High-rigidity integrated robot joint harmonic reducer mounting flange

Abstract

The application discloses a high-rigidity integrated robot joint harmonic speed reducer mounting flange, and relates to the technical field of robot speed reducer connection. The flange plate is provided with assembly holes in a ring shape and uniformly on an end face; a stepped groove is formed in one side end face of the flange plate; a rotating plate is rotatably installed on the end face of the flange plate; a plurality of clamping frames which are integrally formed on the rotating plate are in a U-shaped opening structure and are rotatably arranged on the stepped groove; a pressing plate is arranged on the end face of the flange plate in a threaded cooperation mode; a positioning assembly is arranged in the assembly hole in a matched mode; the positioning assembly comprises a positioning shaft which is arranged in the assembly hole in a matched mode; a supporting plate which can be axially adjusted is slidably arranged on the positioning shaft; and the technical scheme is not changed on the basis of the structure of the harmonic speed reducer, the mounting flange outside the steel wheel is improved, the bolt connection and fixing mode is replaced, and efficient and convenient dismounting and mounting of the flange can be realized.

Description

Technical Field

[0001] This invention relates to the field of robot reducer connection technology, and in particular to a high-rigidity integrated robot joint harmonic reducer mounting flange. Background Technology

[0002] Harmonic reducers are core functional components in industrial robots, collaborative robots, humanoid robots, medical robotic arms, and precision transmission mechanisms in aerospace. With their advantages of small size, light weight, large transmission ratio, high positioning accuracy, small backlash, and smooth transmission, they are widely used in automated equipment fields with extremely high requirements for motion precision and rigidity. Harmonic reducers play a crucial role in robot joint applications. Their structure typically consists of three parts: a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel structure comprises an outer flange and an inner gear ring. The flexible wheel is a deformable thin-walled gear ring, with its outer gear ring meshing with the inner gear ring of the rigid wheel. The wave generator, mounted inside the flexible wheel and possessing an elliptical structure, compresses the flexible wheel during rotation, causing it to deform and thus generating motion within the rigid wheel.

[0003] As a key component in harmonic reducers, the steel wheel is responsible for connection, positioning, load bearing, and power transmission. Its outer mounting flange needs to be firmly and reliably connected to the robot joint housing, robotic arm links, drive motor base, rotating support platform, and other mounting bases. The design level of the flange connection structure directly determines the overall structural rigidity, motion positioning accuracy, dynamic response characteristics, and long-term operational reliability of the robot joint. The steel wheel, as an important connecting component in the harmonic reducer, is fixedly connected to other bases via its outer flange. In current industrial applications, the connection between the steel wheel flange and the external base of harmonic reducers commonly uses a method of fastening multiple bolts evenly distributed along the circumference. Although this connection method is mature and structurally simple, with the trend of modern robots developing towards higher speeds, higher loads, higher precision, and higher integration, traditional bolt-fastened mounting flanges have exposed more and more technical defects and application shortcomings, making it difficult to meet the needs of high-end robot equipment. Existing connection methods typically rely on bolt fixing, requiring multiple assembly operations in the circumferential direction, making the assembly and disassembly process cumbersome. Firstly, traditional flanges use multiple circumferential bolts for fixing, necessitating individual hole alignment, bolt insertion, phased pre-tightening, and final torque tightening during assembly. This process is complex and time-consuming, significantly impacting assembly efficiency in robot mass production lines, increasing production cycle time and manufacturing costs. Furthermore, disassembly and maintenance also require loosening each bolt individually. In confined spaces or joint structures where tools cannot easily reach, the difficulty of assembly and disassembly is further increased, hindering rapid robot inspection and on-site maintenance. Secondly, bolted connections are detachable mechanical connections. Under the long-term reciprocating rotational motion, alternating load impact, and high-frequency micro-vibration conditions of robot joints, the bolt pre-tightening force will slowly decrease or even loosen and disengage. This leads to minute gaps and relative slippage between the flange and the base, directly reducing the overall joint stiffness and causing problems such as motion trajectory deviation, decreased repeatability, increased vibration, and increased noise, severely affecting the quality of robot operations. Under high load and high dynamic conditions, the loosening problem becomes more prominent, and may even lead to safety hazards such as connection failure and flange detachment. Third, traditional flange installation requires strict alignment of bolt holes with base bolt holes, demanding extremely high machining and assembly precision. Manual assembly is prone to problems such as hole misalignment, bolt jamming, and excessive internal stress due to forced tightening, affecting the coaxiality and uniform force distribution of the transmission system. Furthermore, bolts are prone to corrosion, oxidation, and seizing after long-term use, easily leading to stripping, breakage, and jamming during disassembly. This not only increases maintenance difficulty but may also damage the base threads, rendering the entire joint component unusable and significantly increasing operating costs. Fourth, traditional mounting flanges are fixed structures lacking axial dimension adjustment capabilities and can only accommodate bases of a single thickness, resulting in poor versatility.Different models and structures of robot joints require specially designed flanges of different sizes, resulting in a wide variety of parts and high costs for processing, inventory, and management, which is detrimental to product platformization, serialization, and generalization design. Fifth, traditional harmonic reducer rigid wheel flanges lack integrated lubrication. During long-term high-speed, high-load operation, the meshing area between the inner tooth surface of the steel wheel and the outer tooth surface of the flexible wheel is prone to insufficient lubrication, increased temperature, and accelerated wear. Manual grease application is complex, time-consuming, and difficult to precisely control the amount applied, failing to achieve real-time, on-demand, and quantitative intelligent lubrication, thus affecting the reducer's service life and operational stability. In addition, traditional flange connection structures are deficient in radial positioning, torsional stiffness, and shear resistance. Multi-bolt connections cannot guarantee completely uniform circumferential stress, easily leading to localized stress concentration and reducing structural fatigue life. Addressing the problems of cumbersome assembly, insufficient rigidity, inconvenient maintenance, poor versatility, and lack of active lubrication in existing technologies, this invention proposes a high-rigidity integrated robot joint harmonic reducer mounting flange. Facing the ever-increasing performance demands of the robotics industry, developing a new type of mounting flange that features quick assembly, robust connection, excellent rigidity, strong versatility, convenient maintenance, and intelligent lubrication has become an urgent need for upgrading harmonic reducer technology and improving robot joint performance. Without altering the basic structure of the harmonic reducer, the mounting flange on the outer side of the steel wheel is comprehensively optimized and improved. A snap-fit ​​quick-fixing structure replaces the traditional bolt connection, while integrating adjustable support, self-locking fixation, and active lubrication functions. This improves the overall performance of the harmonic reducer mounting flange in terms of assembly efficiency, connection rigidity, versatility, ease of maintenance, and service life. The improved and replaced bolt connection method allows for efficient and convenient flange assembly and disassembly. Summary of the Invention

[0004] To address the aforementioned technical problems, the technical solution proposed in this invention improves the mounting flange on the outer side of the steel wheel without altering the basic structure of the harmonic reducer. It replaces the traditional bolt connection with an integrated rotary plate snap-fit ​​structure, integrating axially adjustable support, press-to-lock, rotation-to-unlock, and active lubrication functions. This allows for efficient and convenient flange assembly and disassembly, while significantly improving connection rigidity and operational stability. Replacing the bolt connection method enables efficient and convenient flange assembly and disassembly.

[0005] The technical solution used in this invention is as follows: a high-rigidity integrated robot joint harmonic reducer mounting flange, including a flange plate, the central area of ​​which is provided with an internal tooth surface for meshing with the external teeth of the flexible gear, and a plurality of mounting holes are evenly and annularly opened on the end face of the flange plate for cooperating with the positioning component to achieve connection and fixation with the base; a stepped groove is opened on one side end face of the flange plate, the stepped groove coinciding with the position of each mounting hole in the radial direction, providing rotation and locking space for the bracket; a rotating plate is rotatably mounted on the end face of the flange plate, and a bracket with the same number as the mounting holes is integrally formed on the rotating plate. The bracket has a U-shaped opening structure and is rotatably set on the stepped groove, and the U-shaped end face of the bracket is provided with The flange is angled to facilitate smooth insertion and provide axial preload. A pressure plate with threaded engagement is also provided on the flange end face to press the rotating plate, preventing loosening and axial movement, and ensuring overall connection rigidity. A positioning component is fitted into the assembly hole, including a positioning shaft fitted into the hole. The bottom end of the positioning shaft has a fixing groove, and a clip is fitted into the fixing groove to fix the positioning shaft. A support plate with precise axial position adjustment is slidably mounted on the positioning shaft to adapt to bases of different thicknesses. A fixing component is provided at the top of the positioning shaft to self-lock the axial position of the support plate, preventing loosening and slippage.

[0006] Furthermore, the flange plate is fixedly installed on the base by a positioning assembly. The base also has mounting holes that are coaxial with the flange plate. The positioning shaft of the positioning assembly can pass through the mounting holes on both the flange plate and the base to achieve precise positioning. The support plate contacts the end face of the base to form stable support.

[0007] Furthermore, the positioning component includes two integrally formed grooved plates mounted on the positioning shaft. The fixing groove is formed by the interval between the two grooved plates, ensuring that the clamp receives uniform force and is free from eccentric load. An adjustment hole is coaxially formed inside the positioning shaft, and an axial fitting groove is formed on the outer circumference. An adjustment screw is rotatably installed in the adjustment hole. The support plate is slidably fitted on the fitting groove, and the central area of ​​the support plate and the adjustment screw form a helical pair. The axial position of the support plate can be continuously adjusted by rotating the adjustment screw.

[0008] Furthermore, an adjusting head is fixedly connected to the top of the adjusting screw. The adjusting head is rotatably mounted on the top of the positioning shaft. A pressing part is fixedly provided on the adjusting head. The upper surface of the pressing part is provided with anti-slip embossing to increase friction and prevent slippage. The axial position of the support plate can be adjusted by turning the adjusting head. The pressing part is squeezed and locked by the fixing component to achieve reliable fixing of the adjusting head and prevent loosening and reversal.

[0009] Furthermore, the fixing component includes a pressure cylinder slidably mounted on the top of the positioning shaft, the pressure cylinder having a hollow structure; a spring 1 for providing a reset elastic force is connected between the inner end face of the pressure cylinder and the top of the positioning shaft; an adjusting head is located inside the pressure cylinder, and a pressing part 2 is fixedly provided inside the pressure cylinder, the lower end face of the pressing part 2 having anti-slip embossing, and the pressing part 1 is strongly squeezed and engaged by the pressing part 2 to achieve self-locking fixation of the double embossed surface.

[0010] Furthermore, a rotating ring is rotatably mounted on the bottom outer side of the pressure cylinder, and a protective plate is fixedly installed thereon. A second spring for providing a reset elastic force is connected between the end of the rotating ring and the end of the protective plate. A bracket is fixedly installed at the end of the rotating ring, and a buckle is telescopically installed at the end of the bracket. A third spring for providing a tightening elastic force is connected between the buckle and the bracket. By pressing the pressure cylinder, the buckle is fastened and fixed on the positioning shaft to achieve quick self-locking.

[0011] Furthermore, a retaining ring is fixedly provided on the circumference of the positioning shaft, and a release groove is opened in the circumferential area of ​​the retaining ring. The retaining seat coincides with the release groove to quickly release the retaining state and realize quick unlocking and disassembly.

[0012] Furthermore, the flange plate has a threaded portion on its end face, and the pressure plate is installed on the flange plate through the threaded portion. The end of the pressure plate is fixed with an oil transfer box by screws. The oil transfer box is used to store lubricating oil or grease. A spray head is provided inside the oil transfer box. The spray head is connected to the oil transfer box through an electromagnetic control valve, which can accurately control the release and spraying of lubricating oil according to the instructions of the control system, so as to realize intelligent active lubrication.

[0013] Furthermore, the U-shaped end face of the card holder has a slope of 2-5°. This angle range can ensure smooth engagement and provide sufficient axial preload to prevent loosening of the engagement.

[0014] The beneficial effects of this invention compared to the prior art are as follows: (1) Efficient and convenient assembly, greatly reducing labor costs: This invention abandons the traditional multi-bolt circumferential tightening method and adopts a structure in which a rotating plate drives the card holder to synchronously clamp the positioning shaft. All positioning shafts can be fixed in one rotation, without the need to disassemble and install each bolt individually. The assembly and disassembly efficiency is increased several times, which is suitable for batch assembly in robot automated production lines, effectively shortening the production cycle and reducing manual assembly costs.

[0015] (2) Higher connection rigidity and stronger operation stability: The rotary plate and the card holder are integrally formed structures, which are pressed and fixed with the pressure plate. The circumferential force is uniform, and there is no risk of bolt loosening or preload attenuation. There is no radial gap between the positioning shaft and the flange plate and the base, which significantly improves the connection rigidity between the harmonic reducer and the base, reduces the deformation and vibration when the robot joint moves, and ensures transmission accuracy and operation stability.

[0016] (3) Wide range of compatibility and strong versatility: The axial support position of the support plate can be precisely adjusted by adjusting the screw according to the actual installation thickness of the base, adapting to the installation requirements of robot joint bases of different thicknesses and structures. No special flanges are required, reducing the number of parts, reducing inventory and processing costs, and improving the product's versatility.

[0017] (4) Self-locking and reliable fixation with excellent anti-loosening performance: After the axial position adjustment of the support plate is completed, the self-locking of the pressing part one and the pressing part two can be achieved by pressing the pressing cylinder. The adjusting head and the adjusting screw are completely locked, and the position of the support plate is fixed without slipping or rotating. The elastic fastening structure of the buckle and the buckle ring further strengthens the fixing effect. It will not loosen under vibration and impact conditions, ensuring long-term operational reliability.

[0018] (5) Simple disassembly and easy and efficient maintenance: When disassembling, simply rotate the rotating ring to align the buckle with the release groove to quickly unlock the pressure cylinder. Reverse rotation of the rotating plate can release the clamp and the positioning shaft. No tools are needed throughout the process, avoiding the problems of traditional bolt stripping, corrosion and jamming, greatly reducing the difficulty of later maintenance and downtime.

[0019] (6) No angle requirement for installation, reducing assembly difficulty: The fixing groove at the end of the positioning shaft is a circumferentially equal structure. When inserting into the assembly hole, there is no need to align the angle. It can be assembled at will. With the step groove and the inclined bracket, the snap-fit ​​is smooth and does not jam, reducing the accuracy requirements of manual assembly and reducing the assembly error rate.

[0020] (7) Integrated active lubrication to extend service life: The flange plate integrates an oil transfer box and a controllable spray head structure, which can automatically spray lubricating oil according to parameters such as the operating temperature, vibration, and noise of the reducer, and lubricate the inner tooth surface of the steel wheel and the transmission mating parts in real time, reducing tooth surface wear, heat generation and jamming problems, significantly extending the service life of the harmonic reducer, and improving the long-term operational reliability of the robot joint.

[0021] (8) Compact and integrated structure with high space utilization: All snap-fit, adjustment, self-locking and lubrication structures are integrated into the flange plate body, without adding extra axial and radial space to the robot joint, maintaining the advantages of the harmonic reducer being compact and small, and suitable for robot joint installation scenarios in narrow spaces.

[0022] (9) Good processing and assembly processability: The structure of flange plate, rotary plate, positioning component, etc. can be realized by conventional machining process. There are no complex irregular structures, the production and manufacturing difficulty is low, the assembly process is simple, and it is suitable for large-scale industrial production.

[0023] (10) Stronger resistance to torsion, shear and impact: Multiple positioning axes are evenly distributed along the circumference and are synchronously clamped with the clamping frame. The circumferential positioning accuracy is high and the torsional stiffness is large. It can withstand greater radial force, axial force and overturning moment. It can maintain stable connection under high load and high impact conditions, and improve the load capacity and safety margin of the robot joint.

[0024] (11) Easy maintenance and reduced usage costs: There is no need to worry about stripping, rusting or jamming during disassembly. Maintenance is simple and quick, which can greatly reduce the cost of later maintenance and replacement of parts, and improve the overall economic efficiency of robot use. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 This is a schematic diagram of the overall structure of the present invention from another angle.

[0027] Figure 3 This is a schematic diagram of the flange plate structure of the present invention.

[0028] Figure 4 This is a schematic diagram of the oil transfer box and flange plate installation structure of the present invention.

[0029] Figure 5 This is a schematic diagram of the mounting structure of the pressure plate and the rotating plate of the present invention.

[0030] Figure 6 This is a schematic diagram of the rotating plate and card holder structure of the present invention.

[0031] Figure 7 This is a schematic diagram of the mounting structure of the card holder and positioning shaft of the present invention.

[0032] Figure 8 This is a schematic diagram of the positioning shaft structure of the present invention.

[0033] Figure 9 This is a schematic diagram of the support plate installation structure of the present invention.

[0034] Figure 10 This is a schematic cross-sectional view of the fixing component of the present invention.

[0035] Figure 11 This is a schematic diagram of the inner structure of the fixing component of the present invention.

[0036] Figure 12 This is a schematic diagram of the rotating ring mounting structure of the present invention.

[0037] Figure 13 This invention is for Figure 12 A schematic diagram of the structure at the A mark in the middle.

[0038] Figure 14This is a schematic diagram of the pressure cylinder structure of the present invention.

[0039] Reference numerals: 1-Flange plate; 101-Stepped groove; 102-Threaded part; 2-Base; 3-Flexible wheel; 4-Wave generator; 5-Oil transfer box; 6-Injection head; 7-Pressure plate; 8-Rotating plate; 9-Cage bracket; 10-Positioning shaft; 1001-Matching groove; 11-Groove plate; 1101-Fixing groove; 12-Support plate; 13-Adjusting screw; 14-Adjusting head; 15-Pressure part one; 16-Pressure cylinder; 17-Pressure part two; 18-Spring one; 19-Rotating ring; 1901-Bracket; 20-Guard plate; 21-Spring two; 22-Snap ring; 2201-Release groove; 23-Snap seat; 24-Spring three. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly, completely and in detail described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] like Figures 1 to 14 As shown, a high-rigidity integrated robot joint harmonic reducer mounting flange includes a flange plate 1. The central area of ​​the flange plate 1 has an internal toothed surface for meshing with the external toothed surface of the harmonic reducer flexure 3, forming a high-precision meshing transmission pair. Multiple mounting holes are evenly distributed in a ring on the end face of the flange plate 1 for mounting positioning components, achieving positioning and connection with the base 2. A stepped groove 101 is formed on one end face of the flange plate 1, and the stepped groove 101 completely coincides with the positions of the mounting holes in the radial direction, providing rotation space and mounting bracket 9. The flange plate 1 has a rotatable mounting plate 8 on its end face. The mounting plate 8 has a clamp 9 integrally formed with the same number of mounting holes as the mounting holes. The clamp 9 has a U-shaped opening structure and is rotatably mounted on the stepped groove 101. The U-shaped end face of the clamp 9 is inclined, and the inclination of the U-shaped end face is 2-5°. This angle can ensure smooth clamping and sufficient axial preload to prevent loosening. The flange plate 1 also has a pressure plate 7 with threaded engagement, which is used to press the mounting plate 8, restrict the axial movement and circumferential loosening of the mounting plate 8, and ensure the overall connection rigidity and stability.

[0042] A positioning component is provided in the assembly hole. The positioning component includes a positioning shaft 10 that is fitted into the assembly hole. The positioning shaft 10 is installed in the assembly hole with a clearance fit or a transition fit. The bottom end area of ​​the positioning shaft 10 is provided with a fixing groove 1101. The bracket 9 is clamped in the fixing groove 1101 to fix the positioning shaft 10. A support plate 12 that can be axially adjusted is slidably installed on the positioning shaft 10 to adapt to the installation requirements of bases 2 of different thicknesses. A fixing component is provided at the top end area of ​​the positioning shaft 10 to self-lock the axial position of the support plate 12 and prevent loosening, slippage, displacement and other phenomena during use.

[0043] Flange 1 is fixedly mounted on base 2 by positioning components. Base 2 is an external mounting base such as robot joint housing, robotic arm linkage or motor mounting base. Base 2 also has mounting holes that are coaxial with flange 1. The positioning shaft 10 of the positioning components can pass through the mounting holes on flange 1 and base 2 at the same time to achieve high-precision coaxial positioning. After assembly, support plate 12 is in close contact with the end face of base 2 to form a stable support structure, ensuring that there is no gap or looseness between flange 1 and base 2.

[0044] The positioning assembly includes two integrally formed grooved plates 11 on the positioning shaft 10. The fixing groove 1101 is formed by the interval between the two grooved plates 11. The fixing groove 1101 is completely symmetrical in the circumferential direction of the positioning shaft 10. Therefore, when the positioning shaft 10 is inserted into the assembly hole, there is no need to align the angle. It can be installed at any angle, which greatly reduces the assembly difficulty. An adjustment hole is coaxially opened inside the positioning shaft 10, and a mating groove 1001 is opened on the outer circumference. An adjustment screw 13 is rotatably installed in the adjustment hole. The support plate 12 is slidably fitted on the mating groove 1001. The central area of ​​the support plate 12 and the adjustment screw 13 form a helical pair, which can only move axially and cannot rotate. When the adjustment screw 13 rotates, the support plate 12 moves smoothly up and down along the mating groove 1001 under the thread drive, realizing precise adjustment of the axial position.

[0045] An adjusting head 14 is fixedly connected to the top of the adjusting screw 13. The adjusting head 14 is rotatably mounted on the top of the positioning shaft 10 and can rotate freely. A pressing part 15 is fixedly provided on the adjusting head 14. The upper end face of the pressing part 15 is provided with embossing to increase the self-locking friction. By turning the adjusting head 14, the axial position of the support plate 12 can be adjusted, which drives the adjusting screw 13 to rotate synchronously, thereby realizing the continuous adjustment of the axial position of the support plate 12 to adapt to bases 2 of different thicknesses. After the adjustment is completed, the pressing part 15 is pressed by the fixing component to fix the adjusting head 14, so that the adjusting head 14 cannot rotate and achieves reliable fixation.

[0046] The fixing assembly includes a pressure cylinder 16 slidably mounted on the top of the positioning shaft 10. The pressure cylinder 16 has a hollow structure and can slide up and down along the top of the positioning shaft 10. A spring 18 for providing elastic force is connected between the inner end face of the pressure cylinder 16 and the top of the positioning shaft 10. The adjusting head 14 is located inside the pressure cylinder 16. A second pressing part 17 is fixedly provided inside the pressure cylinder 16. The lower end face of the second pressing part 17 is embossed. The second pressing part 17 presses the first pressing part 15 to achieve fixation. When the pressure cylinder 16 is pressed down, the second pressing part 17 and the first pressing part 15 fit tightly together. The double embossed surfaces interlock with each other to achieve strong self-locking and prevent the adjusting head 14 and the adjusting screw 13 from loosening and reversing.

[0047] A rotating ring 19 is rotatably mounted on the bottom outer side of the pressure cylinder 16, and a protective plate 20 is fixedly installed thereon. A second spring 21 is connected between the end of the rotating ring 19 and the end of the protective plate 20 to provide elastic force. The second spring 21 provides rotational reset force for the rotating ring 19, so that it maintains a fixed angle without external force and avoids accidental rotation. A bracket 1901 is fixedly installed at the end of the rotating ring 19. A buckle 23 is telescopically installed at the end of the bracket 1901. A third spring 24 is connected between the buckle 23 and the bracket 1901 to provide elastic force. The third spring 24 always pushes the buckle 23 to keep it in an outward extended state. When the pressure cylinder 16 is pressed down, the buckle 23 moves down with the pressure cylinder 16. When it reaches the buckle 22, it automatically engages with the buckle 22 under the action of the third spring 24, realizing the self-locking fixation of the pressure cylinder 16, which cannot rebound upward, and ensuring that the first pressing part 15 and the second pressing part 17 are continuously pressed together.

[0048] A retaining ring 22 is fixedly installed on the circumference of the positioning shaft 10. A release groove 2201 is opened in the circumferential area of ​​the retaining ring 22. The retaining seat 23 coincides with the release groove 2201 to release the retaining state. When it is necessary to disassemble and unlock, simply rotate the rotating ring 19 to drive the retaining seat 23 to rotate to the position aligned with the release groove 2201. The retaining seat 23 can then smoothly disengage from the retaining ring 22. The pressure cylinder 16 rebounds upward under the action of the first spring 18, and the second pressing part 17 separates from the first pressing part 15, releasing the self-locking state. The adjusting head 14 can rotate freely to achieve quick disassembly.

[0049] A threaded portion 102 is provided on the end face of the flange plate 1. The pressure plate 7 is installed on the flange plate 1 through the threaded portion 102 and can move axially by rotation, thereby pressing the rotating plate 8. The end of the pressure plate 7 is fixed with an oil transfer box 5 by screws. The oil transfer box 5 is used to store lubricating oil or grease. A spray head 6 is provided on the inner side of the oil transfer box 5. The outlet of the spray head 6 is aligned with the inner tooth surface of the flange plate 1. The spray head 6 and the oil transfer box 5 are connected by an electromagnetic control valve. The electromagnetic control valve can be connected to the robot control system. According to the parameters such as the operating temperature, vibration, and noise of the reducer, the timing, amount, and frequency of the lubricating oil spray are automatically controlled to achieve intelligent active lubrication, ensure that the tooth surface is always in a good lubrication state, reduce wear, and extend service life.

[0050] The operating principle is as follows: The harmonic reducer consists of three parts: flange plate 1, flexible wheel 3, and wave generator 4. The wave generator 4 is installed inside the flexible wheel 3, and the flexible wheel 3 is installed inside the flange plate 1, with the outer tooth surface of the flexible wheel 3 meshing with the inner tooth surface of the flange plate 1. When installing the flange plate 1, it is aligned with the base 2, which serves as an external mounting platform. Both the flange plate 1 and the base 2 have mounting holes. Each positioning shaft 10 passes through the mounting holes on both the flange plate 1 and the base 2 simultaneously, so that the end area of ​​the positioning shaft 10 is located in the stepped groove 101. Specifically, it can be determined according to... The installation thickness of the base 2 is adjusted to regulate the support position of the positioning shaft 10, i.e., to adjust the axial position of the support plate 12. By turning the adjusting head 14, the adjusting screw 13 is rotated, causing the support plate 12 to slide. The support plate 12 then rests against the end face of the base 2, while ensuring that the end area of ​​the positioning shaft 10 is located in the stepped groove 101. The operator can configure the installation thickness according to the actual situation, i.e., configure the adjustment range of the support plate 12. For example, the maximum installation thickness is 20 mm. For thicknesses less than 20 mm, the axial position of the support plate 12 can be adjusted adaptively.

[0051] After the axial position adjustment of the support plate 12 is completed, the pressure cylinder 16 is pressed, and the second pressure part 17 on the inner side of the pressure cylinder 16 presses against the first pressure part 15 to press the adjusting head 14. The embossing on the first pressure part 15 and the second pressure part 17 increases the contact friction, and the adjusting head 14 and the adjusting screw 13 are fixed and will not rotate, thereby fixing the axial position of the support plate 12 and making it stably abut against the end face of the base 2; furthermore, when the pressure cylinder 16 is pressed, the fastener... 23 moves and engages with the buckle 22 to achieve fixation; when it needs to be removed, the buckle 23 is repositioned by rotating the rotating ring 19. When the buckle 23 coincides with the release groove 2201, it can be disengaged from the buckle 22 to release the engagement state; when rotating the rotating ring 19, the second spring 21 is compressed, and the rotating ring 19 can be reset by the elastic force of the second spring 21. In the engagement state, the second spring 21 can also stabilize the position of the buckle 23 to prevent it from moving.

[0052] The fixing groove 1101 at the end of the positioning shaft 10 is located in the stepped groove 101. Since the fixing groove 1101 is identical in all directions on the circumference of the positioning shaft 10, there is no need to correspond the installation angle when installing the positioning shaft 10. Subsequently, by rotating the rotating plate 8, the clamp 9 rotates in the stepped groove 101, and the clamp 9 is engaged in the fixing groove 1101. The U-shaped end face of the clamp 9 has a 2-5° slope, which allows the clamp 9 to be stably engaged in the fixing groove 1101 and to fix the positioning shaft 10. Subsequently, the pressure plate 7 is rotated. Under the action of the threaded connection, the pressure plate 7 moves in the direction of the rotating plate 8 and presses the rotating plate 8 to ensure that the rotating plate 8 is installed stably. During the operation of the reducer, the system can detect parameters such as the temperature, noise and vibration of the reducer to determine whether there is a lack of lubricating oil. When this occurs, the system can issue a command to spray lubricating oil onto the inner tooth surface of the steel wheel through the spray head 6 to achieve lubrication maintenance.

[0053] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A high-rigidity integrated robot joint harmonic reducer mounting flange, comprising a flange plate (1), wherein the central region of the flange plate (1) is provided with an internal tooth surface, and the end face of the flange plate (1) is provided with mounting holes in a ring evenly; characterized in that: A stepped groove (101) is provided on one end face of the flange plate (1), and the stepped groove (101) coincides with each assembly hole in the radial direction; a rotating plate (8) is rotatably installed on the end face of the flange plate (1), and a bracket (9) with the same number of assembly holes is integrally formed on the rotating plate (8). The bracket (9) has a U-shaped opening structure and is rotatably set on the stepped groove (101). The U-shaped end face of the bracket (9) is a bevel; a pressure plate (7) is also provided on the end face of the flange plate (1) with thread engagement, for pressing the rotating plate ( 8) A positioning component is provided in the assembly hole. The positioning component includes a positioning shaft (10) that is installed in the assembly hole. A fixing groove (1101) is provided at the bottom end of the positioning shaft (10). A bracket (9) is clamped in the fixing groove (1101) to fix the positioning shaft (10). A support plate (12) that can be axially adjusted is slidably installed on the positioning shaft (10). A fixing component is provided at the top end of the positioning shaft (10) to fix the support plate (12).

2. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 1, characterized in that: The flange plate (1) is fixedly installed on the base (2) by the positioning assembly. The base (2) is also provided with assembly holes. The positioning shaft (10) of the positioning assembly can pass through the assembly holes on the flange plate (1) and the base (2) at the same time. The support plate (12) contacts the end face of the base (2).

3. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 2, characterized in that: The positioning assembly includes two integrally formed groove plates (11) on the positioning shaft (10), and the fixing groove (1101) is formed by the interval between the two groove plates (11). An adjustment hole is coaxially opened inside the positioning shaft (10), and a mating groove (1001) is opened on the outer circumference. An adjustment screw (13) is rotatably installed in the adjustment hole. The support plate (12) is slidably fitted on the mating groove (1001), and the central area of ​​the support plate (12) and the adjustment screw (13) form a helical pair.

4. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 3, characterized in that: The adjusting screw (13) is fixedly connected to the top end of the adjusting head (14), which is rotatably mounted on the top end of the positioning shaft (10). A pressing part (15) is fixedly provided on the adjusting head (14), and the upper end face of the pressing part (15) is provided with embossing. The axial position of the support plate (12) can be adjusted by turning the adjusting head (14), and the pressing part (15) is squeezed by the fixing component to fix the adjusting head (14).

5. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 4, characterized in that: The fixing assembly includes a pressure cylinder (16) slidably mounted on the top of the positioning shaft (10). The pressure cylinder (16) has a hollow structure. A spring (18) for providing elastic force is connected between the inner end face of the pressure cylinder (16) and the top of the positioning shaft (10). An adjusting head (14) is located inside the pressure cylinder (16). A pressing part (17) is fixedly provided inside the pressure cylinder (16). The lower end face of the pressing part (17) is embossed. The pressing part (15) is pressed by the pressing part (17) to achieve fixing.

6. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 5, characterized in that: A rotating ring (19) is rotatably mounted on the bottom outer side of the pressure cylinder (16), and a guard plate (20) is fixedly installed thereon. A second spring (21) for providing elastic force is connected between the end of the rotating ring (19) and the end of the guard plate (20). A bracket (1901) is fixedly installed at the end of the rotating ring (19), and a buckle (23) is telescopically installed at the opposite end of the bracket (1901). A third spring (24) for providing elastic force is connected between the buckle (23) and the bracket (1901). By pressing the pressure cylinder (16), the buckle (23) is fastened and fixed on the positioning shaft (10).

7. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 6, characterized in that: A buckle (22) is fixedly provided on the circumference of the positioning shaft (10). A release groove (2201) is provided in the circumferential area of ​​the buckle (22). The buckle seat (23) coincides with the release groove (2201) to release the buckling state.

8. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 1, characterized in that: The flange plate (1) has a threaded part (102) on its end face. The pressure plate (7) is installed on the flange plate (1) through the threaded part (102). The end of the pressure plate (7) is fixed with an oil transfer box (5) by screws. The oil transfer box (5) is used to store lubricating oil. A spray head (6) is provided inside the oil transfer box (5). The spray head (6) is connected to the oil transfer box (5) through an electromagnetic control valve to control the release of lubricating oil.

9. The high-rigidity integrated robot joint harmonic reducer mounting flange according to claim 1, characterized in that: The U-shaped end face of the card holder (9) has an inclination of 2-5°.

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