CN205173388U - Harmonic speed reducer of robot ware device - Google Patents

Harmonic speed reducer of robot ware device Download PDF

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Publication number
CN205173388U
CN205173388U CN201521031925.9U CN201521031925U CN205173388U CN 205173388 U CN205173388 U CN 205173388U CN 201521031925 U CN201521031925 U CN 201521031925U CN 205173388 U CN205173388 U CN 205173388U
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flexbile gear
wave
generator
bearing
roller bearing
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CN201521031925.9U
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Chinese (zh)
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汤承龙
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SHANDONG SHUAIKE MACHINERY MANUFACTURING Co Ltd
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SHANDONG SHUAIKE MACHINERY MANUFACTURING Co Ltd
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Abstract

The utility model discloses a harmonic speed reducer of robot ware device, including circular spline, flexbile gear and the wave generator who fits together, be provided with coaxial positioner between flexbile gear and the wave generator. Coaxial positioner makes the assembly precision between wave generator and the flexbile gear fall to below 2 microns, and its diameter runout error falls to below 5 microns, the utility model discloses distinguishing integrative process with inner circle, the outer lane of cross cross roller bearing and on circular spline and flexbile gear, directly assembling the kingpin, saved inner circle and outer lane, saved raw and other materials, the cross cross roller bearing before having avoided simultaneously will be processed inner circle, outer lane and kingpin respectively, and then the equipment, assembles the multiple assembly error who produces afterwards between circular spline and the flexbile gear, falls to holistic assembly error below 2 microns.

Description

A kind of harmonic reducer of robot device
Technical field
The utility model relates to a kind of harmonic wave speed reducing machine, specifically, relates to a kind of harmonic reducer of robot device increasing positioning precision, reduce driving error, belongs to retarder technical field.
Background technique
Harmonic gear reducer is a kind of Novel reducer utilizing Planetary Gear Transmission principle to grow up.Harmonic Gears (abbreviation harmonic driving), it is a kind of Planetary Gear Transmission relying on flexible part generation elastic mechanical ripple to come transferring power and motion.
As shown in Figure 1, harmonic gear reducer the most frequently used in the market, primarily of three basic building blocks composition: A, rigid gear with ring gear, be called for short just wheel 1, it is equivalent to the central gear in planetary system;
B, flexible gear with external toothing, be called for short flexbile gear 5, it is equivalent to planetary pinion;
C, wave-generator 2, it is equivalent to planet carrier.As retarder use, wave-generator is usually adopted initiatively, just to take turns fixing, flexbile gear output form.
But the retarder of this structure has following defect:
One be wave-generator 2 excircle by bearing spider 3 and flexible bearing 4 with just take turns 1 and be rotationally connected, multiple component will be processed respectively, more repeatedly assemble, and its assembly error is larger;
Two be flexbile gear 5 excircle also by roller bearing fitting seat 6 and cross roller bearing 7 with just take turns 1 and be rotationally connected, there are multiple component equally will process respectively, more repeatedly assembles, the defect that assembly error is larger;
Three is the central shaft mounting hole of flexbile gear 5 and the central shaft mounting hole of wave-generator 2, require coaxial, in actual assembled process, owing to there is no direct positioning device between flexbile gear 5 and wave-generator 2, rely on the coaxality that the assembly precision of transmission shaft decides between the central shaft mounting hole of flexbile gear 5 and the central shaft mounting hole of wave-generator 2 completely, error will be caused so comparatively large, greatly reduce assembly precision.Cause overall Power output precision lower.
Model utility content
Problem to be solved in the utility model is the above-mentioned defect in order to overcome conventional harmonic retarder, provides a kind of harmonic reducer of robot device that can increase positioning precision, reduce driving error.
In order to solve the problem, the utility model by the following technical solutions:
A kind of harmonic reducer of robot device, comprises the firm wheel, flexbile gear and the wave-generator that fit together; Coaxial positioning apparatus is provided with between described flexbile gear and wave-generator.Coaxial positioning apparatus makes the assembly precision between wave-generator and flexbile gear drop to less than 2 microns, and its run-out error drops to less than 5 microns.
Below the further optimization of the utility model to such scheme:
Described coaxial positioning apparatus comprises the positioning shaft extended along the central axis of wave-generator to flexbile gear, and the rear end of described positioning shaft is connected by deep groove ball bearing rotational support with flexbile gear.
The rear end of described positioning shaft is integrally processed with bearing mounting platform, described deep groove ball bearing is arranged on bearing mounting platform, position corresponding with the rear end of positioning shaft on described flexbile gear is integrally processed with deep gouge, the outer end of described deep groove ball bearing be positioned at deep gouge and with deep gouge compact siro spinning technology.
Further optimization: the central position of wave-generator is provided with the axle mounting hole for installing transmission shaft, the center of described positioning shaft has and communicates and the center hole of concentric with axle mounting hole.
In order to increase transmission accuracy and the assembly precision of transmission shaft, the Cross section Design of this axle mounting hole is elongated hole, prevents transmission shaft from axle mounting hole, producing radial rotating.
The setting of positioning shaft, make the assembly precision between wave-generator and flexbile gear drop to below micron, its run-out error drops to less than 2 microns.
Further optimization: described firm wheel is connected by cross roller bearing-transmission with between flexbile gear, the cross roller bearing inner race groove that the cross roller bearing outer ring groove that this cross roller bearing is included in the upper one processing of just wheel is processed with position corresponding with cross roller bearing outer ring groove on flexbile gear one, is equipped with needle roller between cross roller bearing outer ring groove and cross roller bearing inner race groove.
The utility model adopts such scheme, the inner ring of cross roller bearing, outer ring are integrally processed respectively on firm wheel and flexbile gear, needle roller is directly assembled, eliminate inner ring and outer ring, save raw material, avoiding former cross roller bearing will process inner ring, outer ring and needle roller simultaneously respectively, and then assembles, finally be assembled to the multiple assembly error just produced between wheel with flexbile gear again, the assembly error of entirety is dropped to less than 2 microns.
Further optimization: be in transmission connection by flexible bearing between wave-generator and flexbile gear, described flexible bearing comprises outer ring and ring recess in the flexible bearing of one processing on the excircle of wave-generator, arranges ball in outer ring and flexible bearing between ring recess.
The utility model eliminates the inner ring processing of flexible bearing, and save raw material, the excircle simultaneously by wave-generator is processed into ring recess in flexible bearing, refill and join outer ring and ball, improve its assembly precision, the assembly error of entirety is dropped to less than 2 microns, reach international and use level.
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of conventional harmonic wave speed reducing machine in the utility model background technique;
Accompanying drawing 2 is the structural representation of harmonic wave speed reducing machine in the utility model embodiment;
Accompanying drawing 3 is the structural representation of flexbile gear and wave-generator in the utility model embodiment;
Accompanying drawing 4 is the structural representation of wave-generator in the utility model embodiment;
Accompanying drawing 5 is the side view of accompanying drawing 4.
In figure: 1-just takes turns; 2-wave-generator; 3-bearing spider; 4-flexible bearing; Ring recess in 41-flexible bearing; 5-flexbile gear; 6-roller bearing fitting seat; 7-cross roller bearing; 71-cross roller bearing outer ring groove; 72-cross roller bearing inner race groove; 8-deep groove ball bearing; 9-positioning shaft; 10-deep gouge; 11-center hole; 12-axle mounting hole; 13-bearing mounting platform.
Embodiment
Embodiment, as in Figure 2-4, a kind of harmonic reducer of robot device, comprises the firm wheel 1, flexbile gear 5 and the wave-generator 2 that fit together; Coaxial positioning apparatus is provided with between described flexbile gear 5 and wave-generator 2.
Described coaxial positioning apparatus comprises the positioning shaft 9 extended along the central axis of wave-generator 2 to flexbile gear 5, and the rear end of described positioning shaft 9 is connected by deep groove ball bearing 8 rotational support with flexbile gear 5.
The rear end of described positioning shaft 9 is integrally processed with bearing mounting platform 13, described deep groove ball bearing 8 is arranged on bearing mounting platform 13, position corresponding with the rear end of positioning shaft 9 on described flexbile gear 5 is integrally processed with deep gouge 10, the outer end of described deep groove ball bearing 8 be positioned at deep gouge 10 and with deep gouge 10 compact siro spinning technology.
The central position of wave-generator 2 is provided with the axle mounting hole 12 for installing transmission shaft, and the center of described positioning shaft 9 has and communicates and the center hole 11 of concentric with axle mounting hole 12.
The setting of positioning shaft 9, make the assembly precision between wave-generator 2 and flexbile gear 5 drop to less than 2 microns, its run-out error drops to less than 5 microns.
Be in transmission connection by cross roller bearing 7 between described firm wheel 1 and flexbile gear 5, this cross roller bearing 7 is included in the cross roller bearing inner race groove 72 that the cross roller bearing outer ring groove 71 of one processing on just wheel 1 and position corresponding with cross roller bearing outer ring groove 71 on flexbile gear 5 one are processed, and is equipped with needle roller between cross roller bearing outer ring groove 71 and cross roller bearing inner race groove 72.
The utility model adopts such scheme, integrally being processed respectively in the inner ring of cross roller bearing 7, outer ring is just taking turns on 1 and flexbile gear 5, needle roller is directly assembled, eliminate inner ring and outer ring, save raw material, avoiding former cross roller bearing 7 will process inner ring, outer ring and needle roller simultaneously respectively, and then assembles, finally be assembled to the multiple assembly error just produced between wheel 1 and flexbile gear 5 again, the assembly error of entirety is dropped to less than 2 microns.
Be in transmission connection by flexible bearing 4 between wave-generator 2 and flexbile gear 5, described flexible bearing 4 comprises outer ring and ring recess 41 in the flexible bearing of one processing on the excircle of wave-generator 2, arranges ball in outer ring and flexible bearing between ring recess 41.
The utility model eliminates the inner ring processing of flexible bearing 4, and save raw material, the excircle simultaneously by wave-generator 2 is processed into ring recess 41 in flexible bearing, refill and join outer ring and ball, improve its assembly precision, the assembly error of entirety is dropped to less than 2 microns, reach international and use level.
As shown in Figure 5, in order to increase transmission accuracy and the assembly precision of transmission shaft, the Cross section Design of this axle mounting hole 12 is elongated hole, prevents transmission shaft from axle mounting hole 12, producing radial rotating.

Claims (9)

1. a harmonic reducer of robot device, comprises the firm wheel (1), flexbile gear (5) and the wave-generator (2) that fit together; It is characterized in that: be provided with coaxial positioning apparatus between described flexbile gear (5) and wave-generator (2), the assembly precision between flexbile gear (5) and wave-generator (2) is less than 2 microns, and its run-out error is less than 5 microns.
2. a kind of harmonic reducer of robot device according to claim 1, is characterized in that:
Described coaxial positioning apparatus comprises the positioning shaft (9) extended along the central axis of wave-generator (2) to flexbile gear (5), and the rear end of described positioning shaft (9) is connected with flexbile gear (5) rotational support.
3. a kind of harmonic reducer of robot device according to claim 2, is characterized in that:
The rear end of described positioning shaft (9) is integrally processed with bearing mounting platform (13), described bearing mounting platform (13) is provided with deep groove ball bearing (8), the upper position corresponding with the rear end of positioning shaft (9) of described flexbile gear (5) is integrally processed with deep gouge (10), the outer end of described deep groove ball bearing (8) be positioned at deep gouge (10) and with deep gouge (10) compact siro spinning technology.
4. a kind of harmonic reducer of robot device according to claim 2, is characterized in that:
The central position of wave-generator (2) is provided with the axle mounting hole (12) for installing transmission shaft, and the center of described positioning shaft (9) has and communicates and the center hole of concentric (11) with axle mounting hole (12).
5. a kind of harmonic reducer of robot device according to claim 4, is characterized in that:
The cross section of axle mounting hole (12) is elongated hole, prevents transmission shaft from axle mounting hole (12), producing radial rotating.
6. a kind of harmonic reducer of robot device according to claim 1, is characterized in that:
Be in transmission connection by cross roller bearing (7) between described firm wheel (1) and flexbile gear (5).
7. a kind of harmonic reducer of robot device according to claim 5, is characterized in that:
The cross roller bearing outer ring groove (71) that this cross roller bearing (7) is included in the processing of firm wheel (1) upper one and the cross roller bearing inner race groove (72) processed in flexbile gear (5) the upper position corresponding with cross roller bearing outer ring groove (71) one, be equipped with needle roller between cross roller bearing outer ring groove (71) and cross roller bearing inner race groove (72).
8. a kind of harmonic reducer of robot device according to claim 1, is characterized in that:
Be in transmission connection by flexible bearing (4) between wave-generator (2) and flexbile gear (5).
9. a kind of harmonic reducer of robot device according to claim 8, is characterized in that:
Described flexible bearing (4) comprises outer ring and ring recess (41) in the flexible bearing of one processing on the excircle of wave-generator (2), arranges ball in outer ring and flexible bearing between ring recess (41).
CN201521031925.9U 2015-12-14 2015-12-14 Harmonic speed reducer of robot ware device Active CN205173388U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Publications (1)

Publication Number Publication Date
CN205173388U true CN205173388U (en) 2016-04-20

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105387159A (en) * 2015-12-14 2016-03-09 山东帅克机械制造股份有限公司 Robot harmonic reducer device
CN108061139A (en) * 2017-12-19 2018-05-22 苏州习元智能科技有限公司 A kind of miniature harmonic wave speed reducing machine
CN109723799A (en) * 2019-01-16 2019-05-07 南京信息工程大学 A kind of combined harmonic retarder

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105387159A (en) * 2015-12-14 2016-03-09 山东帅克机械制造股份有限公司 Robot harmonic reducer device
CN108061139A (en) * 2017-12-19 2018-05-22 苏州习元智能科技有限公司 A kind of miniature harmonic wave speed reducing machine
CN109723799A (en) * 2019-01-16 2019-05-07 南京信息工程大学 A kind of combined harmonic retarder

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