Robot smart arm joint drive and reduction device thereof

A reduction gear, robot technology, applied in transmission, gear transmission, manipulator and other directions, can solve the problems of limiting the design effect and function of dexterous arm, low mechanical efficiency of worm gear reducer, limited output torque of planetary reducer, etc. Great implementation value, compact structure, simple control effect

Inactive Publication Date: 2008-07-02
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its main disadvantages are large structural size, heavy weight, limited output torque of the planetary reducer, and low mechanical efficiency of the worm gear reducer.
These factors limit the overall design effect and function of the dexterous arm and increase the difficulty of dexterous arm control

Method used

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  • Robot smart arm joint drive and reduction device thereof

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Embodiment Construction

[0008] figure 1 is an embodiment of the present invention. Such as figure 1 Shown, the embodiment of the present invention is: robot dexterous arm joint drive and deceleration device thereof, by flange (1), the first motor fixing frame (2), end cover (3), deep groove ball bearing (4) ( 15)(20), washer(6), hexagon socket cap screw(7)(9)(14)(21), permanent magnet DC torque motor(8), hexagon thin nut(10), spring washer(11 ), the first sleeve (12), the bearing cover (13), the tightening screw (16), the second sleeve (17), the second motor fixing frame (18), the harmonic reducer (19), the Shaft (22), retaining ring (23), needle roller bearing (24) (28), thrust needle roller bearing (26) (29), connecting flange (27) is formed. The stator of the permanent magnet DC torque motor (8) is pasted and fixed on the first motor fixing frame (2) by an adhesive, the rotor of the motor is connected with the connection flange (27) by screws, and the connection flange (27) is connected by fast...

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Abstract

The invention provides a robot smart arm joint driver and a decelerating device thereof, consisting of a flange, a motor fixed frame, an end cover, a deep ditch ball bearing, a permanent magnetic DC moment motor, a hexagon thin nut, a spring washer, a sleeve 1, a bearing retaining cover, a second sleeve, a harmonic reducer, a through shaft, a rolling needle bearing, a thrust rolling needle bearing and a connecting flange. The permanent magnetic DC moment motor is fixed on the motor fixed frame; the rotor of the motor is connected with the connecting flange which is connected with the harmonic generator of the harmonic reducer; the steel wheel of the harmonic reducer is fixed on the motor fixed frame by a screw; the flexible wheel of the harmonic reducer is connected with the through shaft and the flange; the rolling needle bearing is arranged between the rotor of the motor and the harmonic generator and the through shaft; the deep ditch ball bearing is arranged between the flange and the motor fixed frame. The joint driver and the decelerating device have the advantages of compact structure, smart motion, simple control, good application effect and great implementation value.

Description

technical field [0001] The invention relates to a robot dexterous arm joint drive and a deceleration device thereof, which are suitable for designing and manufacturing the joints of the robot's light dexterous arm. Background technique [0002] The design of joints is a key technology in the design and manufacture of light-duty dexterous robotic arms. The structural complexity, size, and weight of the joint drive and its deceleration device directly affect the structure, size, and weight of the robotic arm. Before the present invention is made, traditional design is to adopt servomotor to add planetary gear drive reducer, worm gear reducer. Its main disadvantages are large structural size, heavy weight, limited output torque of the planetary reducer, and low mechanical efficiency of the worm gear reducer. These factors limit the overall design effect and function of the dexterous arm, and increase the difficulty of dexterous arm control. Contents of the invention [0003...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J17/00B25J13/00F16H1/28
Inventor 杨庆华欧昆增高峰鲍官军
Owner ZHEJIANG UNIV OF TECH
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