Harmonic speed reducer assembling structure
The floating adjustment of the reducer shell is achieved through the screw connection structure, which solves the problem of high-precision machining in the assembly of harmonic reducer, reducing costs and extending service life.
Patent Information
- Application Number
- CN202422465603.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-11
- Publication Date
- 2025-08-26
- Estimated Expiration
- 2034-10-11
AI Technical Summary
The assembly method of existing harmonic reducers relies on high-precision machining, which leads to high costs and easy noise, making it difficult to adjust the coaxiality.
The screw connection structure is adopted to allow the reducer housing to float and adjust when the wave generator shaft rotates, and the coaxiality is ensured through screw locking, which compensates for machining errors.
Reduces the requirements for machining accuracy, reduces noise, and extends the service life of the reducer.
Smart Images
Figure CN223270546U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical arm joints, in particular to an assembly structure of a harmonic reducer. Background Art
[0002] The installation method of the robot arm joint reducer generally adopts the reducer housing stop to locate, and the wave generator shaft stop is assembled with the motor shaft. The coaxiality of the reducer wave generator shaft and the reducer's rigid wheel is guaranteed by the precision of the machined parts. However, the coaxiality of the wave generator shaft and the rigid wheel is guaranteed by the precision of the machined parts such as the reducer rigid wheel, reducer housing, casing, bearing, motor shaft, etc. If directly assembled, the machining precision of the machined parts will be very high, the cost will be high, and it will easily cause noise.
[0003] In view of this, a harmonic reducer assembly structure is urgently needed. Utility Model Content
[0004] In view of the problems existing in the prior art, the present invention solves the problem with the following technical structure.
[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:
[0006] A harmonic reducer assembly structure includes: a housing, a motor shaft, a wave generator shaft, a reducer housing, and a plurality of first screws, wherein the motor shaft is arranged in the housing, the wave generator shaft is coaxially installed at the end of the motor shaft, the housing is provided with a plurality of first screw holes at one end close to the wave generator shaft, the reducer housing is sleeved on the side of the wave generator shaft ring, and gaps are left in the circumferential direction of the outer side of the reducer housing, and the plurality of first screws are arranged on the reducer housing, the extension direction of the first screws is consistent with the axial direction of the motor shaft, and the suspended ends of the plurality of first screws are respectively provided at the corresponding first screw holes.
[0007] It is further characterized in that
[0008] The reducer housing is provided with a plurality of first mounting holes, and the first screws are arranged in the corresponding first mounting holes.
[0009] A plurality of second mounting holes are provided through the wave generator shaft, and a second screw is provided in each of the second mounting holes. A plurality of second screw holes are provided at the end of the motor shaft, and the suspended ends of the second screws are provided in the corresponding second screw holes.
[0010] The extending direction of the second screw is consistent with the axial direction of the motor shaft.
[0011] It also includes a motor front cover arranged between the reducer housing and the housing, and the motor shaft passes through the motor front cover.
[0012] A bearing is provided between the motor front cover and the motor shaft.
[0013] The motor front cover is provided with a plurality of through holes, and the first screws are passed through the corresponding through holes.
[0014] A plurality of countersunk screws are arranged on the front cover of the motor, and the fastening ends of the countersunk screws are arranged on the casing.
[0015] A rigid wheel is provided at one end of the reducer housing away from the casing, and the wave generator shaft is provided on the inner side of the rigid wheel.
[0016] A rotor is arranged in the casing and is sleeved on the motor shaft.
[0017] The above structure of the utility model can achieve the following beneficial effects:
[0018] When the present application is installed, the wave generator shaft is driven to rotate. At this time, the reducer housing is in a floating state and can move horizontally. The position of the reducer housing is adjusted by rotating the wave generator shaft, and then the reducer housing is locked to the casing by the first screw to ensure the coaxiality of the reducer housing and the wave generator shaft. This avoids the non-adjustability of assembly through stop positioning in the prior art, which leads to the problem of having to rely on machining accuracy to ensure the coaxiality after assembly. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 This is a schematic cross-sectional view of the structure of this application.
[0020] In the figure: 1. Casing; 11. First screw hole; 2. Motor shaft; 21. Second screw hole; 3. Wave generator shaft; 31. Second mounting hole; 4. Reducer housing; 41. First mounting hole; 5. First screw; 6. Second screw; 7. Motor front cover; 71. Bearing; 72. Countersunk screw; 8. Rotor; 9. Gear pulley. DETAILED DESCRIPTION
[0021] In order to help those skilled in the art better understand the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.
[0022] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or equipment.
[0023] The present application is further described in detail below with reference to the accompanying drawings.
[0024] refer to Figure 1 As shown, a harmonic reducer assembly structure includes: a housing 1, a motor shaft 2, a wave generator shaft 3, a reducer housing 4 and a plurality of first screws 5. The motor shaft 2 is arranged in the housing 1, and the wave generator shaft 3 is coaxially installed at the end of the motor shaft 2. The housing 1 is provided with a plurality of first screw holes 11 at one end close to the wave generator shaft 3. The reducer housing 4 is sleeved on the ring side of the wave generator shaft 3. The outer side of the reducer housing 4 is provided with a gap in the circumferential direction (such as Figure 1 As shown in A), several first screws 5 are provided on the reducer housing 4, and the extending direction of the first screws 5 is consistent with the axial direction of the motor shaft 2. The suspended ends of the several first screws 5 are respectively provided at the corresponding first screw holes 11. A rigid wheel 9 is provided at one end of the reducer housing 4 away from the housing 1. The rigid wheel 9 is sleeved on the ring side of the wave generator shaft 3. A rotor 8 is provided in the housing 1, and the rotor 8 is sleeved on the motor shaft 2. In this way, the components of the harmonic reducer except the wave generator shaft 3 are installed first, wherein the first screw 5 on the reducer housing 4 is not tightened temporarily, and the wave generator shaft 3 is installed and fastened on the motor shaft 2, and then Drive the servo motor to rotate, the motor shaft 2 to rotate, and drive the wave generator shaft 3 to rotate, thereby pushing the reducer housing 4 radially along the wave generator shaft 3, so that the reducer housing 4 and the wave generator shaft 3 are coaxial, compensating for the errors caused by machining and the misalignment caused by assembly errors. Finally, tighten the first screw 5 to tighten the reducer housing 4, and use the clearance hole of the first screw 5 to adjust the installation position of the reducer housing 4 to ensure the coaxiality after assembly, avoiding the non-adjustability of assembly through stop positioning in the existing technology, which leads to the problem of having to rely on machining accuracy to ensure the coaxiality after assembly.
[0025] refer to Figure 1 As shown, a plurality of first mounting holes 41 are provided through the reducer housing 4 , and the first screws 5 are provided in the corresponding first mounting holes 41 . Thus, by providing the first mounting holes 41 , it is convenient to install the first screws 5 .
[0026] refer to Figure 1As shown, a plurality of second mounting holes 31 are provided through the wave generator shaft 3, and a second screw 6 is provided in each of the second mounting holes 31. A plurality of second screw holes 21 are provided at the end of the motor shaft 2, and the suspended ends of the second screws 6 are provided in the corresponding second screw holes 21, and the extending direction of the second screws 6 is consistent with the axial direction of the motor shaft 2. In this way, the wave generator shaft 3 is coaxially mounted on the end of the motor shaft 2 by the plurality of second screws 6.
[0027] like Figure 1 As shown, this embodiment also includes a motor front cover 7 arranged between the reducer housing 4 and the casing 1, the motor shaft 2 passes through the motor front cover 7, and a bearing 71 is provided between the motor front cover 7 and the motor shaft 2. A plurality of through holes are opened on the motor front cover 7, and the first screw 5 is passed through the corresponding through holes. A plurality of countersunk screws 72 are provided on the motor front cover 7, and the fastening ends of the plurality of countersunk screws 72 are provided on the casing 1. In this way, before assembling the wave generator shaft 3, the motor front cover 7, the bearing 71 and the motor shaft 2 are assembled on the casing 6 with the countersunk screws 72 to complete the fixed support of the end of the motor shaft 2, so that the motor shaft 2 can rotate stably.
[0028] Working principle of the utility model: When installing the present application, first install the components of the harmonic reducer except the wave generator shaft 3, wherein the first screw 5 on the reducer housing 4 is not tightened temporarily, and the wave generator shaft 3 is installed and fastened to the motor shaft 2, and then the servo motor is driven to rotate, the motor shaft 2 rotates, and the wave generator shaft 3 is driven to rotate, thereby pushing the reducer housing 4 radially along the wave generator shaft 3, so that the reducer housing 4 and the wave generator shaft 3 are coaxial, compensating for the errors caused by machining and the different axes caused by assembly errors, and finally, tightening the first screw 5, tightening the reducer housing 4, and utilizing the clearance of the first screw 5 The clearance hole adjusts the installation position of the reducer housing 4 to ensure the coaxiality after assembly. That is to say, when the wave generator shaft 3 rotates, the reducer housing 4 is in a floating state and can move horizontally. By rotating the wave generator shaft 3, the position of the reducer housing 4 is adjusted, and then the reducer housing 4 is locked on the housing 1 by the first screw 5 to ensure the coaxiality of the reducer housing 4 and the wave generator shaft 3. This avoids the non-adjustability of assembly through stop positioning in the prior art, which leads to the need to rely on machining accuracy to ensure the coaxiality after assembly, thereby reducing the requirements for machining accuracy.
[0029] The mechanism described in this application can effectively eliminate the misalignment between the wave generator shaft 3 and the reducer caused by the cumulative errors of assembly and machining; thereby eliminating deceleration noise, reducing reducer wear, and extending the service life of the reducer.
[0030] The above are only preferred embodiments of the present application, and the present invention is not limited to the above embodiments. It is understood that other improvements and variations directly derived or imagined by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included in the scope of protection of the present invention.
Claims
1. A harmonic reducer assembly structure, characterized in that: include: A housing (1), a motor shaft (2), a wave generator shaft (3), a reducer housing (4) and a plurality of first screws (5), wherein the motor shaft (2) is arranged in the housing (1), the wave generator shaft (3) is coaxially mounted on the end of the motor shaft (2), a plurality of first screw holes (11) are opened at one end of the housing (1) close to the wave generator shaft (3), the reducer housing (4) is sleeved on the annular side of the wave generator shaft (3), and gaps are left on the outer side of the reducer housing (4) in the annular direction, and a plurality of first screws (5) are arranged on the reducer housing (4), the extension direction of the first screw (5) is consistent with the axial direction of the motor shaft (2), and the suspended ends of the plurality of first screws (5) are respectively arranged at the corresponding first screw holes (11).
2. The harmonic reducer assembly structure according to claim 1, characterized in that: A plurality of first mounting holes (41) are provided through the reducer housing (4), and the first screws (5) are arranged in corresponding first mounting holes (41).
3. The harmonic reducer assembly structure according to claim 1, characterized in that: A plurality of second mounting holes (31) are provided through the wave generator shaft (3), and a second screw (6) is provided in each of the plurality of second mounting holes (31). A plurality of second screw holes (21) are provided at the end of the motor shaft (2), and the suspended ends of the second screws (6) are provided in the corresponding second screw holes (21).
4. The harmonic reducer assembly structure according to claim 3, characterized in that: The extending direction of the second screw (6) is consistent with the axial direction of the motor shaft (2).
5. The harmonic reducer assembly structure according to claim 1, characterized in that: It also includes a motor front cover (7) disposed between the reducer housing (4) and the housing (1), and the motor shaft (2) passes through the motor front cover (7).
6. The harmonic reducer assembly structure according to claim 5, characterized in that: A bearing (71) is provided between the motor front cover (7) and the motor shaft (2).
7. The harmonic reducer assembly structure according to claim 5, characterized in that: The motor front cover (7) is provided with a plurality of through holes, and the first screws (5) are passed through the corresponding through holes.
8. The harmonic reducer assembly structure according to claim 5, characterized in that: A plurality of countersunk screws (72) are provided on the motor front cover (7), and the fastening ends of the plurality of countersunk screws (72) are provided on the housing (1).
9. The harmonic reducer assembly structure according to claim 1, characterized in that: A rigid wheel (9) is provided at one end of the reducer housing (4) away from the casing (1), and the wave generator shaft (3) is provided on the inner side of the rigid wheel (9).
10. The harmonic reducer assembly structure according to claim 1, characterized in that: A rotor (8) is provided in the housing (1), and the rotor (8) is sleeved on the motor shaft (2).