An installation structure of a harmonic generator for a robot hollow reducer

Abstract

The invention relates to the field of robot joint installation structures and discloses a robot hollow speed reducer and harmonic generator installing structure. The robot hollow speed reducer and harmonic generator installing structure comprises a conduit and a cast joint, wherein one end of the conduit is arranged in an internal cavity of the cast joint in a penetrating mode and is fixed, the other end of the conduit penetrates through the cast joint to stretch out of the cast joint to form an installation part, a harmonic generator is inversely installed outside the installation part of the conduit in a sleeving mode and matched with a hollow speed reducer, and a spur gear is installed at the tail end of the harmonic generator and matched with a motor. According to the robot hollow speed reducer and harmonic generator installing structure, on the premise that transmission ratio is not affected, the space of the next joint adjacent to the cast joint is effectively utilized, and the size of the cast joint is effectively reduced. The inverse structure is simple, machining and production are convenient, and production cost is low. Due to the fact that part of the structure is arranged in the next joint adjacent to the cast joint, the size of the cast joint is reduced, and external appearance is more attractive.

Description

technical field [0001] The invention relates to the field of robot joint installation structures, and more specifically discloses a robot hollow reducer harmonic generator installation structure. Background technique [0002] In the prior art, in order to ensure the compactness of the robot joint structure during the design and manufacture process of the robot joint, the harmonic generator of the hollow reducer in the robot joint is mostly installed in a positive structure, that is, the motor, the reducer and other equipment are all installed. Installed inside each joint of the robot. The specific structure is that the threading pipe is penetrated from the right end of the reducer, and the wave generator adopts a positive structure. At this time, the end of the threading pipe is located inside the joint casting; at the same time, the gear shaft connected to the spur gear installed at the end of the threading pipe and The motors are mounted into joint castings. Although ado...

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Problems solved by technology

[0004] The object of the present invention is to propose a harmonic generator installation structure of a robot hollow reducer to solve the problem that the joint position of the robot in the prior art is too compact and the local structure of the joint position is caused by the positive installation structure of the harmonic generator of the hollow reducer. Poor appearance, high production cost, complex manufacturing process, and difficult wiring inside the joint

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