Modular assembled harmonic reducer for jacking joint and assembling method

Abstract

The application discloses a modular assembled harmonic reducer for a jacking joint and an assembling method, which comprises a motor module, a generator module and a spline module, the motor module is bolted to the generator module, the generator module is bolted to the spline module, the motor module is connected to the wave generator of the generator module through spline connection, and the generator module is slidably connected to the flexible spline of the spline module through a connecting ring. The application has the beneficial effects that the modular assembled harmonic reducer is achieved by slidably connecting the flexible spline through the connecting ring, the modular setting is faster in response during the jacking joint process of the robot, is convenient for maintenance, is easy to install and disassemble, the assembling and adjustment of the reducer can be separated from the robot joint, the assembly of the robot can be simple and easy to operate, and the overall assembly and debugging efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harmonic reducer, in particular to a modular assembly harmonic reducer for jacking joint and an assembly method. BACKGROUND

[0002] The harmonic gear reducer is composed of a fixed inner tooth rigid gear, a flexible gear and a wave generator for radial deformation of the flexible gear. The harmonic gear reducer is a new type of transmission structure in gear reducers. It uses the flexible gear to generate controllable elastic deformation waves to cause the relative tooth error between the rigid gear and the flexible gear to transmit power and motion. This transmission is fundamentally different from general gear transmission and has special properties in terms of meshing theory, set computation and structural design. The harmonic gear reducer has the advantages of high precision and high bearing capacity. Compared with ordinary reducers, it uses 50% less material and its volume and weight are reduced by at least 1 / 3.

[0003] At present, there are few modular assembly structures for common harmonic gear reducers. Most of the assembled harmonic gear reducers have low working precision, poor working stability, poor assembly fixing effect, and the connection gap, pollutants, etc. can easily enter the inside of the reducer module, thereby affecting the use quality and service life of the reducer. The commonly used harmonic gear reducer has high wear degree due to the adhesion of the wave generator and the flexible gear, which affects the use quality and service life of the internal module of the reducer, and the use effect is poor. SUMMARY

[0004] The present application aims to solve the above problems by providing a modular assembly harmonic reducer for jacking joint and an assembly method.

[0005] The present application achieves the above-mentioned purposes through the following technical solutions:

[0006] A modular assembly harmonic reducer for jacking joint, comprising a motor module, a generator module and a spline module, the structure of the three modules is assembled to effectively enhance the applicability, the motor module comprises a driving motor, a motor connecting plate, a shaft coupling and a spline shaft, the spline shaft is provided with a spline, the spline is used to transmit torque, the generator module comprises a generator connecting plate, a wave generator, a generator bearing, a rotating bearing, a rotating cover, a generator connecting ring and a generator fixing ring, the wave generator is provided with a spline hole corresponding to the spline position, the spline of the spline shaft is connected with the wave generator, the wave generator is connected with the generator connecting ring through a bolt away from the motor module, the spline module comprises a flexible spline, a circular spline and a flexible spline bearing, the generator connecting ring is slidably connected with the inner wall of the flexible spline, and the flexible spline is intermittently engaged with the circular spline.

[0007] Further, the motor is provided with symmetrical outer connection holes on one side of the motor drive motor, the outer connection hole is used for fixing and installing the motor module, the drive motor output shaft is connected with the shaft coupling, the shaft coupling is connected with the spline shaft, the motor connecting plate is provided with motor fixing hole, motor connecting plate fixing hole, the motor fixing hole is a counterbore structure, the motor fixing hole can effectively improve the sealing of the modular structure while ensuring the fastening of the connection, the motor fixing hole of the motor connecting plate is bolted with the drive motor through the motor fixing bolt.

[0008] Further, the generator connecting plate is provided with generator connecting plate fixing hole, spline shell fixing hole, the wave generator is connected with the generator connecting plate through the generator bearing, the generator bearing plays a role of fixing and supporting, the wave generator is provided with the rotating cover away from the motor module side, the rotating cover and the wave generator are integrally formed, the generator connecting plate is connected with the rotating bearing away from the motor module side, the rotating bearing is connected with the rotating cover on the other side, the rotating bearing reduces the friction of the rotating cover and the generator connecting plate in rotation, the rotating cover is connected with the connecting ring bolt on both sides, the connecting ring bolt is connected with the generator connecting ring through the connecting ring bearing, the connecting ring bearing and the rotating cover are provided with connecting ring gasket, the rotating cover is connected with the fixed ring bolt on the top, the fixed ring bolt is connected with the generator fixed ring through the fixed ring bearing, the generator fixed ring is used for centering assembling the generator module and the spline module.

[0009] Further, the circular spline is provided with spline fixing hole near the generator module side, the flexible spline is connected with the circular spline through the flexible spline bearing away from the generator module side, the flexible spline bearing plays a role of fixing and supporting the flexible spline, the flexible spline is provided with a plurality of outer connection holes away from the generator module side, the outer connection hole is used for installing and fixing the spline module.

[0010] Further, the motor module and the generator module are connected through the first connecting bolt, the first connecting bolt passes through the motor connecting plate fixing hole and the generator connecting plate fixing hole, the first connecting bolt is a connecting piece for splicing the motor module and the generator module.

[0011] Further, the generator module and the spline module are connected through the spline fixing bolt, the spline fixing bolt passes through the spline shell fixing hole and the spline fixing hole, the spline shell fixing hole is a counterbore structure, the spline shell fixing hole can effectively improve the sealing of the modular structure while ensuring the fastening of the connection, the spline fixing bolt is a connecting piece for splicing the generator module and the spline module.

[0012] Further, the wave generator outer circle is an ellipse, the position where the generator connecting ring connects the wave generator through the connecting ring bolt is located on the major axis of the wave generator ellipse, and the trajectory of the generator connecting ring in rotation is an ellipse.

[0013] Further, the flexible spline is a flexible component with high strength and high torsional stiffness, a tooth structure is arranged outside the side close to the generator module, the generator connecting ring slides and rotates in the circumferential direction on the inner wall of the tooth structure of the flexible spline, the outer side of the tooth structure of the flexible spline is deformed radially in rotation, and the flexible spline and the circular spline mesh to move around the circumference.

[0014] Further, the circular spline is provided with a tooth structure close to one side of the generator module, the circular spline is a rigid component, the circular spline has two more teeth than the flexible spline, the tooth structure of the flexible spline intermittently meshes with the tooth structure of the circular spline, and relative motion between the flexible spline and the circular spline is caused by the rotation of the wave generator to achieve speed reduction.

[0015] The present application has the following advantages:

[0016] 1. In order to solve the problems of poor assembly and fixation effect of the existing modular assembly harmonic reducer of the jacking joint, pollutants can easily enter the inside of the reducer module through the gap, and then affect the use quality and service life of the reducer, the motor fixing hole and the spline shell fixing hole of the counterbore structure are used to ensure the fastening of the connection, effectively improve the sealing performance of the modular structure, prevent pollutants from entering the inside of the reducer due to excessive gap, and prolong the service life of the reducer.

[0017] 2. In order to solve the problems of few assembly structures of the existing modular assembly harmonic reducer of the jacking joint, the reducer assembly and adjustment cannot be separated from the joint, and the overall assembly and debugging efficiency is low, the outer connecting hole and the motor outer connecting hole are arranged to quickly fix the motor module and the spline module at the robot jacking joint, and the overall assembly and debugging efficiency is improved.

[0018] 3. In order to solve the problems of high wear degree of the wave generator and the flexible gear due to the adhesion of the wave generator and the flexible gear, which affects the use quality and service life of the internal modules of the reducer, the modular design of the generator connecting ring and the flexible spline is adopted, the adhesion wear of the wave generator and the flexible gear is reduced, the sealing effect is improved by the design of the rotating cover, and the working environment of the reducer is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1is an exploded view of a modular assembled harmonic reducer for a jacking joint according to the present application;

[0020] Figure 2 is an assembly view of a modular assembled harmonic reducer for a jacking joint according to the present application;

[0021] Figure 3 is a schematic view of a motor module in a modular assembled harmonic reducer for a jacking joint according to the present application;

[0022] Figure 4 is an axial view of a generator module in a modular assembled harmonic reducer for a jacking joint according to the present application;

[0023] Figure 5 is a rear view of a generator module in a modular assembled harmonic reducer for a jacking joint according to the present application;

[0024] Figure 6 is an axial view of a spline module in a modular assembled harmonic reducer for a jacking joint according to the present application;

[0025] Figure 7 is a rear view of a spline module in a modular assembled harmonic reducer for a jacking joint according to the present application;

[0026] The reference signs are explained as follows:

[0027] 1, motor module; 2, generator module; 3, spline module; 4, driving motor; 5, motor connecting plate; 6, motor connecting plate fixing hole; 7, motor fixing hole; 8, shaft coupling; 9, spline; 10, spline shaft; 11, generator connecting plate; 12, generator connecting plate fixing hole; 13, spline housing fixing hole; 14, wave generator; 15, generator bearing; 16, rotating bearing; 17, rotating cover; 18, generator connecting ring; 19, connecting ring bearing; 20, connecting ring bolt; 21, generator fixing ring; 22, fixing ring bearing; 23, fixing ring bolt; 24, circular spline; 25, flexible spline; 26, spline fixing hole; 27, first connecting bolt; 28, spline fixing bolt; 29, motor fixing bolt; 30, connecting ring gasket; 31, flexible spline bearing; 32, outer connecting hole; 33, motor outer connecting hole. DETAILED DESCRIPTION

[0028] The present application will be further described below with reference to the accompanying drawings:

[0029] As Figures 1-7As shown, a modular assembled harmonic reducer for jacking joint, including motor module 1, generator module 2 and spline module 3, motor module 1 includes drive motor 4, motor connecting plate 5, coupling 8 and spline shaft 10, spline shaft 10 is provided with spline 9, spline 9 is used to transmit torque, generator module 2 includes generator connecting plate 11, wave generator 14, generator bearing 15, rotating bearing 16, rotating cover 17, generator connecting ring 18 and generator fixing ring 21, wave generator 14 is provided with spline hole corresponding to the position of spline 9, spline 9 of spline shaft 10 is spline connected with wave generator 14, wave generator 14 is bolted to generator connecting ring 18 away from motor module 1, spline module 3 includes flexible spline 25, circular spline 24 and flexible spline bearing 31, generator connecting ring 18 is slidingly connected with the inner wall of flexible spline 25, flexible spline 25 is intermittently engaged with circular spline 24, the outer circle of wave generator 14 is elliptical, the position of generator connecting ring 18 connected with wave generator 14 through connecting ring bolt 20 is located on the major axis of the elliptical shape of wave generator 14, the trajectory of generator connecting ring 18 in rotation is elliptical, flexible spline 9 is a flexible component with high strength and high torsional stiffness, the outside of the side close to generator module 2 of flexible spline 9 is provided with tooth structure, generator connecting ring 18 slides and rotates in the circumferential direction on the inner wall of tooth structure of flexible spline 9, flexible spline 9 and circular spline 24 are engaged to move around the circumference, the side close to generator module 2 of circular spline 24 is provided with tooth structure, circular spline 24 is a rigid component, circular spline 24 has two more teeth than flexible spline 9, the tooth structure of flexible spline 9 and the tooth structure of circular spline 24 are intermittently engaged to achieve speed reduction.

[0030] The drive motor 4 has symmetrical external connection holes 33 on one side. The output shaft of the drive motor 4 is keyed to the coupling 8, and the coupling 8 is keyed to the spline shaft 10. The motor connecting plate 5 has motor fixing holes 7 and 6. The motor fixing holes 7 are countersunk holes. The drive motor 4 is bolted to the motor fixing holes 7 of the motor connecting plate 5 by motor fixing bolts 29. The motor fixing holes 7 can effectively improve the sealing of the modular structure while ensuring the tightness of the connection. The generator connecting plate 11 has generator connecting plate fixing holes 12 and spline shell fixing holes 13. The wave generator 14 is connected to the generator connecting plate 11 through the generator bearing 15. A rotating cover 17 is set on the side of the wave generator 14 away from the motor module 1. The rotating cover 17 and the wave generator 14 are integrally formed. The side of the generator connecting plate 11 away from the motor module 1 is connected to the rotating bearing 16. On the other side, a rotating cover 17 is connected. Connecting ring bolts 20 are symmetrically connected to both sides of the rotating cover 17. The connecting ring bolts 20 are connected to the generator connecting ring 18 via a connecting ring bearing 19. Connecting ring washers 30 are provided on the connecting ring bearing 19 and the rotating cover 17. A fixing ring bolt 23 is connected to the top of the rotating cover 17. The fixing ring bolt 23 is connected to the generator fixing ring 21 via a fixing ring bearing 22. The generator fixing ring 21 is used for centering and assembling the generator module 2 and the spline module 3. A spline fixing hole 26 is provided on the side of the circular spline 24 closest to the generator module 2. A flexible spline 25 is connected to the circular spline 24 via a flexible spline bearing 31 on the side furthest from the generator module 2. The flexible spline bearing 31 serves to fix and support the flexible spline 25. Multiple sets of external connecting holes 32 are provided on the side of the flexible spline 25 furthest from the generator module 2. The external connecting holes 32 are used to install and fix the spline module 3.

[0031] Among them, the motor module 1 and the generator module 2 are connected by the first connecting bolt 27, which passes through the motor connecting plate fixing hole 6 and the generator connecting plate fixing hole 12. The generator module 2 and the spline module 3 are connected by the spline fixing bolt 28, which passes through the spline shell fixing hole 13 and the spline fixing hole 26. The spline shell fixing hole 13 has a countersunk hole structure.

[0032] An assembly method for a modular harmonic reducer used in a lifting joint includes the following steps:

[0033] S1. During the installation and debugging of the robot lifting joint, the harmonic reducer must be assembled first. The motor module 1, generator module 2 and spline module 3 are placed on the same plane. By aligning the spline 9 on the spline shaft 10 with the spline hole of the wave generator 14, the motor module 1 is plugged into the generator module 2.

[0034] S2, pass the first connecting bolt 27 through the motor connecting plate fixing hole 6 and the generator connecting plate fixing hole 12, place the silent pad on both sides of the bolt 27, tighten the first connecting bolt 27, complete the assembly of the motor module 1 and the generator module 2;

[0035] S3, align and insert the generator connecting ring 18 into the inside of the toothed structure on one side of the flexible spline 25, the flexible spline 25 is deformed radially on the outside of the spline structure due to the insertion of the generator connecting ring 18, align and insert the generator fixing ring 21 into the other side of the flexible spline 25, complete the plug-in installation of the generator module 2 and the spline module 3;

[0036] S4, pass the spline fixing bolt 28 through the spline shell fixing hole 13 and insert it into the spline fixing hole 26, place the silent pad on both sides of the spline fixing bolt 28, tighten the spline fixing bolt 28, complete the assembly of the generator module 2 and the spline module 3;

[0037] S5, after the mutual assembly of the motor module 1, the generator module 2 and the spline module 3 is completed, test the reducer operation separately, start the driving motor 4, the output shaft of the driving motor 4 transmits torque to the spline shaft 10 through the shaft coupling 8, the spline shaft 10 transmits torque to the wave generator 14 through the spline 9, the wave generator 14 starts to rotate, the generator connecting ring 18 rotates with the wave generator 14, effectively reducing the wear of the wave generator 14 and the flexible spline 25, the generator connecting ring 18 extrudes the flexible spline 25, the spline structure of the flexible spline 25 is deformed radially, the flexible spline 25 and the circular spline 24 mesh and move around the circumference under the action of torque, because the flexible spline 25 has two fewer teeth than the circular spline 24, the relative motion between the flexible spline 25 and the circular spline 24 is caused by the rotation of the wave generator 14, realizing the speed reduction from the driving motor 4 to the flexible spline 25;

[0038] S6, after the test is completed, the motor module 1 is fixed at the robot lifting joint connecting driving arm through the motor outer connecting hole 33, the motor module 1 is connected with the control device;

[0039] S7, the spline module 3 is fixed at the robot lifting joint connecting driven arm through the outer connecting hole 32, the spline module 3 ensures the movement of the driven arm as a driving part, completes the assembly and debugging of the entire modular harmonic reducer, and the assembly and adjustment of the reducer are separated from the robot jacking joint, the assembly of the robot jacking joint becomes simple and easy to operate, greatly improving the overall assembly and debugging efficiency.

[0040] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A modular assembled harmonic reducer for a jacking joint, characterized by: The utility model provides a generator module (2) and spline module (3) including motor module (1), the motor module (1) includes drive motor (4), motor connecting plate (5), shaft coupling (8) and spline shaft (10), be provided with spline (9) on the spline shaft (10), the generator module (2) includes generator connecting plate (11), wave generator (14), generator bearing (15), rotary bearing (16), rotary cover (17), generator connecting ring (18) and generator fixed ring (21), the spline (9) spline connection wave generator (14) of the spline shaft (10), wave generator (14) is away from the generator connecting ring (18) of motor module (1) a section bolt connection, the spline module (3) includes flexible spline (25), circular spline (24) and flexible spline bearing (31), the generator connecting ring (18) sliding connection inside wall of flexible spline (25); One side of drive motor (4) is provided with symmetrical outer connecting hole (33), the output shaft key connection of drive motor (4) shaft coupling (8), the key connection of shaft coupling (8) spline shaft (10), motor connecting plate (5) is provided with motor fixed hole (7), motor connecting plate fixed hole (6), the motor fixed hole (7) is counterbore structure, the motor fixed hole (7) of motor connecting plate (5) is bolted connection drive motor (4) through motor fixed bolt (29); The generator connecting plate (11) is provided with generator connecting plate fixed hole (12), spline shell fixed hole (13), wave generator (14) is bearing connected generator connecting plate (11) through generator bearing (15), wave generator (14) is provided with rotary cover (17) on the side away from motor module (1), the rotary bearing (16) of generator connecting plate (11) is connected on the side away from motor module (1), the other side of rotary bearing (16) is connected rotary cover (17), the both sides symmetrical connection of rotary cover (17) have connecting ring bolt (20), connecting ring bolt (20) is bearing connected generator connecting ring (18) through connecting ring bearing (19), connecting ring bearing (19) and rotary cover (17) are provided with connecting ring gasket (30), the top of rotary cover (17) is connected with fixed ring bolt (23), fixed ring bolt (23) is bearing connected generator fixed ring (21) through fixed ring bearing (22); Circular spline (24) is provided with spline fixed hole (26) on the side close to generator module (2), flexible spline (25) is bearing connected circular spline (24) through flexible spline bearing (31) on the side away from generator module (2), and flexible spline (25) is provided with a plurality of outer connecting holes (32) on the side away from generator module (2).

2. A modular harmonic reducer for jacking joints according to claim 1, characterized in that: The motor module (1) and the generator module (2) are connected by a first connecting bolt (27) which passes through the motor connecting plate fixing hole (6) and the generator connecting plate fixing hole (12).

3. A modular harmonic reducer for jacking joints according to claim 2, characterized in that: The generator module (2) and the spline module (3) are connected by a spline fixing bolt (28) which passes through the spline shell fixing hole (13) and the spline fixing hole (26), and the spline shell fixing hole (13) is a counterbore structure.

4. A modular harmonic reducer for jacking joints according to claim 3, characterized in that: The outer circle of the wave generator (14) is an ellipse, and the position of the generator connecting ring (18) connected to the wave generator (14) by the connecting ring bolt (20) is located on the major axis of the ellipse of the wave generator (14).

5. A modular harmonic reducer for jacking joints according to claim 4, characterized in that: The flexible spline (9) is a flexible component with high strength and high torsional stiffness, and a tooth structure is provided on the outside of the flexible spline (9) near one side of the generator module (2). The generator connecting ring (18) slides and rotates in the circumferential direction on the inner wall of the tooth structure of the flexible spline (9).

6. A modular harmonic reducer for jacking joints according to claim 5, characterized in that: The circular spline (24) is provided with a tooth structure near one side of the generator module (2), and the circular spline (24) is a rigid component. The circular spline (24) has two more teeth than the flexible spline (9), and the tooth structure of the flexible spline (9) intermittently engages with the tooth structure of the circular spline (24).

7. A modular assembly method for a modular assembly harmonic reducer for a jacking joint, applied to the modular assembly harmonic reducer for a jacking joint according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: S1, during the jacking joint process, the assembly of the harmonic reducer is completed by aligning the spline (9) on the spline shaft (10) with the spline hole of the wave generator (14), and inserting the motor module (1) into the generator module (2); S2, pass the first connecting bolt (27) through the motor connecting plate fixing hole (6) and the generator connecting plate fixing hole (12), and tighten the first connecting bolt (27) to complete the assembly of the motor module (1) and the generator module (2); S3, align and insert the generator connecting ring (18) into the inside of the toothed structure on one side of the flexible spline (25), and align and insert the generator fixing ring (21) into the inside of the other side of the flexible spline (25), to complete the insertion and installation of the generator module (2) and the spline module (3); S4, pass the spline fixing bolt (28) through the spline shell fixing hole (13) and insert it into the spline fixing hole (26), and tighten the spline fixing bolt (28) to complete the assembly of the generator module (2) and the spline module (3); S5, after the mutual assembly of the motor module (1), the generator module (2) and the spline module (3) is completed, the running condition is tested, the driving motor (4) is started, the output shaft of the driving motor (4) transmits torque to the spline shaft (10) through the shaft coupling (8), the spline shaft (10) transmits torque to the wave generator (14) through the spline (9), the wave generator (14) starts to rotate, the generator connecting ring (18) rotates with the wave generator (14), the generator connecting ring (18) extrudes the flexible spline (25), the tooth structure outside the flexible spline (25) is deformed radially, the flexible spline (25) and the circular spline (24) mesh and move around the circumference under the action of torque, because the flexible spline (25) is two teeth less than the circular spline (24), the relative movement between the flexible spline (25) and the circular spline (24) caused by the rotation of the wave generator (14) realizes deceleration; S6, after the test is completed, the motor module (1) is fixed at the robot lifting joint connecting driving arm through the motor outer connecting hole (33); S7, the spline module (3) is fixed at the robot lifting joint connecting driven arm through the outer connecting hole (32), and the assembly of the entire modular harmonic reducer is completed.

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