CN202812014U - Harmonic reducer and manipulator - Google Patents

Abstract

The utility model provides a harmonic reducer and a manipulator. The harmonic reducer and the manipulator comprise a wave generator, a flexible gear, a steel wheel and an elastic part. The wave generator comprises a cam in an oval shape and a thin-wall bearing which is circularly arranged on the periphery of the cam. The flexible gear comprises an annular body, the annular body is circularly arranged on the periphery of the thin-wall bearing, an opening is formed in one end of the annular body, and a plurality of outer teeth are circularly arranged on the outer edge surface of the opening end of the annular body. The steel wheel is sleeved on the periphery of the flexible gear, and a plurality of inner teeth are arranged on the periphery at one end of the steel wheel. The elastic part is installed between the cam and the thin-wall bearing or between the thin-wall bearing and the flexible gear, and therefore the outer teeth in the long shaft direction of the flexible gear are meshed with the inner teeth in a gapless mode.

Description

Harmonic speed reducer and mechanism hand

Technical field

The utility model relates to a kind of harmonic speed reducer and mechanism hand.

Background technique

Harmonic speed reducer is widely used in the industries such as electronics, space flight and aviation, robot, and it is to rely on flexbile gear to produce the elastic mechanical ripple to transmit force and motion.

Harmonic speed reducer mainly is located at the firm wheel with ring gear that flexbile gear and the ring with external toothing of wave-generator periphery be located at the flexbile gear periphery by the wave-generator of oval in shape, ring and forms, just few two of the number of teeth of wheel of the gear ratio of flexbile gear wherein, harmonic speed reducer adopt usually that just wheel is fixing, the mode of wave-generator input, flexbile gear output realizes the purpose of slowing down.

Because the number of teeth that the gear ratio of flexbile gear has just been taken turns is few, flexbile gear and the just engagement of wheel are after leaning on the wave-generator of elliptical shape extruding flexbile gear, force flexbile gear to become ellipse by original circle, can so that near the tooth the major axis of flexspline two ends mesh with just wheel, because general flexbile gear and firm wheel are alloyed steel and make, the tooth of flexbile gear and the tooth of just having taken turns all are rigidity, two rigid members are when engagement, still have a little gap between them, so, flexbile gear is under High Rotation Speed, and relatively just wheel can produce extra rocking, and flexbile gear is used for outputting power, thereby can have a strong impact on the transmission accuracy of harmonic speed reducer.

Therefore, be necessary to design a kind of new harmonic retarder, to overcome defects.

Summary of the invention

For the problem that background technique faces, the purpose of this utility model is to provide a kind of external teeth of flexbile gear and the harmonic speed reducer of the inner teeth tight mesh of just having taken turns.

To achieve these goals, the utility model can be realized by such mode, and a kind of harmonic speed reducer comprises a wave-generator, and described wave-generator comprises a cam of oval in shape and the thin-wall bearing that ring is located at described cam periphery; One flexbile gear, described flexbile gear has an annular body, and it is peripheral that described annular body ring is located at described thin-wall bearing, and described annular body one end has an opening, a plurality of external teeth are located at the outer fringe surface of described annular body opening end, and described cam makes the crooked oval in shape of described flexbile gear; One has just taken turns, and described firm wheel is located on the periphery of described flexbile gear, and a plurality of inner teeth are located at the interior week of described firm wheel one end; One elastic component is located between described cam and the described thin-wall bearing or between described thin-wall bearing and the described flexbile gear, so that the external teeth of described major axis of flexspline direction and described inner teeth tight mesh.

Further, the described annular body the other end has a base, and described base is positioned at described firm wheel, so that described flexbile gear is positioned at described firm wheel fully.

Further, described base is provided with a fixed block, and described fixed block has a main body portion that is lower than described firm wheel and a bump that protrudes from described firm wheel, and described bump is used for described harmonic speed reducer is connected with miscellaneous part.

Further, the described firm wheel the other end is provided with a cover plate, and the fixing described main body portion of described cover plate compacting is in described firm wheel, described fixed block is fixed in described firm wheel.

The utility model also provides a kind of mechanism hand, comprises a pedestal; One first arm is articulated on the described pedestal; One second arm is articulated in an end of described the first arm; Two first harmonic retarders, be located at respectively on the described pedestal and on described the second arm, each described first harmonic retarder comprises a first wave generator, have one first cam of oval in shape and one first thin-wall bearing that ring is located at described the first cam periphery, one first flexbile gear, ring is located at the periphery of described the first thin-wall bearing, one first has just taken turns, be located on the periphery of described the first flexbile gear, one first elastic component, be located between described the first cam and described the first thin-wall bearing or between described the first thin-wall bearing and described the first flexbile gear, described first harmonic retarder is that described the first arm and described the second arm slow down; One first motor is fixed in the described pedestal, for the transmission that is positioned at the described first harmonic retarder on the described pedestal and the rotation of described the first arm provide power; One second motor is fixed on described the second arm, for the transmission that is positioned at the described first harmonic retarder on described the second arm and the rotation of described the second arm provide power; Described the first arm and described the second arm are that plastic material is made.

Further, each described first harmonic retarder is provided with one first bump, corresponding each described first bump of described the first arm is inlayed respectively to bury and is formed one first driving piece and one second driving piece, described the first driving piece articulates with described the first bump respectively with described the second driving piece and cooperates, respectively in order to articulate described the first arm and the described first harmonic retarder and described the first arm and described the second arm that are positioned on the described pedestal.

Further, the described first firm wheel edge that is positioned at the described first harmonic retarder on described the second arm buries and takes shape in described the second arm, so that described first harmonic retarder is positioned described the second arm.

Further, the periphery of described the first arm and described the second arm is to having stiffening rib, to strengthen the intensity of described the first arm and described the second arm.

Further, further side extending one adjutage of described the second arm, described adjutage and described the second arm are one-body molded, and described adjutage is that plastic material is made.

Further, be installed with one the 3rd motor on described the second arm, described adjutage is provided with a fixed base, and a screw mandrel is fixed in described fixed base, and described the 3rd motor provides power for described screw mandrel.

Further, described adjutage is provided with a second harmonic retarder, described second harmonic retarder has a Second Wave generator, one second flexbile gear and one second has just been taken turns, and the described second firm wheel edge buries and takes shape in described adjutage, so that described second harmonic retarder is positioned described adjutage.

Further, be installed with one the 4th motor on described the second arm, a splined shaft runs through described adjutage and described Second Wave generator, and described the 4th motor provides power for the transmission of described second harmonic retarder and the rotation of described splined shaft.

Further, be connected with one first fixed block between described splined shaft and the described screw mandrel, described splined shaft is provided with a clutch shaft bearing and is positioned at described the first fixed block, described screw rod bushing is provided with a nut and is positioned at described the first fixed block, described adjutage below is provided with one second fixed block, described the second fixed block is fixed in described adjutage with described splined shaft, and described screw mandrel rotates to drive described splined shaft and moves up and down.

Further, described fixed base is provided with one the 3rd fixed block, described the 3rd fixed block is between described clutch shaft bearing and described adjutage, further be arranged with one second bearing on the described splined shaft, described the second bearing is positioned at described the 3rd fixed block, described the second bearing provides guiding for the rotation of described splined shaft, and described the 3rd fixed block so that described splined shaft when rotating, can not rock.

Compared with prior art, in the utility model harmonic speed reducer, after described wave-generator is packed described flexbile gear into, force the section of described flexbile gear to become ellipse by original circle, the described inner teeth engagement of near the described external teeth its major axis two ends and described firm wheel, near the minor axis two ends described external teeth is then thrown off with described firm wheel, owing to be provided with described elastic component between described cam and the described thin-wall bearing or between described thin-wall bearing and described flexbile gear, described elastic component has can micro-stretchability, so that the described inner teeth of the described external teeth of described major axis of flexspline direction and described firm wheel reaches tight mesh, the described flexbile gear and the described firm wheel that guarantee simultaneously tight mesh can keep relative movement, realizing the transmission of described harmonic speed reducer, and improve its transmission accuracy; Furtherly, described harmonic speed reducer is applied to mechanism hand, described mechanism hand is slowed down, and then realize that described mechanism hand locates accurately.

[description of drawings]

Fig. 1 is the three-dimensional exploded view of the utility model mechanism hand;

Fig. 2 is the three-dimensional exploded view of the utility model harmonic speed reducer;

Fig. 3 is the utility model harmonic speed reducer and stereogram after motor cooperates;

Fig. 4 is the cutaway top view of Fig. 3;

Fig. 5 is the three-dimensional combination figure of the utility model mechanism hand;

Fig. 6 is the utility model mechanism hand when not operating, the side view that splined shaft remains static;

When Fig. 7 is the running of the utility model mechanism hand, the schematic representation that splined shaft moves up and down.

The drawing reference numeral explanation of embodiment:

[embodiment]

For ease of better understanding the purpose of this utility model, structure, feature and effect etc., existing the utility model is described in further detail with embodiment by reference to the accompanying drawings.

Please refer to Fig. 2, be harmonic speed reducer 1 of the present utility model, mainly comprise a wave-generator 10, be located on a flexbile gear 20 of described wave-generator 10 peripheries and be located on one of described flexbile gear 20 peripheries and just taken turns 30.

As shown in Fig. 2, Fig. 3 and Fig. 4, described wave-generator 10 comprises a cam 101, described cam 101 ovalizes.Described wave-generator 10 also comprises a thin-wall bearing 102 that is set in described cam 101 peripheries, and described thin-wall bearing 102 is rounded.When described thin-wall bearing 102 was set in described cam 101 periphery, its global shape was subjected to the extruding of described cam 101 to become ellipse by original circle, thereby whole described wave-generator 10 oval in shape.

Described flexbile gear 20 rings are located at the periphery of described thin-wall bearing 102, and described flexbile gear 20 is made by plastic material, and described flexbile gear 20 has an annular body 202.One end of described annular body 202 forms an opening 203, and the outer fringe surface of the position of close described opening 203 is provided with a plurality of external teeth 201 on the described annular body 202, and described external teeth 201 evenly distributes along whole periphery.The other end relative with described opening 203 then forms a base 204, a through hole 205 is offered in described base 204 central positions, described through hole 205 is equipped with a fixed block 40, described fixed block 40 has a main body portion 401 and is connected with described base 204, described main body portion 401 comprises that a packing ring 402 passes described through hole 205, described packing ring 402 has a sticking part 4021 and fits with described base 204, and one head 4022 pass described through hole 205 and be revealed in outside the described base 204, described main body portion 401 comprises that also an axle sleeve 403 rings are located at described head 4022, described axle sleeve 403 has one wide 4031 and one narrow 4032, described main body portion 401 comprises that also a positioning block 404 is pressed on the described axle sleeve 403, described positioning block 404 with described narrow 4032 wide and with described narrow 4032 fit, described main body portion 401 comprises that also a roller bearing 405 is set in described narrow 4032 and described positioning block 404, described fixed block 40 also has a bump 406, and described bump 406 is connected with miscellaneous part.

Please refer to Fig. 2 and Fig. 3, described firm wheel 30 is located on the periphery of described flexbile gear 20.Described firm wheel 30 be provided with a plurality of inner teeth 301 interior week, described inner teeth 301 is uniformly distributed in an end of the described opening 203 of corresponding described flexbile gear 20 on the described firm wheel 30.The other end of described firm wheel 30 then is provided with a cover plate 50, the described roller bearing 405 of the described main body portion 401 of described cover plate 50 compactings is in described firm wheel 30, so that described fixed block 40 is fixed in described firm wheel 30, the described bump 406 of described fixed block 40 stretches out outside the described firm wheel 30 to be connected with miscellaneous part.

As shown in Figures 2 and 3, as preferred embodiment of the present utility model, also be provided with an elastic component 60 between described cam 101 and the described thin-wall bearing 102, but described elastic component 60 micro-deformations.

In other embodiments, described elastic component 60 can be located between described thin-wall bearing 102 and the described flexbile gear 20.

Please refer to Fig. 4, after the assembling, described wave-generator 10 forces the section of described flexbile gear 20 to become ellipse by original circle, so that described inner teeth 301 engagements of near the described external teeth 201 the described flexbile gear 20 major axis two ends and described firm wheel 30, near the described flexbile gear 20 minor axis two ends described external teeth 201 is then thrown off the transition state that 201 of the described external teeth of other sections are in engagement and break away from described flexbile gear 20 girths with described firm wheel 30.Owing between described cam 101 and described thin-wall bearing 102, be provided with described elastic component 60, but and characteristic meeting of described elastic component 60 micro-deformations so that near the described external teeth 201 in described flexbile gear 20 major axis two ends and the described inner teeth 301 of described firm wheel 30 reach tight mesh.When described wave-generator 10 rotates continuously, the major axis position of described flexbile gear 20 constantly changes, described flexbile gear 20 and the engagement of described firm wheel 30 are also constantly changed, by engaging-in, mesh, nibble out, throw off, engaging-in again ... carry out again and again, thereby realize that the relatively described firm wheel 30 of described flexbile gear 20 is along described wave-generator 10 rightabout slow circumvolves, to reach the deceleration purpose.

Please refer to Fig. 1, be mechanism hand 100 of the present utility model.

As depicted in figs. 1 and 2, described mechanism hand 100 comprises two first harmonic retarders 1, and each described first harmonic retarder 1 mainly comprises a first wave generator 10, is located on one first flexbile gear 20 of described first wave generator 10 peripheries and is located on one first of described the first flexbile gear 20 peripheries has just taken turns 30.

Please refer to Fig. 2, Fig. 3 and Fig. 4, described first wave generator 10 comprises one first cam 101, described the first cam 101 ovalizes.Described first wave generator 10 also comprises one first thin-wall bearing 102 that is set in described the first cam 101 peripheries, and described the first thin-wall bearing 102 is rounded.When described the first thin-wall bearing 102 was set in described the first cam 101 periphery, its global shape was subjected to the extruding of described the first cam 101 to become ellipse by original circle, thereby whole described first wave generator 10 oval in shape.

Described the first flexbile gear 20 ring is located at the periphery of described the first thin-wall bearing 102, and described the first flexbile gear 20 is made by plastic material, and described the first flexbile gear 20 has one first annular body 202.One end of described the first annular body 202 forms one first opening 203, the outer fringe surface of the position of close described the first opening 203 is provided with a plurality of the first external teeth 201 on described the first annular body 202, and described the first external teeth 201 evenly distributes along whole periphery.The other end relative with described the first opening 203 then forms one first base 204, and one first through hole 205 is offered in described the first base 204 central positions, and described the first through hole 205 is equipped with one first fixed block 40.Described the first fixed block 40 has a First body 401 and is connected with described the first base 204, described First body 401 comprises that one first packing ring 402 passes described the first through hole 205, described the first packing ring 402 has one first sticking part 4021 and fits with described the first base 204, and one first head 4022 pass described the first through hole 205 and be revealed in outside described the first base 204, described First body 401 comprises that also one first axle sleeve, 403 rings are located at described the first head 4022, described the first axle sleeve 403 has one first wide 4031 and one first narrow 4032, described First body 401 comprises that also one first positioning block 404 is pressed on described the first axle sleeve 403, described the first positioning block 404 with described first narrow 4032 wide and with described first narrow 4032 fit, described First body 401 comprises that also one first roller bearing 405 is set in described first narrow 4032 and described the first positioning block 404, described the first fixed block 40 also has one first bump 406, and described the first bump 406 is connected with miscellaneous part.

The described first firm wheel 30 is located on the periphery of described the first flexbile gear 20.Described first has just taken turns a plurality of the first inner teeth 301 that are provided with in interior week of 30, and described the first inner teeth 301 is uniformly distributed in an end of described first opening 203 of corresponding described the first flexbile gear 20 on the described first firm wheel 30.The other end of the described first firm wheel 30 then is provided with one first cover plate 50, described first roller bearing 405 of the described the first noumenon of described the first cover plate 50 compactings section 401 has just been taken turns in 30 in described first, just taken turns 30 described the first fixed block 40 is fixed in described first, described first bump 406 of described the first fixed block 40 stretches out described first, and just wheel 30 is outer to be connected with miscellaneous part.

As shown in Figures 2 and 3, as preferred embodiment of the present utility model, also be provided with one first elastic component 60 between described the first cam 101 and described the first thin-wall bearing 102, but described the first elastic component 60 micro-deformations.

In other embodiments, described the first elastic component 60 can be located between described the first thin-wall bearing 102 and described the first flexbile gear 20.

Such as Fig. 1 and shown in Figure 5, described mechanism hand 100 also comprises a pedestal 2 cylindraceous, and described pedestal 2 one sides are respectively equipped with one first hole 21 and one second hole 22 along the vertical direction, and described pedestal 2 corresponding described the second holes 22 are provided with one first fixed plate 23.

Be installed with a base fixing plate 24 on the described pedestal 2, described base fixing plate 24 belows are provided with one first motor 3, and described the first motor 3 is fixedly arranged on described base fixing plate 24 belows by one first motor fixed block 31, and are positioned at described pedestal 2; A side of corresponding described the first fixed plate 23 is provided with one second fixed plate 25 on the described base fixing plate 24, described base fixing plate 24 tops also are installed with a described first harmonic retarder 1, the output shaft of described the first motor 3 is combined in the input shaft of described first harmonic retarder 1, with thinking that the transmission of described first harmonic retarder 1 provides power.

The described first harmonic retarder 1 that is positioned on the described pedestal 2 is connected with one first arm 4, described the first arm 4 is made and molding and forming by plastic material, and the periphery of described the first arm 4 is to having stiffening rib 41, described stiffening rib 41 is along the whole periphery setting of described the first arm 4, to strengthen the intensity of described the first arm 4.Described the first arm 4 is provided with a plurality of hoppers 42 of drawing, and is used for discharging stress when described the first arm 4 molding and forming, avoids described the first arm 4 to burst apart when molding and forming.

The one end edge of described the first arm 4 buries and forms one first driving piece 43, described the first driving piece 43 articulates with described first bump 406 of described first harmonic retarder 1, to connect described the first arm 4 and described first harmonic retarder 1, the other end edge of described the first arm 4 buries and forms one second driving piece 44, described the first driving piece 43 and described the second driving piece 44 are the profile of tooth driving piece, when described the first arm 4 slows down rotation under the gearing of described first harmonic retarder 1, can be used to increase torsion.

Please refer to Fig. 1 and Fig. 5, the other end of described the first arm 4 also is connected with one second arm 5, described the second arm 5 is made and molding and forming for plastic material, and the periphery of described the second arm 5 is to having stiffening rib 51, described stiffening rib 51 is along the whole periphery setting of described the second arm 5, to strengthen the intensity of described the second arm 5.Described the second arm 5 is provided with a plurality of hoppers 52 of drawing, and is used for discharging stress when described the second arm 5 molding and forming, avoids described the second arm 5 to burst apart when molding and forming.

Described the second arm 5 edges bury the described first firm wheel 30 and described the first roller bearing 405 that forms another described first harmonic retarder 1, so that another described first harmonic retarder 1 is fixed on described the second arm 5.Described first harmonic retarder 1 top has been installed with one second motor fixed block 61, be installed with one second motor 6 on described the second motor fixed block 61, the output shaft of described the second motor 6 is combined in the input shaft of described first harmonic retarder 1, provide power with the transmission of thinking described first harmonic retarder 1, also be provided with a cable fixed base 62 on described the second motor fixed block 61 and be erected at described the second motor 6 tops, described cable fixed base 62 center drillings; Described first harmonic retarder 1 below articulates by described the first bump 406 and described the second driving piece 44, so that described the second arm 5 is connected with described the first arm 4, described the second arm 5 can slow down with respect to described the first arm 4 under the gearing of described first harmonic retarder 1 and rotate.

Described the second arm 5 added one the 3rd motor fixed blocks 71 that are provided with, top described second arm 5 of distance of described the 3rd motor fixed block 71 has certain height, form one first space A between described the 3rd motor fixed block 71 and described the second arm 5, be installed with one the 3rd motor 7 on described the 3rd motor fixed block 71, the output shaft of described the 3rd motor 7 extend in described the first space A; Also set up one the 4th motor fixed block 81 on described the second arm 5, top described second arm 5 of distance of described the 4th motor fixed block 81 has certain height, form a second space B between described the 4th motor fixed block 81 and described the second arm 5, be installed with one the 4th motor 8 on described the 4th motor fixed block 81, the output shaft of described the 4th motor 8 extend in the described second space B.

Such as Fig. 1 and shown in Figure 5, described the second arm 5 side extendings one adjutage 53, described adjutage 53 is one-body molded with described the second arm 5, described adjutage 53 is also made for plastic material, and the periphery of described adjutage 53 is to having stiffening rib 531, described stiffening rib 531 is along 53 liang of relative periphery settings of described adjutage, to strengthen the intensity of described adjutage 53.Described adjutage 53 is provided with a plurality of hoppers 532 of drawing, and is used for discharging stress when described adjutage 53 molding and forming, avoids described adjutage 53 to burst apart when molding and forming.

The described adjutage 53 added fixed bases 91 that are provided with, described fixed base 91 arranges near described the second arm 5, the top described adjutage 53 of distance of described fixed base 91 has certain height, form one the 3rd space C between described fixed base 91 and the described adjutage 53, be installed with a spiral helicine screw mandrel 9 on the described fixed base 91, described screw mandrel 9 bottoms extend into described the 3rd space C, described screw mandrel 9 middle parts are provided with a nut 92, described nut 92 has been peripherally installed with one first fixed block 93, and described screw mandrel 9 tops are provided with a limit and take off piece 94.The rotation of described the 3rd motor 7 is sent to described screw mandrel 9 via one first line belt 131, described the first line belt 131 1 ends twine one first pulley 132, described the first pulley 132 is set in the output shaft of described the 3rd motor 7 and is positioned at described the first space A, described the first line belt 131 the other ends twine and are installed on one first by movable pulley 133, described first is set in described screw mandrel 9 bottoms and is positioned at described the 3rd space C by movable pulley 133, described the 3rd motor 7 is by belt transmission, for the rotation of described screw mandrel 9 provides power.Described fixed base 91 1 sides also are provided with one the 3rd fixed block 95, and described the 3rd fixed block 95 arranges away from described the second arm 5.

Described adjutage 53 is provided with a second harmonic retarder 11, described second harmonic retarder 11 has just wheel 113 of a Second Wave generator 111, one second flexbile gear 112 and one second, the described second firm wheel 113 edges bury and take shape in described adjutage 53, so that described second harmonic retarder 11 is positioned on the described adjutage 53, described Second Wave generator 111 1 ends protrude out and are revealed on the described adjutage 53.The rotation of described the 4th motor 8 is sent to described second harmonic retarder 11 via one second line belt 141, described the second line belt 141 1 ends twine one second pulley 142, described the second pulley 142 is set in the output shaft of described the 4th motor 8 and is positioned at described second space B, described the second line belt 141 the other ends twine and are installed on one second by movable pulley 143, described second is set in the end that described Second Wave generator 111 is revealed in described adjutage 53 by movable pulley 143, described the 4th motor 8 is by belt transmission, for the transmission of described second harmonic retarder 11 provides power.

Please refer to Fig. 1, Fig. 6 and Fig. 7, provided a splined shaft 12 on the described adjutage 53, described splined shaft 12 passes described the first fixed block 93, described the 3rd fixed block 95, described Second Wave generator 111 and described adjutage 53 from top to bottom successively.

Described splined shaft 12 corresponding described the first fixed blocks 93 are arranged with a clutch shaft bearing 121, described clutch shaft bearing 121 is coated by described the first fixed block 93, described the first fixed block 93 articulates described splined shaft 12 and described screw mandrel 9, described screw mandrel 9 rotates under the power of described the 3rd motor 7, so that described nut 92 moves up and down at described screw mandrel 9, move up and down to drive described splined shaft 12, described limit is taken off piece 94 and is used for preventing that described nut 92 from detaching described screw mandrel 9.Described splined shaft 12 also is provided with one second fixed block 123, and described the second fixed block 123 is positioned at the below of described adjutage 53, so that described splined shaft 12 is fixed in described adjutage 53.Described splined shaft 12 corresponding described the 3rd fixed blocks 95 are arranged with one second bearing 122, described the second bearing 122 is between described clutch shaft bearing 121 and described adjutage 53 and pass described the 3rd fixed block 95, when described splined shaft 12 slows down rotation under the gearing of described second harmonic retarder 11, described the second bearing 122 provides guiding for the rotation of described splined shaft 12, and because described splined shaft 12 top and bottom are articulated and fix by described the first fixed block 93 and described the second fixed block 123 respectively, and described the 3rd fixed block 95 is arranged between them and be connected in described fixed base 91, so that described splined shaft 12 can not rock when rotating.

After described mechanism hand 100 assemblings, described the second motor 6, the cable of described the 3rd motor 7 and described the 4th motor 8 (not label) passes from described cable fixed base 62, and be socketed with plastic hose, described cable fixed base 62 is used for fixing described cable, described cable passes described the second fixed plate 25 again, described the second fixed plate 25 is in order to fixing described cable, described cable enters described pedestal 2 from described the first hole 21, be connected and fixed with the cable of described the first motor 3, pass and pass described the first fixed plate 23 from described the second hole 22 at last, be connected to again an electric control box (not shown), for the running of described mechanism hand 100 provides electric power and coding-control.

In sum, the utility model harmonic speed reducer and mechanism hand have following beneficial effect:

1. be provided with described elastic component 60 between described cam 101 and the described thin-wall bearing 102 or between described thin-wall bearing 102 and described flexbile gear 20, but described elastic component 60 micro-deformations, when described wave-generator 10 rotates continuously, the distortion of described flexbile gear 20 constantly changes, so that reach tight mesh between the described inner teeth 301 of the described external teeth 201 of described flexbile gear 20 long axis directions and described firm wheel 30, thereby improve the transmission accuracy of described harmonic speed reducer 1.

Will between described cam 101 and the described thin-wall bearing 102 or the described harmonic speed reducer 1 that adds described elastic component 60 between described thin-wall bearing 102 and the described flexbile gear 20 apply to described mechanism hand 100, described mechanism hand 100 is slowed down, and then realize that described mechanism hand 100 locates accurately.

3. the described first firm wheel 30 edges that are positioned at the described first harmonic retarder 1 on described the second arm 5 bury and take shape in described the second arm 5, the described second firm wheel 113 edges of described second harmonic retarder 11 bury and take shape in described adjutage 53, so that described first harmonic retarder 1 is positioned respectively described the second arm 5 and described adjutage 53 with described second harmonic retarder 11, reduced the mating parts between harmonic speed reducer and the manipulator, provided cost savings.

4. described the first arm 4, described the second arm 5 and described adjutage 53 are plastic material and make, and than the manipulator that alloy steel material is before made, lightweight, cost is low, so that the weight of whole described mechanism hand 100 lightens cost.

5. described splined shaft 12 is provided with described the second bearing 122, for the rotation of described splined shaft 12 provides guiding, and described the 3rd fixed block 95 between described the first fixed block 93 and the second fixed block 123 is coated on described the second bearing 122 peripheries, so that described splined shaft 12 can keep stability when rotating.

More than describing in detail only is the explanation of the preferred embodiment of the utility model, non-so limit to claim of the present utility model, so the equivalence techniques that all this creation of utilization specifications and diagramatic content are done changes, and all is contained in the claim of the present utility model.

Claims (14)

1. a harmonic speed reducer is characterized in that, comprising:

One wave-generator, described wave-generator comprise a cam of oval in shape and the thin-wall bearing that ring is located at described cam periphery;

One flexbile gear, described flexbile gear has an annular body, and it is peripheral that described annular body ring is located at described thin-wall bearing, and described annular body one end has an opening, a plurality of external teeth are located at the outer fringe surface of described annular body opening end, and described cam makes the crooked oval in shape of described flexbile gear;

One has just taken turns, and described firm wheel is located on the periphery of described flexbile gear, and a plurality of inner teeth are located at the interior week of described firm wheel one end;

One elastic component is located between described cam and the described thin-wall bearing or between described thin-wall bearing and the described flexbile gear, so that the external teeth of described major axis of flexspline direction and described inner teeth tight mesh.

2. harmonic speed reducer as claimed in claim 1, it is characterized in that: the described annular body the other end has a base, and described base is positioned at described firm wheel.

3. harmonic speed reducer as claimed in claim 2, it is characterized in that: described base is provided with a fixed block, and described fixed block has a main body portion that is lower than described firm wheel and a bump that protrudes from described firm wheel.

4. harmonic speed reducer as claimed in claim 3, it is characterized in that: the described firm wheel the other end is provided with a cover plate, and the fixing described main body portion of described cover plate compacting is in described firm wheel.

5. a mechanism hand is characterized in that, comprising:

One pedestal;

One first arm is articulated on the described pedestal;

One second arm is articulated in an end of described the first arm;

Two first harmonic retarders, be located at respectively on the described pedestal and on described the second arm, each described first harmonic retarder comprises a first wave generator, have one first cam of oval in shape and one first thin-wall bearing that ring is located at described the first cam periphery, one first flexbile gear, ring is located at the periphery of described the first thin-wall bearing, one first has just taken turns, be located on the periphery of described the first flexbile gear, one first elastic component, be located between described the first cam and described the first thin-wall bearing or between described the first thin-wall bearing and described the first flexbile gear, described first harmonic retarder is that described the first arm and described the second arm slow down;

One first motor is fixed in the described pedestal, for the transmission that is positioned at the described first harmonic retarder on the described pedestal and the rotation of described the first arm provide power;

One second motor is fixed on described the second arm, for the transmission that is positioned at the described first harmonic retarder on described the second arm and the rotation of described the second arm provide power;

Described the first arm and described the second arm are that plastic material is made.

6. mechanism hand as claimed in claim 5, it is characterized in that: each described first harmonic retarder is provided with one first bump, corresponding each described first bump of described the first arm is inlayed respectively to bury and is formed one first driving piece and one second driving piece, and described the first driving piece articulates with described the first bump respectively with described the second driving piece and cooperates.

7. mechanism hand as claimed in claim 5 is characterized in that: be positioned at described first harmonic retarder on described the second arm described first just the wheel edge bury and take shape in described the second arm.

8. mechanism hand as claimed in claim 5, it is characterized in that: the periphery of described the first arm and described the second arm is to having stiffening rib.

9. mechanism hand as claimed in claim 5 is characterized in that: further side extending one adjutage of described the second arm, and described adjutage and described the second arm are one-body molded, and described adjutage is that plastic material is made.

10. mechanism hand as claimed in claim 9, it is characterized in that: be installed with one the 3rd motor on described the second arm, described adjutage is provided with a fixed base, and a screw mandrel is fixed in described fixed base, and described the 3rd motor provides power for described screw mandrel.

11. mechanism hand as claimed in claim 10, it is characterized in that: described adjutage is provided with a second harmonic retarder, described second harmonic retarder has a Second Wave generator, one second flexbile gear and one second has just been taken turns, and the described second firm wheel edge buries and takes shape in described adjutage.

12. mechanism hand as claimed in claim 11, it is characterized in that: be installed with one the 4th motor on described the second arm, one splined shaft runs through described adjutage and described Second Wave generator, and described the 4th motor provides power for the transmission of described second harmonic retarder and the rotation of described splined shaft.

13. mechanism hand as claimed in claim 12, it is characterized in that: be connected with one first fixed block between described splined shaft and the described screw mandrel, described splined shaft is provided with a clutch shaft bearing and is positioned at described the first fixed block, described screw rod bushing is provided with a nut and is positioned at described the first fixed block, described adjutage below is provided with one second fixed block, described the second fixed block is fixed in described adjutage with described splined shaft, and described screw mandrel rotates to drive described splined shaft and moves up and down.

14. mechanism hand as claimed in claim 13, it is characterized in that: described fixed base is provided with one the 3rd fixed block, described the 3rd fixed block is between described clutch shaft bearing and described adjutage, further be arranged with one second bearing on the described splined shaft, described the second bearing is positioned at described the 3rd fixed block.

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