CN220706365U - High-torque harmonic speed reducer for robot joint - Google Patents
High-torque harmonic speed reducer for robot joint Download PDFInfo
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- CN220706365U CN220706365U CN202322462208.2U CN202322462208U CN220706365U CN 220706365 U CN220706365 U CN 220706365U CN 202322462208 U CN202322462208 U CN 202322462208U CN 220706365 U CN220706365 U CN 220706365U
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Abstract
The utility model discloses a high-torque harmonic reducer for a robot joint, which comprises a flexible gear, a main bearing outer ring body, a wave generator and a rigid gear, wherein an angular contact ball bearing assembly is assembled and mounted in the main bearing outer ring body in a limiting manner, and the rigid gear is assembled in the angular contact ball bearing assembly; the flexible gear comprises a fixed end part, a first section part and a second section part, wherein the fixed end part is fixed at the end part of the fixed end part, the fixed end part is fixedly connected with the main bearing outer ring body, the inner side of the rigid gear is provided with a tooth part B, and the outer side of the second section part of the flexible gear is provided with a tooth part A corresponding to the tooth part B; the wave generator is arranged in the second section of the flexible gear in a power fit manner. According to the utility model, the angular contact ball bearing assembly is limited and fixed between the end side limiting part and the end side limiting screw, the main bearing outer ring body bears the harmonic reducer side outer shell, and the connection assembly of the angular contact ball bearing assembly and the flexible gear can be realized, so that the structure is more compact, the reliability is higher, and high torque can be output.
Description
Technical Field
The utility model relates to the field of harmonic speed reduction, in particular to a high-torque harmonic speed reducer for a machine such as a joint.
Background
The robot arm is a key component for intelligent processing, the joint movement on the robot arm is a key in the key, a harmonic reducer is arranged on a joint on the robot arm, and the harmonic reducer is a driving component for the joint movement; the robot is more and more popular in industrial production and mountain manufacturing, the robot is mainly in a joint, and a servo motor, a speed reducer, a brake band-type brake mechanism and the like are hung on the joint of a traditional large industrial robot, so that the joint of the robot is extremely huge, the problem is not solved for the large robot, but the robot is more and more applied to small robots around production lines and equipment, particularly cooperative robots and mobile robots which are required to be matched with the robot to complete complex operation, and stricter requirements are met for the small size and light weight of the harmonic speed reducer. The joints of the mechanical arm and the matched harmonic speed reducer part are in pursuing the technical requirements of small size and light weight (the problem that the joint is large in size and heavy in weight is always a problem of the use), and the harmonic speed reducer with small size and light weight is more beneficial to the design and assembly application of the mechanical arm. The harmonic speed reducer has higher requirements on structural design, and the technical problems of small volume, light weight and load change of the whole robot body are solved in the aspect of structure.
Disclosure of Invention
The utility model aims to solve the technical problems in the background art and provide a high-torque harmonic reducer for a robot joint, wherein an angular contact ball bearing assembly is limited and fixed between an end side limiting part and an end side limiting screw, a main bearing outer ring body bears a harmonic reducer side outer shell body, and connection assembly of the angular contact ball bearing assembly and a flexible gear can be realized, so that the high-torque harmonic reducer has a more compact structure and higher reliability and can output high torque; on the premise of meeting the load torque, the outer diameter is reduced by 15% -20%, and the weight is reduced by more than 20%.
The aim of the utility model is achieved by the following technical scheme:
the high-torque harmonic speed reducer comprises a flexible gear, a main bearing outer ring body, a wave generator and a rigid gear, wherein an angular contact ball bearing assembly is assembled in a limiting manner in the main bearing outer ring body, and the rigid gear is assembled in the angular contact ball bearing assembly; the flexible gear comprises a fixed end part, a first section part and a second section part, wherein the first section part and the second section part of the flexible gear form an L shape, the fixed end part is fixed at the end part of the first section part, the fixed end part is fixedly connected with the main bearing outer ring body, the inner side of the rigid gear is provided with a tooth part B, and the outer side of the second section part of the flexible gear is provided with a tooth part A corresponding to the tooth part B; the wave generator is arranged in the second section of the flexible gear in a power fit manner.
In order to better realize the utility model, the angular contact ball bearing assembly comprises a plurality of angular contact ball bearings which are arranged side by side.
The further technical scheme is as follows: the angular contact ball bearing assembly comprises two angular contact ball bearings, wherein the two angular contact ball bearings are an angular contact ball bearing A and an angular contact ball bearing B respectively, the second end side of the main bearing outer ring body is provided with an end side limiting part matched with the second end side of the angular contact ball bearing assembly, and the first end side of the main bearing outer ring body is provided with an end side limiting screw matched with the first end side of the angular contact ball bearing assembly in a threaded manner.
Preferably, the fixed end of the flexible gear is contacted with the second end side of the main bearing outer ring body and is fixedly connected through a flexible gear locking screw.
Preferably, the toothed portion B is provided at a position near the first end side on the inner side of the rigid gear, and the toothed portion a is provided at a position near the first end side on the outer side of the second segment portion of the flexible gear.
Preferably, the inner ring of the main bearing outer ring body is in interference fit with the outer ring of the angular contact ball bearing assembly and is respectively coated with glue.
Preferably, the inner ring of the angular contact ball bearing assembly is in interference fit with the outer ring of the rigid wheel and is respectively coated with glue.
Compared with the prior art, the utility model has the following advantages:
(1) According to the utility model, the angular contact ball bearing assembly is limited and fixed between the end side limiting part and the end side limiting screw, the main bearing outer ring body bears the harmonic reducer side outer shell, and the connection assembly of the angular contact ball bearing assembly and the flexible gear can be realized, so that the structure is more compact, the reliability is higher, and high torque can be output; on the premise of meeting the load torque, the outer diameter is reduced by 15% -20%, and the weight is reduced by more than 20%.
(2) The utility model has compact structure, is particularly aimed at industries with high volume and quality requirements, can be widely applied to cooperative robots, mobile robots and the like with light requirements on joints and joint modules of robots, small size and small radial size, and is more compact in subsequent design of robots, saves more space and lightens mechanical arms.
Drawings
FIG. 1 is a schematic view of the structure of the present utility model in internal section;
fig. 2 is a schematic structural diagram of the flexspline in fig. 1.
Wherein, the names corresponding to the reference numerals in the drawings are:
the device comprises a 1-flexible gear, a 11-fixed end part, a 12-first section part, a 13-second section part, a 131-tooth part A, a 2-main bearing outer ring body, a 21-end side limiting part, a 3-rigid gear, a 4-angular contact ball bearing A, a 5-angular contact ball bearing B, a 6-flexible gear locking screw, a 7-end side limiting screw and an 8-wave generator.
Detailed Description
The utility model is further illustrated by the following examples:
examples
As shown in fig. 1 and 2, the high-torque harmonic reducer for the robot joint comprises a flexible gear 1 and a main bearing outer ring body 2 (the main bearing outer ring body 2 is used for bearing a side outer shell of the harmonic reducer and can realize connection assembly of an angular contact ball bearing assembly and the flexible gear 1, the inner cavity of the main bearing outer ring body 2 realizes compact assembly and protection of components), a wave generator 8 and a rigid gear 3, the angular contact ball bearing assembly is mounted in the inner limit assembly of the main bearing outer ring body 2, and the rigid gear 3 is mounted in the angular contact ball bearing assembly. Preferably, the angular contact ball bearing assembly comprises a plurality of angular contact ball bearings arranged side by side.
As shown in fig. 2, the flexspline 1 (the flexspline 1 is in an "L" shape as a whole) includes a fixed end portion 11, a first segment portion 12 and a second segment portion 13, the first segment portion 12 and the second segment portion 13 of the flexspline 1 form an "L" shape, the fixed end portion 11 is fixed to an end portion of the first segment portion 12, the fixed end portion 11 is fixedly connected with the main bearing outer ring body 2, a tooth portion B is provided inside the rigid spline 3, and a tooth portion a131 corresponding to the tooth portion B is provided outside the second segment portion 13 of the flexspline 1; the wave generator 8 is mounted in the second section 13 of the flexspline 1 in a power fit.
In some preferred embodiments, as shown in fig. 1, the angular ball bearing assembly of the present utility model comprises two angular ball bearings, namely, angular ball bearing A4 and angular ball bearing B5, respectively, the second end side (left side as viewed in fig. 1) of the main bearing outer ring body 2 has an end side limiter 21 engaged with the second end side of the angular ball bearing assembly, and the first end side (right side as viewed in fig. 1) of the main bearing outer ring body 2 is threadedly mounted with an end side limiter screw 7 engaged with the first end side of the angular ball bearing assembly. When the bearing is used, two angular contact ball bearings are closely located on the inner ring of the main bearing outer ring body 2 side by side, the two angular contact ball bearings form an angular contact ball bearing assembly, then the end side limit screw 7 is assembled, and the angular contact ball bearing assembly is limited and fixed between the end side limit part 21 and the end side limit screw 7.
The fixed end 11 of the flexible gear 1 contacts with the side surface of the second end of the main bearing outer ring body 2 and is fixedly connected through a plurality of flexible gear locking screws 6, so that the fixed assembly of the flexible gear 1 is realized. In some embodiments, the toothed portion B is provided on the inner side of the rigid gear 3 near the first end side, and the toothed portion a is provided on the outer side of the second segment 13 of the flexspline 1 near the first end side.
Preferably, the inner ring of the main bearing outer ring body 2 is in interference fit with the outer ring of the angular contact ball bearing assembly and is respectively coated with glue; the inner ring of the angular contact ball bearing assembly is in interference fit with the outer ring of the rigid wheel 3, and the inner ring and the outer ring of the rigid wheel 3 are respectively coated with glue.
The flexible gear 1 and the main bearing outer ring body 2 are locked together through the mounting screw 6, the angular contact ball bearing A4 and the angular contact ball bearing B5 are arranged on the inner side of the main bearing outer ring body 2, the end face positioning of the angular contact ball bearing A4 and the angular contact ball bearing B5 is realized through the end side limiting screw 7, the rigid gear 3 is arranged on the inner ring of the angular contact ball bearing assembly, a plurality of threaded holes are formed in the rigid gear 3 and used for power output (in some embodiments, the utility model can be used for adjusting some technologies, the flexible gear of the harmonic speed reducer is fixed, the wave generator is connected with the motor for inputting, the rigid gear outputs torque, or the rigid gear is fixed, the wave generator is connected with the motor for inputting, and the flexible gear outputs torque). The tooth part of the flexible gear 1 and the tooth part of the rigid gear 7 are connected with an input motor through a wave generator 8 arranged in the inner hole of the flexible gear 1, so that harmonic speed reduction transmission is realized. The quality of the whole harmonic speed reducer is obviously reduced, the outer diameter is obviously reduced, and the inherent characteristic torque of the harmonic speed reducer is obviously improved on the premise of the same outer diameter. On the premise of meeting the load torque, the outer diameter is reduced by 15% -20%, the weight is reduced by more than 20%, and the structure is more compact; the utility model is applied to robots such as cooperative robots, mobile robots and the like which are required to have light weight and small size on the joints and the joint modules of the robots, and particularly, the radial size is required to be small.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (7)
1. A high torque harmonic speed reducer for robot joint, its characterized in that: the novel high-speed vibration reducer comprises a flexible gear (1), a main bearing outer ring body (2), a wave generator (8) and a rigid gear (3), wherein an angular contact ball bearing assembly is assembled in the main bearing outer ring body (2) in a limiting manner, and the rigid gear (3) is assembled in the angular contact ball bearing assembly; the flexible gear (1) comprises a fixed end part (11), a first section part (12) and a second section part (13), wherein the first section part (12) and the second section part (13) of the flexible gear (1) form an L shape, the fixed end part (11) is fixed at the end part of the first section part (12), the fixed end part (11) is fixedly connected with the main bearing outer ring body (2), the inner side of the rigid gear (3) is provided with a tooth part B, and the outer side of the second section part (13) of the flexible gear (1) is provided with a tooth part A (131) corresponding to the tooth part B; the wave generator (8) is arranged in the second section (13) of the flexible gear (1) in a power fit manner.
2. A high torque harmonic reducer for robotic joints as defined in claim 1, wherein: the angular contact ball bearing assembly comprises a plurality of angular contact ball bearings which are arranged side by side.
3. A high torque harmonic reducer for robotic joints as defined in claim 2, wherein: the angular contact ball bearing assembly comprises two angular contact ball bearings, wherein the two angular contact ball bearings are an angular contact ball bearing A (4) and an angular contact ball bearing B (5) respectively, a second end side of the main bearing outer ring body (2) is provided with an end side limiting part (21) matched with the second end side of the angular contact ball bearing assembly, and a first end side thread of the main bearing outer ring body (2) is provided with an end side limiting screw (7) matched with the first end side of the angular contact ball bearing assembly.
4. A high torque harmonic reducer for robotic joints as defined in claim 3, wherein: the fixed end part (11) of the flexible gear (1) is contacted with the side surface of the second end of the main bearing outer ring body (2) and is fixedly connected through a flexible gear locking screw (6).
5. A high torque harmonic reducer for robotic joints as defined in claim 3, wherein: the gear part B is arranged at a position, close to the first end side, of the inner side of the rigid gear (3), and the gear part A is arranged at a position, close to the first end side, of the outer side of the second section part (13) of the flexible gear (1).
6. A high torque harmonic reducer for robotic joints as defined in claim 1, wherein: and the inner ring of the main bearing outer ring body (2) is in interference fit with the outer ring of the angular contact ball bearing assembly and is respectively glued.
7. A high torque harmonic reducer for robotic joints as defined in claim 1, wherein: the inner ring of the angular contact ball bearing assembly is in interference fit with the outer ring of the rigid wheel (3) and is respectively coated with glue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322462208.2U CN220706365U (en) | 2023-09-11 | 2023-09-11 | High-torque harmonic speed reducer for robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322462208.2U CN220706365U (en) | 2023-09-11 | 2023-09-11 | High-torque harmonic speed reducer for robot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220706365U true CN220706365U (en) | 2024-04-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322462208.2U Active CN220706365U (en) | 2023-09-11 | 2023-09-11 | High-torque harmonic speed reducer for robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220706365U (en) |
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2023
- 2023-09-11 CN CN202322462208.2U patent/CN220706365U/en active Active
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