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Drive assembly, industrial robot, robot boom and robot joint

A driver and component technology, which is applied in the direction of electric components, manipulators, transmissions, etc., can solve the problems of increasing backlash, unusable minimum harmonic gear box, etc., and achieve the effect of reducing length, prolonging life, and simplifying drive components

Inactive Publication Date: 2012-05-30
ABB RES LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] There are some downsides to using Oldham couplings such as slightly increased backlash, cost and weight
and Oldham Coupling is not available for the smallest Harmonic Gearboxes (Sizes 3 and 5)

Method used

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  • Drive assembly, industrial robot, robot boom and robot joint
  • Drive assembly, industrial robot, robot boom and robot joint
  • Drive assembly, industrial robot, robot boom and robot joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] figure 1 The drive assembly shown in includes a motor 10 and a strain wave transmission 60 . In the example shown, the motor 10 is an electric motor, such as a servomotor of the type that may be used with the transmission 60, for example, to drive a pitch and / or motor in an industrial robot (not shown) connected to the output 84 of the transmission 60. rolling mechanism.

[0024] as from figure 1 and figure 2 It is obvious that the electric machine 10 has a rotor shaft 40 rotatably supported in the electric machine housing 20 . In a known manner, a rotor 44 on shaft 40 is electromagnetically energized by stator 22 in housing 20 to rotate shaft 40 . Such as figure 2 As further indicated in , the electric machine 10 may also have a backend resolver unit 30 for controlling the operation of the motor.

[0025] Also in a known manner, the strain wave transmission 60 has a circular toothed rack 70, a cup-shaped flexible toothed rack 80, a wave generator comprising an ...

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PUM

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Abstract

A drive assembly comprising a motor (10) including a motor housing (20), a rotor (44), a rotor shaft (40), and a rear bearing (50) for supporting the rotor shaft in the motor housing at a rear side of the rotor; and a strain wave gearing (60) including a circular spline (70) secured to the motor housing, a flex spline (80) engaging the circular spline, a wave generator (90) engaging the flex spline and secured to a drive end (42) of the rotor shaft, and a wave generator bearing between the circular spline and the wave generator. According to the invention, the wave generator bearing (100) serves as an exclusive drive end bearing for supporting the rotor shaft (40) in the motor housing (20) at a front side of the rotor (30).

Description

technical field [0001] The invention relates to a drive assembly comprising a motor comprising a motor housing, a rotor, a rotor shaft and a rear bearing for supporting the rotor shaft in the motor housing at the rear side of the rotor, and a strain wave transmission, the strain wave The transmission comprises a circular rack fastened to the motor housing, a flexible rack engaging the circular rack, a wave generator engaging the flexible rack and a driver end fastened to the rotor shaft, and The wave generator bearing between the gear rack and the wave generator. The invention also relates to an industrial robot, a robot arm and a robot joint provided with the drive assembly. Background technique [0002] When assembling the motor and wave generator in a harmonic / strain wave drive, it is important that the axes of the motor and wave generator are accurately aligned with the axes of the circular rack of the harmonic drive. [0003] The concentricity requirements for these c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02K7/116H02K7/08F16H49/00B25J9/10
CPCB25J9/1025H02K11/0015H02K7/083F16H49/001H02K7/116H02K11/21
Inventor I・伦德伯格J・拉森
Owner ABB RES LTD
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