit in the termination of positioning component, the other end of corresponding with it is bearing unit is connected with flexbile gear 7.
In conjunction with the utility model one preferred implementation, consider and do not allow steel wheel 2 and bearing unit in rotation, to occur rocking.Simultaneously, also for fear of bearing unit because with steel wheel 2 combine improper and situation that occur to interfere, the positioning component that the utility model adopts is a positioning screwn 3.Like this, also removed loaded down with trivial details various load module from and participated in, can satisfy combining of bearing unit and steel wheel 2 through the screw of screwing.
Further, consider that the transmission of follow-up robot in operation process is smooth, the bearing unit of employing is a criss-crossing bearing 4.And, can carry out preferable lubricating to criss-crossing bearing 4 for follow-up, the utility model is distributed with lubrication channel 5 in criss-crossing bearing 4.
Again further,, make the transmission of harmonic reduction more smooth and easy, ask that model utility is distributed with shock relieve vent 6 on steel wheel 2 for the effective stability of hoisting machine people in follow-up operation process.And, consider to make damping effect be able to promote, spaced apart between shock relieve vent 6 and the positioning screwn 3.
Through above-mentioned character express and combine accompanying drawing to find out, adopt the utility model after, can effectively realize separating of steel wheel and bearing unit, can promote the simple degree of processing thus, also be convenient to follow-up assembling simultaneously.And, rely on the distribution of positioning screwn, make heat treatment more easy to operate.Through distinctive design, transmission accuracy is high, and efficient is high, and bearing capacity is big.Moreover in the actual robot operation process, motion is steady, and noise is little.Because adopted the design of criss-crossing bearing, the utility model volume can be little, structure is very compact.
Certainly, more than only be the concrete exemplary applications of the utility model, the protection domain of the utility model is not constituted any limitation.Except that the foregoing description, the utility model can also have other mode of execution.All employings are equal to the technological scheme of replacement or equivalent transformation formation, all drop within the utility model scope required for protection.
Claims (5)
1. the outer ring type harmonic speed changer that is used for robot; Include the wave-generator assembly; It is characterized in that: the working end outer race of said wave-generator assembly is provided with steel wheel; The two ends of said steel wheel are distributed with positioning component, and the termination of said positioning component is connected with an end of bearing unit, and the other end of said bearing unit is connected with flexbile gear.
2. the outer ring type harmonic speed changer that is used for robot according to claim 1 is characterized in that: described positioning component is a positioning screwn.
3. the outer ring type harmonic speed changer that is used for robot according to claim 1 is characterized in that: described bearing unit is the criss-crossing bearing.
4. the outer ring type harmonic speed changer that is used for robot according to claim 3 is characterized in that: be distributed with lubrication channel in the described criss-crossing bearing.
5. the outer ring type harmonic speed changer that is used for robot according to claim 1 is characterized in that: be distributed with shock relieve vent on the described steel wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202821476U CN202165573U (en) | 2011-08-05 | 2011-08-05 | Outer ring type harmonic speed reducer used for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202821476U CN202165573U (en) | 2011-08-05 | 2011-08-05 | Outer ring type harmonic speed reducer used for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202165573U true CN202165573U (en) | 2012-03-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202821476U Expired - Lifetime CN202165573U (en) | 2011-08-05 | 2011-08-05 | Outer ring type harmonic speed reducer used for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202165573U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104776168A (en) * | 2015-04-14 | 2015-07-15 | 上海鑫君传动科技有限公司 | Novel structural ultrathin harmonic speed reducer |
-
2011
- 2011-08-05 CN CN2011202821476U patent/CN202165573U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104776168A (en) * | 2015-04-14 | 2015-07-15 | 上海鑫君传动科技有限公司 | Novel structural ultrathin harmonic speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215001 No. 19 Muxu West Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Green Harmonic Drive Technology Co., Ltd. Address before: 215001 No. 19 Muxu West Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Suzhou Lvdi Harmonic Transmission Technology Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120314 |