CN207359115U - Suppress the ectoskeleton joint that gear reducer is axially moved - Google Patents
Suppress the ectoskeleton joint that gear reducer is axially moved Download PDFInfo
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- CN207359115U CN207359115U CN201721489476.1U CN201721489476U CN207359115U CN 207359115 U CN207359115 U CN 207359115U CN 201721489476 U CN201721489476 U CN 201721489476U CN 207359115 U CN207359115 U CN 207359115U
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- rotary joint
- speed reducer
- bearing
- harmonic speed
- connecting flange
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Abstract
Suppress the ectoskeleton joint that gear reducer is axially moved, it is related to a kind of rotary joint, to solve existing harmonic speed reducer in the process of running, harmonic oscillator produces axial force, so as to influence the service life of motor, notably it's the problem of conference directly damages motor pasts axial force, including joint motor, rotary joint connector one, harmonic speed reducer, connecting flange, rotary joint connector two, end cap and end flanges；The input shaft of joint motor and the wave producer of harmonic speed reducer connect, the harmonic speed reducer being connected with the two is disposed between rotary joint connector one and rotary joint connection two, the wave producer of connecting flange and harmonic speed reducer connects, connecting flange is connected by bearing with rotary joint connector two, end cap is acted against on bearing and is connected with connecting flange, and end flanges are arranged on the outside of end cap and are connected with rotary joint connector two.The utility model is used for the joints such as robot or mechanical arm.
Description
Technical field
A kind of rotary joint is the utility model is related to, applied to exoskeleton robot, bionic joint, pedipulator or mechanical arm
At rotary joint.
Background technology
Harmonic speed reducer is used in a kind of retarder very common at rotary joint, has simple in structure, small, transmission
The features such as scope is big, and bearing capacity is strong, but in the process of running, harmonic oscillator can produce very serious axial force, and be
Reduce the volume of joint, make compact-sized, harmonic oscillator needs to be connected with the input shaft of motor, this axial force can lead to
Cross harmonic oscillator to be delivered on the input shaft of motor, so as to influence the service life of motor, axial force is excessive directly to be damaged
Motor, the axial force that this structure can be with harmonic carcellation generator in the process of running is simple in structure, compact.
Utility model content
The utility model is to solve existing harmonic speed reducer in the process of running, and harmonic oscillator produces axial force, from
And the service life of motor is influenced, notably axial force crosses the problem of conference directly damages motor, and then provides a kind of suppression reductor shaft
To the ectoskeleton joint of movement.
The technical solution of the utility model is：Suppressing the ectoskeleton joint that gear reducer is axially moved includes joint motor, rotation
Turn joint connector one, harmonic speed reducer, connecting flange, rotary joint connector two, end cap and end flanges；Joint motor
The wave producer of input shaft and harmonic speed reducer connect, rotary joint connector one and rotary joint connection two between be disposed with
The wave producer of the harmonic speed reducer of the two connection, connecting flange and harmonic speed reducer connects, and connecting flange passes through bearing and rotation
Turn joint connector two to be connected, end cap is acted against on bearing and is connected with connecting flange, and end flanges are arranged on the outside of end cap
And it is connected with rotary joint connector two.
The utility model has the following effects that compared with prior art：
Wave producer can all produce axial force to harmonic speed reducer in the process of running, and axial force is to flexbile gear during as retarder
Diaphragm direction, on the contrary, when load increases, axial force accordingly increases in direction during as speedup, this axial force can be to the electricity that is connected
Arbor has an impact, if be not fixed, harmonic oscillator can move left and right under responsive to axial force, cause retarder stuck, this
Utility model mainly by two angular contact ball bearings side by side or double-row angular contact bal bearing offsets axial force, by this reality
Axial movement that can be with harmonic carcellation generator in the process of running with new structure, protects motor shaft, avoids harmonic oscillator
Moved left and right under responsive to axial force, extend harmonic speed reducer service life, it is compact-sized, take small.This structure can be with
The axial force of harmonic carcellation generator in the process of running, can extend 2-3 times of the service life of harmonic oscillator and motor, electricity
Machine is connected with harmonic oscillator, saves intermediate connection structure, simple in structure, compact, takes volume and there was only other mounting means
Half.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the main cross section structure diagram of the utility model.
Embodiment
The technical solution of the utility model is further described with reference to the accompanying drawings and examples.
Illustrate referring to Fig. 1 and Fig. 2, suppressing the ectoskeleton joint that gear reducer is axially moved includes joint motor 1, rotary joint
Connector 1, harmonic speed reducer 3, connecting flange 5, rotary joint connector 26, end cap 8 and end flanges 9；
The input shaft of joint motor 1 is connected with the wave producer of harmonic speed reducer 3, rotary joint connector 1 and rotation
The harmonic speed reducer 3 being connected with the two, the wave producer of connecting flange 5 and harmonic speed reducer 3 are disposed between joint connection 26
Connection, connecting flange 5 are connected by bearing 7 with rotary joint connector 26, and end cap 8 acts against on bearing 7 and and connection method
Orchid 5 connects, and end flanges 9 are arranged in the outside of end cap 8 and are connected with rotary joint connector 26.Joint motor 1 subtracts for harmonic wave
Fast 3 power of device input.
Illustrate referring to Fig. 2, further, bearing 7 is two angular contact ball bearings arranged side by side.Bearing 7 is double row angular contact
Ball bearing.Rotary joint connector 1 is connected by bolt with harmonic speed reducer 3, and harmonic speed reducer 3 is closed by bolt and rotation
Connector 26 is saved to connect.Step is provided with rotary joint connector 26 and is contacted with 7 outer ring of bearing, end cap 8 and 7 inner ring of bearing
Contact blending bolt is fastened on connecting flange 5, and end flanges 9 contact with bearing 7 and are fixed on rotary joint connector 26
On.The present embodiment mainly offsets axial force, bearing by two angular contact ball bearings or double-row angular contact bal bearing arranged side by side
Inner ring side is contacted with 5 step surface of connecting flange, and opposite side is in contact with end cap 8, and end cap 8 is connected with connecting flange 5 again, angle
7 outer ring side of contact ball bearing is connected with end flanges 9, and opposite side is in contact with the step surface of rotary joint connector 26, such as
After this installation, connecting flange 5 and the relative position of rotary joint connector 26 are fixed, and connecting flange 5 and 4 phase of wave producer
Even, wave producer 4 and the mutual alignment of rotary joint connector 26 are fixed, and rotary joint connector 26 is solid with ripple retarder 3
It is fixed, so, harmonic speed reducer 3 and the mutual alignment of wave producer 4 are fixed.
The utility model is disclosed as above with preferable case study on implementation, but is not limited to the utility model, any ripe
Professional and technical personnel is known, is not being departed from the range of technical solutions of the utility model, according to the technical essence of the utility model
Any simple modification, equivalent change and modification done to above case study on implementation, still belongs to technical solutions of the utility model scope.
Claims (5)
1. suppress the ectoskeleton joint that gear reducer is axially moved, it is characterised in that：It includes joint motor (1), rotary joint connects
Fitting one (2), harmonic speed reducer (3), connecting flange (5), rotary joint connector two (6), end cap (8) and end flanges (9)；
The input shaft of joint motor (1) is connected with the wave producer of harmonic speed reducer (3), rotary joint connector one (2) and rotation
Turn to be disposed with the harmonic speed reducer (3) being connected with the two, connecting flange (5) and harmonic speed reducer between joint connector two (6)
(3) wave producer connection, connecting flange (5) are connected by bearing (7) with rotary joint connector two (6), end cap (8) top
Lean against on bearing (7) and be connected with connecting flange (5), end flanges (9) are arranged on the outside of end cap (8) and are connected with rotary joint
Part two (6) connects.
2. suppress the ectoskeleton joint that gear reducer is axially moved according to claim 1, it is characterised in that：The bearing (7)
For two angular contact ball bearings arranged side by side.
3. suppress the ectoskeleton joint that gear reducer is axially moved according to claim 1, it is characterised in that：The bearing (7)
For double-row angular contact bal bearing.
4. suppress the ectoskeleton joint that gear reducer is axially moved according to Claims 2 or 3, it is characterised in that：Rotary joint
Connector one (2) is connected by bolt with harmonic speed reducer (3), and harmonic speed reducer (3) passes through bolt and rotary joint connector
Two (6) connect.
5. suppress the ectoskeleton joint that gear reducer is axially moved according to claim 4, it is characterised in that：Rotary joint connects
Step is provided with part two (6) and is contacted with bearing (7) outer ring, end cap (8) contacts blending bolt with bearing (7) inner ring and is fastened on company
On acting flange (5), end flanges (9) are contacted with bearing (7) and are fixed on rotary joint connector two (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721489476.1U CN207359115U (en) | 2017-11-09 | 2017-11-09 | Suppress the ectoskeleton joint that gear reducer is axially moved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721489476.1U CN207359115U (en) | 2017-11-09 | 2017-11-09 | Suppress the ectoskeleton joint that gear reducer is axially moved |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207359115U true CN207359115U (en) | 2018-05-15 |
Family
ID=62343656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721489476.1U Active CN207359115U (en) | 2017-11-09 | 2017-11-09 | Suppress the ectoskeleton joint that gear reducer is axially moved |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207359115U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718044A (en) * | 2017-11-09 | 2018-02-23 | 杭州程天科技发展有限公司 | Suppress the ectoskeleton joint that reductor is axially moved |
-
2017
- 2017-11-09 CN CN201721489476.1U patent/CN207359115U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718044A (en) * | 2017-11-09 | 2018-02-23 | 杭州程天科技发展有限公司 | Suppress the ectoskeleton joint that reductor is axially moved |
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