Dynamic concentric adjusting device for harmonic reducer

Abstract

The utility model discloses a dynamic concentric adjusting device for a harmonic reducer, and relates to auxiliary equipment in the assembly process of the harmonic reducer. According to the dynamic concentric adjusting device for the harmonic reducer, the assembling precision can be improved, and the assembling difficulty can be reduced. The dynamic concentric adjusting device of the harmonic reducer comprises a mounting plate and a driver, a servo motor and a driven shaft assembly are arranged on the mounting plate, the servo motor is connected with the driver through a wire harness, the output end of the servo motor drives the driven shaft assembly to rotate, and the driven shaft assembly can drive a wave generator of a reducer unit to deform. The mounting plate can be fixedly connected with a rigid wheel of the speed reducer unit.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer assembly technology, and in particular to a dynamic concentric adjustment device for a harmonic speed reducer. Background Technology

[0002] Joints are a core component of collaborative robots, and harmonic reducers are one of the core components of joints; therefore, reducers significantly impact robot performance. The basic structure of a harmonic reducer consists of three main parts: a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel is a fixed internal gear ring; the flexible wheel is an external gear ring capable of elastic deformation; and the wave generator drives the rotation of the flexible wheel by generating wave-like surface deformation. This structure gives harmonic reducers high precision and high load-bearing capacity.

[0003] Currently, most robot manufacturers use reducer components, which have the disadvantage of significant structural limitations and high customization costs. Three-component systems can reduce structural limitations and customization costs, but require higher assembly precision. Insufficient assembly accuracy can cause vibrations in the joints during operation, thus affecting the overall machine. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a dynamic concentric adjustment device for harmonic reducers to improve assembly accuracy, reduce assembly difficulty and avoid the impact of reducer vibration.

[0005] This utility model relates to a dynamic concentric adjustment device for a harmonic reducer, comprising a mounting plate and a driver. The mounting plate is equipped with a servo motor and a driven shaft assembly. The servo motor is connected to the driver via a wiring harness. The output end of the servo motor drives the driven shaft assembly to rotate. The driven shaft assembly can drive the wave generator of the reducer unit to deform. The mounting plate can fix the rigid wheel of the reducer unit to the device.

[0006] The present invention relates to a dynamic concentric adjustment device for a harmonic reducer, wherein the output end of the servo motor is equipped with a second pulley, the second pulley is connected to the first pulley via a synchronous belt, and the first pulley is fixedly mounted on the driven shaft assembly.

[0007] The present invention relates to a dynamic concentric adjustment device for a harmonic reducer, wherein the driven shaft assembly includes a driven shaft, the driven shaft is fixedly connected to a first pulley, and a bearing is provided on the outer side of the driven shaft, the bearing being mounted on a bearing seat.

[0008] The present invention relates to a dynamic concentric adjustment device for a harmonic reducer, wherein the bearing is a deep groove ball bearing.

[0009] The present invention relates to a dynamic concentric adjustment device for a harmonic reducer, wherein a flange is provided on the mounting plate, and the flange is fixedly connected to the rigid wheel part of the reducer unit.

[0010] The present invention relates to a dynamic concentric adjustment device for harmonic reducers, which also includes a base, a mounting plate, and a driver mounted on the base.

[0011] The present invention relates to a dynamic concentric adjustment device for a harmonic reducer, wherein the mounting plate is installed perpendicular to the base.

[0012] The difference between this novel harmonic reducer dynamic concentric adjustment device and existing technologies lies in that it achieves dynamic concentric adjustment during the reducer assembly process by assembling the reducer unit with the driven shaft assembly and mounting plate. This avoids the influence of gravity during assembly and reduces the assembly error between the reducer unit's axial direction and the direction of gravity. Furthermore, this device utilizes synchronous belt drive for transmission, enabling rapid assembly and disassembly of the equipment, making it convenient and efficient.

[0013] The dynamic concentric adjustment device for harmonic reducers of this utility model will be further described below with reference to the accompanying drawings. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the dynamic concentric adjustment device for the harmonic reducer of this utility model;

[0015] Figure 2 This is an exploded view of the driven shaft assembly in the dynamic concentric adjustment device for the harmonic reducer of this utility model.

[0016] The markings in the diagram are as follows: 1-Mounting plate; 2-Driven shaft assembly; 3-Second pulley; 4-Synchronous belt; 5-First pulley; 6-Servo motor; 7-Base; 8-Driver; 9-Reducer unit; 10-Driven shaft; 11-Flange; 12-Bearing. Detailed Implementation

[0017] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0018] Example

[0019] like Figure 1 As shown, the dynamic concentric adjustment device for harmonic reducer of this utility model includes a base 7, on which a mounting plate 1 and a driver 8 are fixedly installed, and a servo motor 6 is installed on the mounting plate 1.

[0020] Mounting plate 1 and driver 8 are respectively mounted perpendicularly to base 7 by bolts. Mounting plate 1 has two through holes machined on it for mounting servo motor 6 and driven shaft assembly 2, respectively.

[0021] The servo motor 6 is fixedly connected to the mounting plate 1 by bolts and is connected to the driver 8 for communication and power supply via a wiring harness. A second pulley 3 is mounted on the output end of the servo motor 6. The second pulley 3 drives the first pulley 5 to rotate via a synchronous belt 4. The first pulley 5 is fixedly mounted on the driven shaft assembly 2 and can drive the driven shaft to rotate. The transmission is achieved through the synchronous belt 4, allowing for quick assembly and disassembly of the equipment.

[0022] like Figure 2 As shown, the driven shaft assembly 2 includes a driven shaft 10, which rotates synchronously after being connected to the first pulley 5. A bearing 12 is mounted on the outer side of the driven shaft 10; in this embodiment, a deep groove ball bearing is used. The bearing 12 is mounted on a bearing housing, which is fixedly mounted on one side of the flange 11 by a pressure plate. The flange 11 is fixed to the mounting plate 1 by bolts, and can also be fixedly connected to the rigid wheel portion of the reducer unit 9 by bolts. When the driven shaft assembly 2 rotates with the synchronous belt 4, the bearing 12 and the wave generator of the reducer unit 9 will rotate accordingly.

[0023] When the dynamic concentric adjustment device for the harmonic reducer of this utility model is in use, the PC-connected driver 8 sends motion commands to make the servo motor 6 reciprocate at a constant speed (100rap), and transmits the synchronous belt 4 to the driven shaft assembly 2 so that it reciprocates at a constant speed, and finally realizes the dynamic automatic concentric adjustment of the reducer unit 9 during the assembly process.

[0024] The specific operation of the adjustment device is as follows: The reducer unit 9 to be assembled is installed onto the driven shaft assembly 2 of the adjustment device with bolts. Then, the PC issues a motion command to make the device reciprocate at a constant speed. During the operation, the rigid wheel of the reducer unit 9 is fixed to the flange 11 to achieve dynamic concentric adjustment during the installation process.

[0025] This utility model of a dynamic concentric adjustment device for harmonic reducers enables dynamic concentric adjustment during assembly, which can reduce the failure rate of joint reducer assembly; it can also enable quick replacement of assembled parts, and has tooling value for mass production use.

[0026] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A harmonic reducer dynamic concentric adjustment device, characterized by: Including installation board and driver, installation board is provided with servo motor and driven shaft assembly, servo motor is connected with driver through wire harness, output end of servo motor drives driven shaft assembly to rotate, driven shaft assembly can drive wave generator of speed reducer unit to deform, installation board can be fixedly connected with rigid wheel of speed reducer unit.

2. The harmonic reducer dynamic concentric adjustment device of claim 1, wherein: The output end of the servo motor is provided with a second pulley, and the second pulley is connected with a first pulley through a synchronous belt, and the first pulley is fixedly installed on the driven shaft assembly.

3. The harmonic reducer dynamic concentric adjustment device of claim 2, wherein: The driven shaft assembly comprises a driven shaft, the driven shaft is fixedly connected with the first pulley, and a bearing is arranged on the outer side of the driven shaft.

4. The harmonic reducer dynamic concentric adjustment device of claim 3, wherein: The bearing is a deep groove ball bearing.

5. The harmonic reducer dynamic concentric adjustment device of claim 1, wherein: A flange is arranged on the installation board, and the flange is fixedly connected with the rigid wheel part of the speed reducer unit.

6. The harmonic reducer dynamic concentric adjustment device of claim 1, wherein: Further comprising a base, the installation board and the driver are installed on the base.

7. The harmonic reducer dynamic concentric adjustment device of claim 6, wherein: The installation board is perpendicular to the base.

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