Joint, mechanical arm, robot and harmonic reducer device of joint

A harmonic reducer and wave generator technology, applied in the field of robots, can solve the problem that the size of the harmonic reducer device does not meet the needs of miniaturization, and achieve the effect of reducing the axial size

Inactive Publication Date: 2021-12-28
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the embodiments of the present invention is to provide a harmonic reducer device to solve the technical problem that the size of the existing harmonic reducer device does not meet people's needs for more miniaturization

Method used

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  • Joint, mechanical arm, robot and harmonic reducer device of joint
  • Joint, mechanical arm, robot and harmonic reducer device of joint
  • Joint, mechanical arm, robot and harmonic reducer device of joint

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Embodiment Construction

[0073] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0074] In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation,...

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Abstract

The invention relates to the field of robots, and provides a robot, a mechanical arm, a joint and a harmonic reducer device of the joint. The harmonic reducer device comprise a cup-shaped flexible gear, a rigid gear meshed with the flexible gear and a wave generator, wherein the wave generator comprises a sleeve for power input and a wave generator body which is arranged on the sleeve and enables the flexible gear to generate radial deformation under rotation of the sleeve so as to change the meshing position of the flexible gear and the rigid gear, the harmonic reducer device further comprises an end cover and an output bearing which are oppositely arranged, the harmonic reducer device further comprises a first stopping structure and a second stopping structure which are used for stopping the sleeve, and the projection of the power output end of the wave generator and the projection of the second stopping structure on the axis of the sleeve are at least partially overlapped. The projection of the power output end of the wave generator and the projection of the second stopping structure on the axis of the sleeve are at least partially overlapped by breaking through conventions, the requirement for miniaturization of the harmonic reducer device is met by directly changing the axial size of the harmonic reducer device under the condition that the radial size of the rigid gear is not changed, and market requirements are met.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a joint, a robot arm, a robot and a harmonic reducer device thereof. Background technique [0002] A robot usually includes a robotic arm and a joint that rotates the robotic arm, and a harmonic reducer is used at the joint to adjust the speed. The harmonic reducer is composed of three main components, which are fixed rigid spline, flexible spline and wave generator that causes radial deformation of the flexible spline. The inner wheel has an inner gear, and the flex spline is a thin-walled cylindrical outer gear that is easily deformed. The power is transmitted through the meshing of the inner gear and the outer gear. It is power transmission without deceleration. Under the action of the wave generator, the generator installed in the flexspline makes the flexspline deform radially and becomes an ellipse. At this time, on the long axis of the ellipse, the teeth mesh along the ent...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16H49/00F16H57/021F16H57/023F16H57/035F16H57/029B25J9/10
CPCF16H49/001F16H57/021F16H57/023F16H57/035F16H57/029B25J9/1025F16H2057/02086Y02P70/10
Inventor 王重彬胡万权叶伟智刘主福刘培超
Owner SHENZHEN YUEJIANG TECH CO LTD
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