CN203146711U - Mechanical torque transmission joint with harmonic speed reducer and cross auxiliary bearing combined - Google Patents
Mechanical torque transmission joint with harmonic speed reducer and cross auxiliary bearing combined Download PDFInfo
- Publication number
- CN203146711U CN203146711U CN 201320178349 CN201320178349U CN203146711U CN 203146711 U CN203146711 U CN 203146711U CN 201320178349 CN201320178349 CN 201320178349 CN 201320178349 U CN201320178349 U CN 201320178349U CN 203146711 U CN203146711 U CN 203146711U
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- speed reducer
- harmonic speed
- sub
- outer shroud
- bearing
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Abstract
The utility model discloses a mechanical torque transmission joint with a harmonic speed reducer and a cross auxiliary bearing combined. The mechanical torque transmission joint comprises the harmonic speed reducer and the cross auxiliary bearing. A rotary shaft of a motor is connected with an input shaft of the harmonic speed reducer through a shaft pin in a matched mode. An output shaft of the harmonic speed reducer is fixed with a torque output end. A harmonic speed reducer flexible gear is arranged between the input shaft of the harmonic speed reducer and the output shaft of the harmonic speed reducer. Torque is output from the torque output end. The cross auxiliary bearing comprises an outer ring, an inner ring, a roller and an interval maintainer. The inner ring is fixed on the outer side of the torque output end. The outer ring is fixed on a cross auxiliary bearing seat. The outer ring and the inner ring are matched with each other. The interval maintainer is arranged between the outer ring and the inner ring and is provided with V-shaped grooves, and the roller is arranged inside the V-shaped grooves which form 90 degrees. The mechanical torque transmission joint can bear the omni-directional loading effect from radial, axial and capsizing torque and the like.
Description
Technical field
The utility model relates to a kind of mechanical force moment driving joint that makes up with harmonic speed reducer and the sub-bearing that intersects.Background technique
Harmonic speed reducer and the sub-bearing that intersects are that the novel mechanical that comes out newly developed rotated other part in recent years, if the deceleration of this class of design processing, rotating again can bearing radial force, bi-directional axial power and each must select for use each type gear and each class bearing to match to the turning joint of tilting moment in the past, cause complex structure, transmission efficiency is low, low precision, deficiencys such as weight is big, therefore want speed ratio big to being used for, from heavy and light, the rotational efficienty height, the occasion that required precision is high, must there be a kind of novel retarder to mix a novel bearing, just can reaches above-mentioned requirement.This class joint can be fit on the rotary machine equipment of needs turning joints such as each robotlike, mechanism hand.
Summary of the invention
At above-mentioned technological deficiency, the utility model proposes a kind of mechanical force moment driving joint that makes up with harmonic speed reducer and the sub-bearing that intersects.
In order to solve the problems of the technologies described above, the technical solution of the utility model is as follows:
A kind of mechanical force moment driving joint that makes up with harmonic speed reducer and the sub-bearing that intersects, comprise harmonic speed reducer and intersect sub-bearing, the rotating shaft of motor cooperates with the harmonic speed reducer input shaft by pivot pin and links to each other, harmonic speed reducer output shaft and moment output terminal are fixed, between harmonic speed reducer input shaft and harmonic wave reducer output shaft, be provided with the harmonic speed reducer flexbile gear, by moment output terminal output torque; The sub-bearing of described intersection comprises outer shroud, interior ring, roller and spacing holder, and described interior ring is fixed on the described moment output terminal outside, and described outer shroud is fixed on the sub-bearing support of intersection, and described outer shroud and described interior the ring are matched; Spacing holder is located between described outer shroud and the described interior ring, and described spacing holder is provided with V-groove, and described roller is arranged in being 90 ° of V-grooves mutually.
Further, described harmonic speed reducer output shaft and moment output terminal are fixed by screw.
Further, moment output terminal and the sub-bearing inner end cap of intersecting are fixed.
Further, about described outer shroud is divided into two, left outer shroud and right outer shroud respectively arrange a hypotenuse, and the hypotenuse of left outer shroud and the hypotenuse of right outer shroud are formed V-type.
The beneficial effects of the utility model are: harmonic speed reducer is with simple in structure, from heavy and light, inertia is little, speed ratio is big, the transmission efficiency height, and input (at a high speed) output (low speed) can be at unique gears such as same axis driving torques, and be better than the speed reducer of other classifications, intersect sub-bearing its structure combined with harmonic speed reducer is cylindrical roller and is 90 ° of angle vertical arrangements mutually and rolls in V-groove, can bear simultaneously radially, axially, omnibearing load effect such as tilting moment, this combination articulation structure has miniaturization, slimming, the precision height, from heavy and light, the characteristics that rigidity is good.These two kinds of parts combine and need the occasion of turning joint transmission as machinery, can improve transmission efficiency, alleviate deadweight, can bear from aspects such as omnibearing loads and have more special advantages than the revolute joint of selecting for use other any traditional approachs to form.It can be used for the occasion of the turning joint of each robotlike, mechanism hand, medical machinery etc. and all kinds of needs, and power can be selected all kinds of actuating motors for use.
Description of drawings
Fig. 1 is profile of the present utility model;
Fig. 2 is sectional drawing of the present utility model.
Reference character: motor 1; Motor cabinet 2; Harmonic speed reducer input shaft 3; Retaining screw 4; Intersect sub-bearing inner end cap 5; Intersect sub-bearing support 6; Outer shroud 7; Intersect sub-bearing outer end cap 8; Harmonic speed reducer output shaft 9; Moment output terminal 10; Package shell 11; Harmonic speed reducer flexbile gear 12; Roller 13; Interior ring 14; Spacing holder 15.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described further.
As depicted in figs. 1 and 2, a kind of mechanical force moment driving joint that makes up with harmonic speed reducer and the sub-bearing that intersects, a kind of mechanical force moment driving joint that makes up with harmonic speed reducer and the sub-bearing that intersects, comprise harmonic speed reducer and intersect sub-bearing, the rotating shaft of motor cooperates with the harmonic speed reducer input shaft by pivot pin and links to each other, harmonic speed reducer output shaft and moment output terminal are fixed, between harmonic speed reducer input shaft and harmonic wave reducer output shaft, be provided with the harmonic speed reducer flexbile gear, moment output terminal and the sub-bearing inner end cap of intersecting are fixed, by moment output terminal output torque; The sub-bearing of described intersection comprises outer shroud, interior ring, roller and spacing holder, the sub-bearing of described intersection is arranged on the sub-bearing support of intersection, ring is fixed on the described moment output terminal outside in described, described outer shroud is fixed on the sub-bearing support of intersection, the sub-bearing outer end cap that intersects is arranged on sub-bearing support one side of intersection, and the sub-bearing support that will intersect is fixedly clamped.Described outer shroud and described interior ring match; Spacing holder is located between described outer shroud and the described interior ring, and described spacing holder is provided with V-groove, and described roller is arranged in being 90 ° of V-grooves mutually.Described harmonic speed reducer output shaft and moment output terminal are fixed by screw.About described outer shroud is divided into two, left outer shroud and right outer shroud respectively arrange a hypotenuse, and the hypotenuse of left outer shroud and the hypotenuse of right outer shroud are formed V-type.Motor is by pivot pin and harmonic speed reducer input shaft drive fit, when rotating, the harmonic speed reducer input shaft drives the harmonic speed reducer flexbile gear, deceleration is fixedlyed connected with the moment output terminal by the harmonic speed reducer output shaft, the output port external diameter with intersect sub-bearing inner ring and match, the sub-outer race that intersects is assemblied in the driving joint shell.The moment that motor shaft, harmonic speed reducer, the sub-bearing of intersection and output port transmit remains on output torque on the same center line.But it is such once overlapping the sub-bearing bearing radial force of intersection, bi-directional axial power, reaching each to load of tilting moment.If with two groups of orthogonal combinations in this type of joint, can constitute 360 ° of omnibearing turning joints, more similar to the turning joint of human trick.
The above only is preferred implementation of the present utility model; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model design; can also make some improvements and modifications, these improvements and modifications also should be considered as in the utility model protection domain.
Claims (4)
1. one kind with harmonic speed reducer and the mechanical force moment driving joint of sub-bearing combination of intersecting, it is characterized in that, comprise harmonic speed reducer and intersect sub-bearing, the rotating shaft of motor cooperates with the harmonic speed reducer input shaft by pivot pin and links to each other, harmonic speed reducer output shaft and moment output terminal are fixed, between harmonic speed reducer input shaft and harmonic wave reducer output shaft, be provided with the harmonic speed reducer flexbile gear, by moment output terminal output torque; The sub-bearing of described intersection comprises outer shroud, interior ring, roller and spacing holder, and described interior ring is fixed on the described moment output terminal outside, and described outer shroud is fixed on the sub-bearing support of intersection, and described outer shroud and described interior the ring are matched; Spacing holder is located between described outer shroud and the described interior ring, and described spacing holder is provided with V-groove, and described roller is arranged in being 90 ° of V-grooves mutually.
2. a kind of mechanical force moment driving joint that makes up with harmonic speed reducer and the sub-bearing that intersects according to claim 1 is characterized in that described harmonic speed reducer output shaft and moment output terminal are fixed by screw.
3. a kind of mechanical force moment driving joint that makes up with harmonic speed reducer and the sub-bearing that intersects according to claim 1 is characterized in that moment output terminal and the sub-bearing inner end cap of intersecting are fixed.
4. according to claim 1 a kind of with harmonic speed reducer and the mechanical force moment driving joint of sub-bearing combination of intersecting, it is characterized in that, about described outer shroud is divided into two, left outer shroud and right outer shroud respectively arrange a hypotenuse, and the hypotenuse of left outer shroud and the hypotenuse of right outer shroud are formed V-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320178349 CN203146711U (en) | 2013-04-01 | 2013-04-01 | Mechanical torque transmission joint with harmonic speed reducer and cross auxiliary bearing combined |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320178349 CN203146711U (en) | 2013-04-01 | 2013-04-01 | Mechanical torque transmission joint with harmonic speed reducer and cross auxiliary bearing combined |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203146711U true CN203146711U (en) | 2013-08-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320178349 Expired - Fee Related CN203146711U (en) | 2013-04-01 | 2013-04-01 | Mechanical torque transmission joint with harmonic speed reducer and cross auxiliary bearing combined |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203146711U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106438889A (en) * | 2016-11-03 | 2017-02-22 | 海尚集团有限公司 | V-shaped slot follower plate of speed reducer |
| CN106584504A (en) * | 2017-03-03 | 2017-04-26 | 苏州绿的谐波传动科技有限公司 | Joint mechanical arm connecting structure capable of reducing vibration |
| CN110666836A (en) * | 2019-11-05 | 2020-01-10 | 济南大学 | Arm integrated joint for bidirectional output humanoid robot |
-
2013
- 2013-04-01 CN CN 201320178349 patent/CN203146711U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106438889A (en) * | 2016-11-03 | 2017-02-22 | 海尚集团有限公司 | V-shaped slot follower plate of speed reducer |
| CN106438889B (en) * | 2016-11-03 | 2019-08-09 | 海尚集团有限公司 | The V-groove movable head of speed reducer |
| CN106584504A (en) * | 2017-03-03 | 2017-04-26 | 苏州绿的谐波传动科技有限公司 | Joint mechanical arm connecting structure capable of reducing vibration |
| CN110666836A (en) * | 2019-11-05 | 2020-01-10 | 济南大学 | Arm integrated joint for bidirectional output humanoid robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130821 Termination date: 20140401 |