CN207297801U - Transmission mechanism - Google Patents
Transmission mechanism Download PDFInfo
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- CN207297801U CN207297801U CN201721119616.6U CN201721119616U CN207297801U CN 207297801 U CN207297801 U CN 207297801U CN 201721119616 U CN201721119616 U CN 201721119616U CN 207297801 U CN207297801 U CN 207297801U
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- flexbile gear
- transmission mechanism
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Abstract
It the utility model is related to industrial robot field, and in particular to a kind of transmission mechanism, including the harmonic speed changer and attachment device that are coaxially disposed；Harmonic speed changer includes wave producer, firm gear and columnar structured flexbile gear；The output terminal end face of flexbile gear is equipped with the circular coupling plate extended to flexbile gear radial outside；The first annular connector and the second circular connector that attachment device includes linking arm, is coaxially disposed, two connectors are in a spacing H, and the two is connected by multiple linking arms, and multiple slots are surrounded between two connectors and multiple linking arms；Second circular connector is fixed in terminal pad.The attachment device of the transmission mechanism of the utility model is connected to flexbile gear by circular coupling plate, makes the connection of flexbile gear and attachment device more firm；Attachment device equipped with multiple slots can not only bear the load of bigger, and cable can also be allowed to pass therethrough.
Description
Technical field
Industrial robot field is the utility model is related to, more particularly to a kind of transmission mechanism.
Background technology
Existing harmonic reduction transmission mechanism employs output shaft to export power, when the output shaft drives a radius
Larger revolving body commutate repeatedly rotation when, the junction stress of output shaft and revolving body is larger, easily produce structural member it is tired
Strain wound, and easily acted on after output shaft long-time use by external force and produce bending, influence the stability of whole transmission mechanism；This
Outside, if transmission device and driving motor are coaxially disposed by industrial robot with its shaft at present, the cable of robot is generally arranged
On the outside of the mechanical arm of robot, the damage of cable is be easy to cause.
Utility model content
The purpose of this utility model is to provide a kind of transmission mechanism, and the flexbile gear output terminal of its harmonic speed changer is equipped with ring
Shape terminal pad, as the output link of the transmission mechanism, improves the power transmission stability of transmission mechanism；Set in attachment device
There are first annular connector, the second circular connector and multiple linking arms so that attachment device is ensureing the dynamic of the transmission mechanism
While power transmission stability, moreover it is possible to arrange cable by the slot between linking arm and connector.
To solve the above-mentioned problems, the utility model provides a kind of transmission mechanism, including the harmonic reduction being coaxially disposed
Device and attachment device；
The harmonic speed changer includes wave producer, firm gear and columnar structured flexbile gear, and the flexbile gear passes through described
The extruding of wave producer is engaged with the firm gear；The output terminal end face of the flexbile gear, which is equipped with to the flexbile gear radial outside, to be extended
Circular coupling plate；
The first annular connector and the second circular connector that the attachment device includes linking arm, is coaxially disposed, it is described
It is in a spacing H between first annular connector and the second circular connector, and the two is connected by multiple linking arms, it is described
Multiple slots are surrounded between first annular connector, the second circular connector and multiple linking arms, second annular is even
Fitting is fixed in the terminal pad.
As preference, the quantity of the linking arm be three, the first annular connector, the second circular connector and
Three identical slots of size are surrounded between three linking arms.
As preference, the linking arm is each provided on the excircle of second circular connector.
As preference, cam of the cross section of the wave producer for ellipse, the firm gear is loop configuration, described
Firm gear is equipped with internal tooth around its inner wall, and the flexbile gear is equipped with external tooth around its outer wall；The flexbile gear is set in the ripple hair
On raw device, the firm gear is set on the flexbile gear；The flexbile gear is ellipticity by the crimp of the wave producer, described
Internal tooth is engaged with the external tooth at the major axis of flexspline both ends.
As preference, the harmonic speed changer further includes the swivel becket being coaxially disposed with the wave producer, it is described
Swivel becket includes inner ring and the outer shroud being set in the inner ring, the two rotation connection, the swivel becket is set in the flexbile gear
On, and gap is equipped between the lateral wall of the inner ring and the flexbile gear；The outer shroud is connected to the terminal pad, the inner ring
It is connected to the firm gear.
As preference, the harmonic speed changer further includes fixing piece, the firm gear is located on the fixing piece, described
Fixing piece is equipped with through hole, and the through hole and firm gear are coaxially disposed.
As preference, the first annular connector is equipped with two angular contact bearings, and two angular contact axis
Hold and put for anti-installing.
As preference, the center of the first annular connector is equipped with circular first hole, the hole wall in first hole
Axial cross section is semicircle.
As preference, the center of second circular connector is equipped with circular second hole, second hole is equipped with
Dismountable cover board.
The transmission mechanism of the utility model, the flexbile gear output terminal end face of its harmonic speed changer are equipped with circular coupling plate, even
Connection device is equipped with first annular connector, the second circular connector and multiple linking arms, and circular coupling plate and attachment device are consolidated
Fixed connection；Circular coupling plate can lift the power transmission stability of the transmission mechanism, the slot that two connectors and linking arm surround
It then, by cable, can avoid cable being exposed to the outside of robot.
Brief description of the drawings
Fig. 1 is the diagrammatic cross-section of the transmission mechanism of the utility model embodiment；
Fig. 2 is the flexbile gear diagrammatic cross-section of the transmission mechanism of the utility model embodiment；
Fig. 3 is the flexbile gear of the transmission mechanism of the utility model embodiment and the connection relationship diagram of attachment device；
Fig. 4 is the harmonic speed changer diagrammatic cross-section of the transmission device of the utility model embodiment.
Wherein, 1, harmonic speed changer；11st, wave producer；12nd, flexbile gear；121st, output terminal；122nd, terminal pad；13rd, just
Wheel；14th, fixing piece；141st, through hole；15th, swivel becket；151st, inner ring；152nd, outer shroud；153rd, collar bearing is rotated；2nd, attachment device；
21st, first annular connector；211st, the first hole；22nd, the second circular connector；221st, the second hole；222nd, cover board；23rd, slot；
24th, angular contact bearing；25th, linking arm.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not intended to limit the scope of the present invention.
With reference to shown in Fig. 1 to Fig. 3, the transmission mechanism of the utility model is schematically shown, including is coaxially disposed humorous
Ripple deceleration device 1 and attachment device 2, harmonic speed changer 1 include wave producer 11, firm gear 13 and columnar structured flexbile gear
12, flexbile gear 12 is engaged by the extruding of wave producer 11 with firm gear 13, and 121 end face of output terminal of flexbile gear is equipped with to 12 footpath of flexbile gear
The circular coupling plate 122 extended laterally, 21 and of first annular connector that attachment device 2 includes linking arm 21, is coaxially disposed
Second circular connector 22, is in a spacing H between first annular 21 and second circular connector 22 of connector, and the two pass through it is more
A linking arm 25 connects, and multiple grooves are surrounded between first annular connector 21, the second circular connector 22 and multiple linking arms 25
Hole 23, the second circular connector 22 are fixed in terminal pad 122.The circular coupling plate 122 that 12 one end of cylindrical tube-shape flexspline is set, instead of
Traditional flexbile gear output shaft, harmonic speed changer 1 output power to attachment device by the circular coupling plate 122 of flexbile gear 12
On 2, when the transmission mechanism commutates rotation repeatedly, circular coupling plate 122 is more durable than traditional output shaft, steady during rotation
Qualitative higher；Multiple linking arms 25 in attachment device 2, which not only can guarantee that, stablizes the power that transmission harmonic speed changer 1 exports,
Multiple slots 23 can also be surrounded with first annular connector 21, the second circular connector 22, for by cable, wherein, first
The spacing H of 21 and second circular connector 22 of circular connector depends on the diameter of cable, quantity, if cable is more, relatively thick,
Need to increase spacing H.
Preferably, the quantity of linking arm 25 is three, first annular connector 21, the second circular connector 22 and three companies
Connect and surround three identical slots of size 23 between arm 25, linking arm 25 is each provided at the excircle of 22 radial direction of the second circular connector
On, that is, it ensure that the stability of power transmission, and can meet that cable has enough spaces to pass through attachment device 2.
With reference to shown in Fig. 1 and Fig. 4, the shaft section of wave producer 11 is oval convex colyliform, and firm gear 13 is loop configuration, just
Wheel 13 is equipped with internal tooth (not indicating) around its inner wall, and flexbile gear 12 is equipped with external tooth (not indicating) around its outer wall, wherein, flexbile gear
12 external tooth is located on the other end opposite with its output terminal 121；Flexbile gear 12 is set on wave producer 11, and firm gear 13 is set in
On flexbile gear 12, flexbile gear 12 can be rotated relative to wave producer 11, and flexbile gear 12 can also be rotated relative to firm gear 13；Flexbile gear 12 is occurred by ripple
The crimp of device 11 is ellipticity so that the external tooth on flexbile gear 12 is nibbled at the both ends of 12 major axis of flexbile gear and the internal tooth of firm gear 13
Close.Harmonic speed changer 1 further includes the swivel becket 15 being coaxially disposed with wave producer 11, and swivel becket 15 includes inner ring 151 and set
The outer shroud 152 being located in inner ring 151, the two is rotatablely connected by rotating collar bearing 153；Swivel becket 15 is set on flexbile gear 12,
But the lateral wall of swivel becket 15 and flexbile gear 12 is equipped with gap, the outer shroud 152 of swivel becket is connected to terminal pad 122, and inner ring 151 connects
In firm gear 13 so that firm gear 13 realizes the rotation connection with flexbile gear 12 by swivel becket 15, in addition, existing harmonic reduction fills
Put the bearing between flexbile gear and firm gear to be each provided on one end of flexbile gear axial direction, so set and undoubtedly occupy harmonic reduction dress
More axial spaces are put, are unfavorable for application of this harmonic speed changer in industrial robot, and in the present embodiment, it is arranged
The axial space that harmonic speed changer 1 is significantly reduced in the swivel becket 15 of 12 radial outside of flexbile gear takes, while is connection
The axial space of bigger has been conceded in the setting of device 2.
In order to allow harmonic speed changer 1 to be fixed on its supporting body, such as industrial robot, harmonic speed changer 1 also wrap
Fixing piece 14 is included, which is rotary structure, and firm gear 13 is located on fixing piece 14, and 14 center of fixing piece is equipped with through hole
141, and through hole 141 and firm gear 13 are coaxially disposed, which is used to pass through power input shaft (not indicating), and external impetus leads to
Power input shaft is crossed to be input on wave producer 11.
First annular 21 center of connector is equipped with circular first hole 211, and the hole wall axial cross section in the first hole 211 is circle
Shape, the breakage in order to avoid cable rubs on the first hole 211, influences the service life of cable；Second circular connector, 22 center is equipped with
Circular second hole 221, the second hole 221 are equipped with dismountable cover board 222, and cover board 222 can be to harmonic speed changer 1 after opening
Inject lubricating oil.First annular connector 21 is equipped with two angular contact bearings 24, and two angular contact bearings 24 are anti-dress
Set, to bear two-way axial load, in case harmonic speed changer 1 bears excessive axial load and damages.
In conclusion the transmission mechanism of the utility model, attachment device are connected to flexbile gear by circular coupling plate, in the biography
Motivation structure commutate repeatedly rotation when, circular coupling plate is more durable than traditional output shaft, stability higher during rotation；It is equipped with
The attachment device of multiple slots can not only bear the load of bigger, and cable can also be allowed to pass therethrough.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, some improvement and replacement can also be made, these change
The scope of protection of the utility model is also should be regarded as into replacement.
Claims (9)
1. a kind of transmission mechanism, it is characterised in that including the harmonic speed changer being coaxially disposed and attachment device；
The harmonic speed changer includes wave producer, firm gear and columnar structured flexbile gear, and the flexbile gear is sent out by the ripple
The extruding of raw device is engaged with the firm gear；The output terminal end face of the flexbile gear is equipped with the ring extended to the flexbile gear radial outside
Shape terminal pad；
The first annular connector and the second circular connector that the attachment device includes linking arm, is coaxially disposed, described first
It is in a spacing H between circular connector and the second circular connector, and the two is connected by multiple linking arms, described first
Multiple slots, second circular connector are surrounded between circular connector, the second circular connector and multiple linking arms
It is fixed in the terminal pad.
2. transmission mechanism according to claim 1, it is characterised in that the quantity of the linking arm be three, described first
Three identical slots of size are surrounded between circular connector, the second circular connector and three linking arms.
3. transmission mechanism according to claim 1, it is characterised in that the linking arm is each provided at the second annular connection
On the excircle of part.
4. transmission mechanism as claimed in claim 1, it is characterised in that the cross section of the wave producer is convex for ellipse
Wheel, the firm gear are loop configuration, and the firm gear is equipped with internal tooth around its inner wall, and the flexbile gear is equipped with outer around its outer wall
Tooth；The flexbile gear is set on the wave producer, and the firm gear is set on the flexbile gear；The flexbile gear is occurred by the ripple
The crimp of device is ellipticity, and the internal tooth is engaged with the external tooth at the major axis of flexspline both ends.
5. transmission mechanism according to claim 4, it is characterised in that the harmonic speed changer is further included to be sent out with the ripple
The swivel becket that raw device is coaxially disposed, the swivel becket include inner ring and the outer shroud being set in the inner ring, the two rotation connection,
The swivel becket is set on the flexbile gear, and gap is equipped between the lateral wall of the inner ring and the flexbile gear；The outer shroud
The terminal pad is connected to, the inner ring is connected to the firm gear.
6. transmission mechanism according to claim 1, it is characterised in that the harmonic speed changer further includes fixing piece, institute
State firm gear to be located on the fixing piece, the fixing piece is equipped with through hole, and the through hole and firm gear are coaxially disposed.
7. transmission mechanism according to claim 1, it is characterised in that the first annular connector is equipped with two corner connections
Contact bearing, and two angular contact bearings are put for anti-installing.
8. transmission mechanism according to claim 1, it is characterised in that the center of the first annular connector is equipped with circle
The first hole, the hole wall axial cross section in first hole is semicircle.
9. transmission mechanism according to claim 1, it is characterised in that the center of second circular connector is equipped with circle
The second hole, second hole is equipped with dismountable cover board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119616.6U CN207297801U (en) | 2017-08-31 | 2017-08-31 | Transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119616.6U CN207297801U (en) | 2017-08-31 | 2017-08-31 | Transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207297801U true CN207297801U (en) | 2018-05-01 |
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ID=62445542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721119616.6U Active CN207297801U (en) | 2017-08-31 | 2017-08-31 | Transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207297801U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107504153A (en) * | 2017-08-31 | 2017-12-22 | 广州泰行智能科技有限公司 | Transmission mechanism |
-
2017
- 2017-08-31 CN CN201721119616.6U patent/CN207297801U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107504153A (en) * | 2017-08-31 | 2017-12-22 | 广州泰行智能科技有限公司 | Transmission mechanism |
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