WO2017005224A1 - Mécanisme de transmission à articulation - Google Patents

Mécanisme de transmission à articulation Download PDF

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Publication number
WO2017005224A1
WO2017005224A1 PCT/CN2016/092058 CN2016092058W WO2017005224A1 WO 2017005224 A1 WO2017005224 A1 WO 2017005224A1 CN 2016092058 W CN2016092058 W CN 2016092058W WO 2017005224 A1 WO2017005224 A1 WO 2017005224A1
Authority
WO
WIPO (PCT)
Prior art keywords
harmonic reducer
auxiliary bearing
joint
transmission mechanism
servo motor
Prior art date
Application number
PCT/CN2016/092058
Other languages
English (en)
Chinese (zh)
Inventor
周健华
Original Assignee
周健华
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 周健华 filed Critical 周健华
Publication of WO2017005224A1 publication Critical patent/WO2017005224A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Definitions

  • the invention relates to the field of machinery, and in particular to a joint transmission mechanism.
  • the invention provides a joint transmission mechanism, which has the characteristics of simple structure, high precision and long service life.
  • a joint transmission mechanism comprising: a servo motor, a harmonic reducer and an auxiliary bearing, wherein the auxiliary bearing is installed at one end of the joint body and at the other end One end of the harmonic reducer, the other end of the harmonic reducer is fixed at an inner fixed end of another joint, and the servo motor is installed below the fixed end, and drives the harmonic reducer to rotate, thereby
  • the servo motor is used as a power output, and the auxiliary bearing is driven by the harmonic reducer, and the auxiliary bearing drives the movement of another joint.
  • the power output end of the harmonic reducer links the auxiliary bearing, and the servo motor is connected to a wave generator of the harmonic reducer.
  • a hollow link structure is provided between the auxiliary bearing and the harmonic reducer, the upper end of the hollow link mechanism is linked with the auxiliary bearing, and the lower end is linked with the harmonic reducer.
  • a power output end of the harmonic reducer links the hollow link mechanism, and the servo motor is connected to a wave generator of the harmonic reducer.
  • the joint transmission mechanism of the present invention adopts the output of the servo motor, and directly transmits the joint parts through the harmonic reducer, thereby completely avoiding the cumulative error generated during the movement of each joint of the robot, and responding
  • the speed is fast, which improves the precision and efficiency of the robot's work in various industries. And it does not generate heat during operation; without relative wear, the service life is greatly increased, which can reach 10 times of the ordinary transmission mechanism and reduce the manufacturing cost.
  • FIG. 1 is a schematic plan view showing an embodiment of a joint transmission mechanism according to the present invention.
  • a joint transmission mechanism includes: a servo motor 1, a harmonic reducer 2 and an auxiliary bearing 3, wherein one end of the auxiliary bearing 3 is installed at the joint of the joint body 5, and the other end is mounted at a harmonic deceleration.
  • the other end of the harmonic reducer 2 is fixed to the inner fixed end of another joint (not shown), and the servo motor 1 is mounted below the fixed end and drives the harmonic reducer 2 to rotate.
  • the power output end of the harmonic reducer 2 is linked to the auxiliary bearing 3, and the servo motor 1 is connected to the wave generator of the harmonic reducer 2.
  • a hollow link structure 4 is provided between the auxiliary bearing 3 and the harmonic reducer 2, the upper end of the hollow link mechanism 4 is linked with the auxiliary bearing 3, and the lower end is connected with the harmonic reducer 2 The link and the cable are passed through the hollow link mechanism 4.
  • the power output end of the harmonic reducer 2 is linked to the hollow link mechanism 4, and the servo motor 1 is connected to the wave generator of the harmonic reducer 2.
  • the joint transmission mechanism disclosed in the invention can be applied to the 1-6 axis of the robot joint, and the 6-axis or more, and is different from the conventional mechanism by using a gear or a belt for power transmission, and the joint transmission mechanism greatly improves the accuracy and stability. Maintain and reduce costs.

Abstract

L'invention concerne un mécanisme de transmission à articulation, comportant un servomoteur (1), un réducteur à démultiplicateur harmonique (2) et un palier auxiliaire (3) ; une extrémité du palier auxiliaire (3) est disposée au niveau d'une position de liaison d'un corps d'articulation (5), et l'autre extrémité est disposée au niveau d'une extrémité du réducteur à démultiplicateur harmonique (2) ; l'autre extrémité du réducteur à démultiplicateur harmonique (2) est fixée sur une extrémité de fixation interne d'une autre articulation ; le servomoteur (1) est mis en œuvre en dessous de l'extrémité de fixation et entraîne le réducteur à démultiplicateur harmonique (2) à des fins de rotation. Ainsi, le servomoteur (1) tient lieu de sortie de puissance et entraîne le mouvement du palier auxiliaire (3) au moyen du réducteur à démultiplicateur harmonique (2). Le palier auxiliaire (3) entraîne le mouvement d'une autre articulation. Dans la structure de connexion, la transmission n'utilise ni courroie ni engrenage, pour ainsi éviter toute perte de précision de fonctionnement que provoquent l'usure et la déchirure des courroies ou des engrenages dans les mécanismes de transmission classiques.
PCT/CN2016/092058 2015-07-06 2016-07-28 Mécanisme de transmission à articulation WO2017005224A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510391055.4 2015-07-06
CN201510391055.4A CN104908058A (zh) 2015-07-06 2015-07-06 一种关节传动机构

Publications (1)

Publication Number Publication Date
WO2017005224A1 true WO2017005224A1 (fr) 2017-01-12

Family

ID=54077706

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/092058 WO2017005224A1 (fr) 2015-07-06 2016-07-28 Mécanisme de transmission à articulation

Country Status (2)

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CN (1) CN104908058A (fr)
WO (1) WO2017005224A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107901056A (zh) * 2017-12-29 2018-04-13 北京钢铁侠科技有限公司 一种带位置检测功能的大臂小臂通用机构和检测方法
CN111098296A (zh) * 2020-01-09 2020-05-05 广东时汇信息科技有限公司 一种机器人的传动结构

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104908058A (zh) * 2015-07-06 2015-09-16 周健华 一种关节传动机构
CN107504153A (zh) * 2017-08-31 2017-12-22 广州泰行智能科技有限公司 传动机构
CN107471208A (zh) * 2017-08-31 2017-12-15 广州泰行智能科技有限公司 一种六轴机械手
CN108466287A (zh) * 2018-05-16 2018-08-31 埃夫特智能装备股份有限公司 一种工业机器人关节直联传动结构
CN108858170A (zh) * 2018-08-24 2018-11-23 扬州工业职业技术学院 一种用于工业机械臂的关节传动装置

Citations (5)

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Publication number Priority date Publication date Assignee Title
EP1616672A1 (fr) * 2004-07-16 2006-01-18 Harmonic Drive Systems Inc. Mécanisme d'articulation avec deux actionneurs pour une main de robot et similaire
US20070110554A1 (en) * 2005-10-18 2007-05-17 Seiko Epson Corporation Parallel link mechanism and industrial robot
CN101264603A (zh) * 2008-03-31 2008-09-17 哈尔滨工程大学 基于谐波减速器的机器人关节
CN202597626U (zh) * 2012-04-16 2012-12-12 成都慧拓自动控制技术有限公司 紧凑型机械自锁旋转关节
CN104908058A (zh) * 2015-07-06 2015-09-16 周健华 一种关节传动机构

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101209556A (zh) * 2006-12-30 2008-07-02 浙江工业大学 一种机器人灵巧手臂关节驱动及其减速装置
CN101423074B (zh) * 2008-12-09 2011-04-06 华南理工大学 一种模块化的轮距和轮向可变的双轮驱动移动机器人
CN102615652B (zh) * 2012-04-13 2014-06-04 中国科学院合肥物质科学研究院 基于双电磁离合器的二自由度机器人关节

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1616672A1 (fr) * 2004-07-16 2006-01-18 Harmonic Drive Systems Inc. Mécanisme d'articulation avec deux actionneurs pour une main de robot et similaire
US20070110554A1 (en) * 2005-10-18 2007-05-17 Seiko Epson Corporation Parallel link mechanism and industrial robot
CN101264603A (zh) * 2008-03-31 2008-09-17 哈尔滨工程大学 基于谐波减速器的机器人关节
CN202597626U (zh) * 2012-04-16 2012-12-12 成都慧拓自动控制技术有限公司 紧凑型机械自锁旋转关节
CN104908058A (zh) * 2015-07-06 2015-09-16 周健华 一种关节传动机构

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107901056A (zh) * 2017-12-29 2018-04-13 北京钢铁侠科技有限公司 一种带位置检测功能的大臂小臂通用机构和检测方法
CN111098296A (zh) * 2020-01-09 2020-05-05 广东时汇信息科技有限公司 一种机器人的传动结构

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