CN219035494U - Harmonic gear transmission device and industrial robot - Google Patents
Harmonic gear transmission device and industrial robot Download PDFInfo
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- CN219035494U CN219035494U CN202223249143.5U CN202223249143U CN219035494U CN 219035494 U CN219035494 U CN 219035494U CN 202223249143 U CN202223249143 U CN 202223249143U CN 219035494 U CN219035494 U CN 219035494U
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Abstract
The utility model relates to a harmonic gear transmission device and an industrial robot. The harmonic gear transmission device includes: a main driving servo motor; a compensation motor; the harmonic gear transmission mechanism comprises an input rigid gear, an output rigid gear, a flexible gear arranged with the input rigid gear and the output rigid gear in a ring sleeve manner and a wave generator arranged with the flexible gear in a ring sleeve manner, wherein the input rigid gear is in transmission connection with a rotor of the main driving servo motor, and the wave generator is in transmission connection with a rotor of the compensation motor and can be in sliding fit with the flexible gear; the compensation braking mechanism comprises a first braking part, a second braking part and a braking driving part, wherein the first braking part is connected with a rotor of the compensation motor, and the second braking part is connected with the braking driving part. The utility model adopts a double-motor structure, and the main driving servo motor and the error compensation motor of the speed reducer body work cooperatively.
Description
Technical Field
The utility model relates to the technical field of gear transmission, in particular to a harmonic gear transmission device and an industrial robot.
Background
The harmonic reducer has the characteristics of high transmission precision, multiple tooth numbers involved in meshing and the like, and is widely applied to the fields of medical equipment, semiconductor manufacturing equipment, robots and the like. The harmonic reducer adopts the fluctuation deformation principle to realize the meshing of the flexible gear and the rigid gear, and the transmission of motion and torque is carried out.
Usually, a servo motor is used as an input of a harmonic reducer, and an encoder arranged on a motor shaft is used for detecting an output rotation angle of the motor to guide a controller to compensate the motor. The transmission error of the harmonic reducer cannot be compensated, and full closed loop compensation from motor input to reducer output cannot be realized.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provide a harmonic gear transmission device and an industrial robot.
The utility model provides a harmonic gear transmission device, comprising: a main driving servo motor; a compensation motor;
the harmonic gear transmission mechanism comprises an input rigid gear, an output rigid gear, a flexible gear arranged with the input rigid gear and the output rigid gear ring sleeve and a wave generator arranged with the flexible gear ring sleeve, wherein the input rigid gear is in transmission connection with a rotor of the main driving servo motor, and the wave generator is in transmission connection with the rotor of the compensation motor and can be in sliding fit with the flexible gear; the compensation braking mechanism comprises a first braking piece, a second braking piece and a braking driving piece, wherein the first braking piece is connected with a rotor of the compensation motor, the second braking piece is connected with the braking driving piece, and when the rotation angle error of the output rigid gear is smaller than or equal to a set error value, the braking driving piece drives the second braking piece to enable the second braking piece to be in contact braking with the first braking piece so as to enable the rotor of the compensation motor to be in a braking stop state; when the output rigid gear rotation angle error is larger than the set error value, the brake driving piece drives the second brake piece to enable the second brake piece and the first brake piece to release braking, so that the rotor of the compensation motor is in a rotating state.
In some embodiments, the first brake includes a brake disc secured to the output side of the compensating motor rotor; the second braking piece comprises a floating disc fixed on an output side plate, the floating disc is sleeved on the outer side of the braking disc, and the output side plate is fixed on the stator output side of the compensation motor; the brake driving piece comprises an electromagnet and an elastic component, wherein the electromagnet is arranged on the output side plate, the elastic component is elastically connected with the floating disc, the electromagnet corresponds to the position of the floating disc and is used for magnetically adsorbing the floating disc to enable the floating disc to be separated from the brake disc to release braking, or for desorbing the floating disc to enable the floating disc to be in contact with the brake disc to brake under the elastic action of the elastic component.
In some embodiments, the elastic component comprises a guide rod fixed on the output side plate and a spring sleeved on the guide rod, wherein the floating disc is arranged on the guide rod in a penetrating way, and the spring is positioned between the output side plate and the floating disc.
In some embodiments, further comprising: an input-side bearing, wherein a fixed part of the input-side bearing is connected with a flange of the main driving servo motor, a rotating part of the input-side bearing is connected with a rotor of the main driving servo motor through an internal and external spline assembly, and the rotating part of the input-side bearing is also connected with the input rigid gear; and an output-side bearing, wherein a fixed end of the output-side bearing is connected to the output side plate, and a rotating portion of the output-side bearing is connected to the output rigid gear.
In some embodiments, further comprising: an input side plate connected between the input side bearing and the compensation motor; the output side plate is connected between the output side bearing and the compensation motor.
In some embodiments, the input rigid gear has a first input ring tooth, and the output rigid gear has a first output ring tooth; the flexible gear having a second annular tooth and a first mating surface, the first input annular tooth and the first output annular tooth being engageable with the second annular tooth; the wave generator is provided with a second matching surface opposite to the first matching surface, part of the second matching surface is in sliding fit with the first matching surface, a gap with a variable size is formed between the first matching surface and the second matching surface, and the gap is filled with lubricant, wherein when the main driving servo motor drives the input rigid gear to rotate, part of the second matching surface of the wave generator slides relative to the first matching surface, so that the flexible gear is deformed to enable the first input annular teeth, the first output annular teeth and the second annular teeth to be partially meshed.
In some embodiments, the wave generator has an elliptical shape, the second mating surface at a minor axis of the wave generator is in sliding engagement with the first mating surface of the flexible gear, and the gap becomes smaller from a major axis to a minor axis of the wave generator in a circumferential direction of the wave generator, wherein the lubricant flows from a gap larger position to a gap smaller position of the gap when the wave generator and the flexible gear relatively rotate.
In some embodiments, the first input ring gear is disposed on an outer peripheral surface of the input rigid gear to form an input side rigid external gear; the first output annular teeth are arranged on the outer peripheral surface of the output rigid gear to form an output side rigid external gear; the second annular teeth are arranged on the inner peripheral surface of the flexible gear to form a flexible internal gear, the first matching surface is the outer peripheral surface of the flexible gear, and the flexible internal gear is sleeved outside the input side rigid external gear and the output side rigid external gear; the second matching surface is the inner peripheral surface of the wave generator, and the wave generator is sleeved on the outer side of the flexible internal tooth gear.
In some embodiments, further comprising: and the support shaft penetrates through the inner holes of the input side rigid externally toothed gear and the output side rigid externally toothed gear, is connected with the input side rigid externally toothed gear and the output side rigid externally toothed gear in a sliding manner through bearings and is used for supporting the input side rigid externally toothed gear and the output side rigid externally toothed gear.
In some embodiments, further comprising: the first encoder is arranged on the main driving servo motor and is used for detecting the output rotation angle of the main driving servo motor; and the second encoder is arranged on the compensation motor and is used for detecting the output rotation angle of the rigid external gear at the output side, and when the second encoder detects that the output rotation angle error is larger than the set error value, the compensation motor rotates to compensate the rotation angle error.
The present utility model also provides an industrial robot comprising: the harmonic gear drive of any of the above embodiments.
After the technical scheme is adopted, compared with the prior art, the utility model has the following beneficial effects:
the utility model provides a harmonic gear transmission device which adopts a double-motor structure and is cooperated with a main driving servo motor and a speed reducer body error compensation motor. The main driving servo motor controls the input precision of the input end of the harmonic gear transmission device, the error compensation motor of the speed reducer body compensates the transmission error of the harmonic gear transmission device, and finally the transmission precision of the harmonic speed reducer is improved. In addition, the flexible bearing is not needed, the dynamic pressure oil film sliding friction between the wave generator and the flexible gear replaces the original flexible bearing rolling friction to reduce the resistance, the lubricating grease storage chamber provided with the contact area of the wave generator and the flexible gear forms a dynamic pressure oil film to replace the flexible bearing in transmission, the dynamic pressure oil film converts the sliding friction between the wave generator and the flexible gear into the liquid friction formed by the oil film to reduce the resistance, and finally the service life of the whole harmonic reducer is prolonged.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort. In the drawings:
FIG. 1 is a perspective view of a harmonic gear drive shown in accordance with an exemplary embodiment of the present utility model;
FIG. 2 is another angular perspective view of a harmonic gear drive shown in accordance with an exemplary embodiment of the present utility model;
FIG. 3 is a schematic diagram illustrating the meshing of a harmonic gear drive in accordance with an exemplary embodiment of the utility model;
FIG. 4 is a view illustrating the direction A of FIG. 1 according to an exemplary embodiment of the present utility model;
FIG. 5 is a cross-sectional view B-B of FIG. 4, shown in accordance with an exemplary embodiment of the present utility model;
FIG. 6 is an exploded view of a harmonic gear drive shown in accordance with an exemplary embodiment of the present utility model;
fig. 7 is a schematic view showing the structure of an input side plate according to an exemplary embodiment of the present utility model;
fig. 8 is a schematic view showing the structure of an output side plate according to an exemplary embodiment of the present utility model;
FIG. 9 is a schematic view of an output-side bearing structure according to an exemplary embodiment of the present utility model;
it should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "contacting," and "communicating" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 9, the present utility model provides a harmonic gear transmission device, which adopts a double-motor structure, and works cooperatively by a main driving servo motor and a reducer body error compensation motor. The main driving servo motor controls the input precision of the input end of the harmonic gear transmission device, the error compensation motor of the speed reducer body compensates the transmission error of the harmonic gear transmission device, and finally the transmission precision of the harmonic speed reducer is improved. In addition, the harmonic gear transmission device provided by the utility model has no flexible bearing, the dynamic pressure oil film sliding friction between the wave generator and the flexible gear replaces the original flexible bearing rolling friction to reduce the resistance, the lubricating grease storage chamber provided with the contact area of the wave generator and the flexible gear forms a dynamic pressure oil film to replace the flexible bearing in transmission, the dynamic pressure oil film converts the sliding friction between the wave generator and the flexible gear into the liquid friction formed by the oil film to reduce the resistance, and finally the service life of the whole harmonic reducer is prolonged.
The harmonic gear transmission device of the present utility model includes: the main drive servo motor 1, the compensation motor and the harmonic gear transmission mechanism.
The main drive servo motor 1 is used for controlling the input precision of the input end of the harmonic gear transmission device, and a first encoder can be arranged in the main drive servo motor 1 and used for detecting the output rotation angle of the main drive servo motor 1.
The compensation motor is used for being matched with the harmonic gear transmission mechanism to compensate the transmission error of the harmonic gear transmission device when the rotation angle error of the output rigid gear 15 is larger than the set error value, and finally the transmission precision of the harmonic speed reducer is improved.
The harmonic gear transmission mechanism comprises an input rigid gear 16, an output rigid gear 15, a flexible gear 14 which is sleeved with the input rigid gear 16 and the output rigid gear 15, and a wave generator 1301 which is sleeved with the flexible gear 14, wherein the input rigid gear 16 is in transmission connection with a rotor of the main driving servo motor 1, and the wave generator 1301 is in transmission connection with a rotor 1302 of the compensation motor and can be in sliding fit with the flexible gear 14, so that the flexible gear 14 is partially meshed with the input rigid gear 16 and the output rigid gear 15.
The compensating brake mechanism comprises a first brake piece 1202, a second brake piece 1201 and a brake driving piece, wherein the first brake piece 1202 is connected with a rotor 1302 of the compensating motor, the second brake piece 1201 is connected with the brake driving piece, and when the rotation angle error of the output rigid gear 15 is smaller than or equal to a set error value, the brake driving piece drives the second brake piece 1201 to enable the second brake piece 1201 to be in contact with the first brake piece 1202 for braking, so that the rotor 1302 of the compensating motor is in a braking stop state. At this time, the main drive servo motor 1 transmits the motion and torque to the input rigid gear 16 and the output rigid gear 15, the main drive servo motor 1 detects the output rotation angle of the motor through a first encoder installed itself, and the controller is instructed to compensate the rotation speed of the motor through the detection data. The body error compensation motor of the harmonic gear transmission (also called a harmonic gear reducer) is in a power-off state. When the output rotation angle error of the output rigid gear 15 is larger than the set error value, the brake driving member drives the second brake member 1201 to release the brake between the second brake member 1201 and the first brake member 1202, so that the rotor 1302 of the compensation motor is in a rotated state. At this time, the controller is instructed to control the harmonic gear transmission body error compensation motor by detecting data, and the speed reducer body error compensation motor is connected to the rotor 1302 of the speed reducer body error compensation motor according to the instruction of the controller to rotate, so that the wave generator 1301 rotates, and the rotation speed of the output rigid gear 15 is adjusted, so that the rotation angle error compensation of the output rigid gear 15 is realized.
The utility model provides a harmonic gear transmission device which adopts a double-motor structure and is cooperated with a main driving servo motor and a speed reducer body error compensation motor. The main driving servo motor controls the input precision of the input end of the harmonic gear transmission device, the error compensation motor of the speed reducer body compensates the transmission error of the harmonic gear transmission device, and finally the transmission precision of the harmonic speed reducer is improved.
In some embodiments, the first brake 1202 includes a brake disc affixed to the output side of the compensating motor rotor, which may be referred to as brake disc 1202 in the following description; the second brake 1201 includes a floating disc fixed to the output side plate 9, which in the following description may be denoted by floating disc 1201, the floating disc 1201 is sleeved outside the brake disc 1202, and the output side plate 9 is fixed to the output side of the stator 7 of the compensation motor; the brake driving member comprises an electromagnet 10 and an elastic component 11 which are arranged on the output side plate 9, the elastic component 11 is elastically connected with the floating disc 1201, the electromagnet 10 corresponds to the position of the floating disc 1201, and the brake driving member is used for magnetically adsorbing the floating disc 1201 to separate the floating disc 1201 from the brake disc 1202 for releasing the brake, or is used for desorbing the floating disc 1201 and enabling the floating disc 1201 to contact the brake disc 1202 for braking under the elastic action of the elastic component 11.
The elastic component 11 comprises a guide rod 1102 fixed on the output side plate 9 and a spring 1101 sleeved on the guide rod 1102, wherein the floating disc 1201 is penetrated through the guide rod 1102, and the spring 1101 is positioned between the output side plate 9 and the floating disc 1201.
In some embodiments, the input rigid gear 16 has a first input ring tooth and the output rigid gear 15 has a first output ring tooth; the flexible gear 14 has a second annular tooth and a first mating surface, with which the first input annular tooth and the first output annular tooth can mesh. The wave generator 1301 has a second mating surface opposite to the first mating surface, and is capable of sliding a portion of the second mating surface with the first mating surface, a gap of varying size is formed between the first mating surface and the second mating surface, and a lubricant is filled in the gap, wherein when the main drive servo motor drives the input rigid gear to rotate, a portion of the second mating surface of the wave generator 1301 slides relative to the first mating surface, deforming the flexible gear 14 to partially mesh the first input annular tooth, the first output annular tooth, and the second annular tooth. By way of example, the lubricant may be a grease. When the rotation angle error compensation of the output rigid gear 15 is required, the compensation motor rotor 1302 rotates to drive the wave generator 1301 to rotate, so that the rotation speed of the output rigid gear 15 is adjusted, and the rotation angle error compensation of the output rigid gear 15 is realized. That is, whether the compensation motor rotor 1302 rotates or not, as long as the main driving servo motor 1 drives the input rigid gear 16 to rotate, part of the second mating surface of the wave generator 1301 slides relative to the first mating surface of the flexible gear 14, so that the flexible gear 14 is continuously subject to wave deformation.
Specifically, when the main driving servo motor drives the input rigid gear to rotate, the wave generator 1301 continuously makes the flexible gear 14 wave-deformed, so that part of the second mating surface on the wave generator is relatively slid and contacted with the first mating surface of the flexible gear 14, and the gear teeth of the flexible gear 14 and the rigid output gear 15 continuously change the respective original working states to generate staggered tooth motion in the four motions of meshing in, meshing out and disengaging. In the sliding friction fit process of the wave generator 1301 and the flexible gear 14, as the gap between the wave generator 1301 and the flexible gear 14 is filled with the lubricant, the lubricant is extruded to form a dynamic pressure oil film, and the dynamic pressure oil film is formed by converting sliding friction between the matching surfaces of the wave generator and the flexible gear 14 into liquid friction so as to reduce resistance, and finally, the service life of the whole harmonic gear transmission device is prolonged.
In some embodiments, the wave generator 1301 is elliptical, the second mating surface at the short axis of the wave generator 1301 is in sliding engagement with the first mating surface of the flexible gear, and the gap is tapered from the long axis to the short axis of the wave generator 1301 in the circumferential direction of the wave generator 1301, wherein the gap is fluctuated and changed when the main drive servo motor rotates the input rigid gear, and the lubricant flows from the gap at the long axis position to the gap at the short axis position, that is, the lubricant in the gap is squeezed to flow from the position where the gap is large to the position where the gap is small.
In the related art, the damage of the flexible bearing is a common failure mode of the harmonic gear transmission mechanism, which is caused by that the flexible bearing is subjected to radial load and alternating stress during the transmission process. According to the harmonic gear transmission device, a flexible bearing is not arranged, the hydraulic oil film sliding friction between the wave generator and the flexible gear replaces the original flexible bearing rolling friction to reduce resistance, a dynamic pressure oil film is formed in transmission by the lubricating grease storage chamber provided with the contact area of the wave generator and the flexible gear to replace the flexible bearing, the dynamic pressure oil film converts the sliding friction between the wave generator and the flexible gear into the liquid friction formed by the oil film to reduce resistance, and finally the service life of the whole harmonic reducer is prolonged.
In some embodiments, the harmonic gear drive of the present utility model is a harmonic gear drive external to the wave generator. Specifically, the first input ring gear is provided on the outer peripheral surface of the input rigid gear to form an input-side rigid externally toothed gear 16; the first output ring gear is arranged on the outer peripheral surface of the output rigid gear to form an output side rigid external gear 15; the second ring gear is disposed on the inner peripheral surface of the flexible gear to form a flexible internal gear 14, the first mating surface is the outer peripheral surface of the flexible gear, and the flexible internal gear is sleeved outside the input rigid external gear 16 and the output rigid external gear 15. The second mating surface is an inner peripheral surface of the wave generator 1301, and the wave generator 1301 is sleeved outside the flexible internal gear 14.
In some embodiments, the harmonic gear drive further comprises: and a support shaft 17, wherein the support shaft 17 is arranged inside the input rigid external gear 16 and the output rigid external gear 15 in a penetrating way, is connected with the input rigid external gear 16 and the output rigid external gear 15 in a sliding way through bearings, and is used for supporting the input rigid external gear 16 and the output rigid external gear 15.
The axis of the main drive servo motor 1 is 101A, the axis of the hollow support shaft 17 is 1701A, and these two axes are coincident with each other. The hollow supporting shaft 17 is a revolution body, and plays a supporting role on the output rigid external gear 15 and the input rigid external gear 16, so that the rigidity of the whole machine is improved, and the higher transmission precision is ensured.
In some embodiments, the harmonic gear drive further comprises an input-side bearing 3 and an output-side bearing 23. The input-side bearing 3, the fixed portion 303 of the input-side bearing 3 is connected to the flange 101 of the main drive servo motor 1, the rotating portion 302 of the input-side bearing is connected to the rotor of the main drive servo motor 1 via an internal and external spline assembly, and the rotating portion 302 of the input-side bearing 3 is also connected to the input rigid gear 16. The fixed end 2302 of the output-side bearing 23 is connected to the output side plate 9, and the rotating portion 2301 of the output-side bearing is connected to the output rigid gear 15.
Further, the harmonic gear transmission device further comprises an input side plate 4, wherein the input side plate 4 is connected between the input side bearing 3 and the compensation motor 7; the output side plate 9 is connected between the output side bearing 23 and the compensation motor 7.
Specifically, referring to fig. 5 and 6, a skeleton oil seal 102 is provided between the main drive servo motor 1 and the main drive servo motor rotor. The main drive servo motor flange 101 is connected to the rigid input-side bearing fixing portion 303 by screws 28. The internal and external spline assembly comprises an internal spline 301 and an external spline 2, wherein the external spline 2 is connected with a rotor of the main drive servo motor 1 through a screw 30, external teeth of the external spline 2 are matched with the internal spline 301, the external spline 2 is in transmission connection with a rigid input-side bearing rotating part 302, and a framework oil seal 32 is arranged between the rigid input-side bearing rotating part 302 and a rigid input-side bearing fixing part 303. The rigid input-side bearing fixing portion 303 is connected to the input-side plate 4 by a screw 24. The rigid input-side bearing rotating portion 302 is connected to the input rigid gear 16 by a screw 29. The input side plate 4 is connected with the error compensation motor stator 7 of the speed reducer body through screws 27. The reducer body error compensation motor stator 7 is connected with the output side connecting plate 9 through screws 27. The output-side connecting plate 9 and the rigid output-side bearing fixing portion 2302 are connected by a screw 24. The output rigid gear 15 is connected with the rigid output bearing rotating portion 2301 by a screw 25; a frame oil seal 32 and a second encoder 31 are provided in this order from the near side to the far side between the rigid output bearing fixing portion 2302 and the rigid output bearing rotating portion 2301 on the side (output side) away from the main drive servo motor 1. The wave generator 1302 and the compensation motor may constitute a wave generator-integrated rotor 13, for example, the wave generator-integrated rotor 13 is a hollow structure composed of a wave generator 1301 and a reducer body error compensation motor rotor 1302.
In one example, as shown in fig. 3 and 5, the contoured surface of the wave generator 1301 is a non-circular smooth closed curve (e.g., elliptical) along a cross-section perpendicular to the axis 1701A, which is stretched along the axis 1701A to form an inner wave generator 1301 contoured surface; the wave generator integrated rotor 13 is disposed in the inner cavity of the reducer body error compensation motor stator 7 so as not to contact each other. A skeleton oil seal 5, a bearing 6 and a hole clamp spring 8 are sequentially arranged between the wave generator integrated rotor 13 and the input side connecting plate 4 at one side close to the main driving servo motor 1 from near to far, wherein the hole clamp spring 8 is arranged on the input side connecting plate 4 for axially positioning the bearing 6; the side, far away from the main driving servo motor 1, between the wave generator integrated rotor 13 and the output side connecting plate 9 is sequentially provided with a hole clamp spring 8, a bearing 6 and a framework oil seal 5 from near to far, wherein the hole clamp spring 8 is arranged on the output side connecting plate 9 to axially position the bearing 6.
An electromagnet 10 and an elastic component 11 are arranged on one side of the output side plate 9 away from the main driving servo motor 1; the floating disc 1201 is connected to the output side plate 9 by a resilient member 11 (also referred to as a brake pressure mechanism) which is slidable along the guide rods 1102 under the action of the compression springs 1101. The end of the wave generator integrated rotor 13 on the same side as the electromagnet 10 is connected to the rotating disk 1202 by a screw 26. The flexible internally toothed gear 14 is provided between the hollow structure of the wave generator integrated rotor 13 and the input rigid externally toothed gear 16 and the output rigid externally toothed gear 15; skeleton oil seals are respectively arranged between the wave generator integrated rotor 13 and the output rigid external gear 15 and between the wave generator integrated rotor and the input rigid external gear 16; a skeleton oil seal 18, a bearing 19 and a hole snap spring 20 are sequentially arranged between the shaft section of the hollow support shaft 17 on the side close to the main drive servo motor 1 and the rigid bearing rotating part 302 from the shaft end of the hollow support shaft 17, wherein the hole snap spring 20 is arranged on the rigid bearing rotating part 302, a skeleton oil seal 18, the bearing 19 and the hole snap spring 20 are sequentially arranged between the shaft section of the hollow support shaft 17 on the side far from the main drive servo motor 1 and the rigid bearing rotating part 2301 from the shaft end of the hollow support shaft 17, and the hole snap spring 20 is arranged on the rigid bearing rotating part 2301. A bearing 22 is arranged between the output rigid externally toothed gear 15 and the hollow supporting shaft 17, and the bearing 22 is axially positioned through a shaft shoulder and a shaft clamp spring 21 respectively; a bearing is arranged between the input rigid externally toothed gear 16 and the hollow supporting shaft 17, and the bearing is axially positioned through a shaft shoulder and a shaft clamp spring 21 respectively;
in one example, as shown in fig. 3 and 5, the number of teeth of the input rigid externally toothed gear 16 is the same as the number of teeth of the flexible internally toothed gear 14, which is 2*U more than the number of teeth of the output rigid externally toothed gear 15, where u=1 or 2. The short-axis flexible internally toothed gear 14 meshes with the output rigid externally toothed gear 15 by the wave generator 1301, and the long-axis flexible internally toothed gear 14 does not mesh with the output rigid externally toothed gear 15. The gap between the outer wall of the flexible internally toothed gear 14 and the wave generator 1301 from the short axis region to the long axis region is defined by 4S (R a1 +R a2 ) (units: μm) gradually transitions to J (units: mm), 0.55<J/m<2.1, wherein S is a safety coefficient, and S is more than or equal to 1.5; r is R a1 A surface roughness of the first mating surface of the flexible gear 14; r is R a2 Wave generator 1301Surface roughness of the second mating surface; the clearance between the outer wall of the flexible internal gear 14 and the wave generator 1301 is J, and m is the gear tooth modulus of the flexible internal gear 14; grease is stored in the outer wall of the flexible internally toothed gear 14 and the cavity of the wave generator 1301, when the main drive servo motor 1 drives the input rigid externally toothed gear 16, the flexible internally toothed gear 14 is meshed with the input rigid externally toothed gear 16 to drive the flexible internally toothed gear 14 to drive, the flexible internally toothed gear 14 is meshed with the external toothed output rigid gear to realize output under the action of the wave generator 1301, and a dynamic pressure oil film is formed between the flexible internally toothed gear 14 and the wave generator 1301 to slow down abrasion between the wave generator and the flexible gear.
The main driving servo motor and the error compensation motor of the speed reducer body work cooperatively as follows:
the main driving servo motor 1 transmits motion and torque to the input rigid external gear 16 through the external spline 2, the main driving servo motor 1 detects the output rotation angle of the motor through an encoder installed on the main driving servo motor 1, and the controller is guided to compensate the rotation speed of the motor through detection data. When the rotation angle error of the rigid bearing rotating part 2301 is smaller than the set error value, the speed reducer body error compensation motor stator 7 and the electromagnet 10 are in a power-off state, the electromagnet 10 loses the adsorption force to the floating disc 1201, the floating disc 1201 is pushed to be contacted with the rotating disc 1202 under the action of the elastic component 11 to form a braking force, and at the moment, the wave generator integrated rotor 13 is in a braking state to stop rotating. When the encoder 31 detects that the rotation angle error of the rigid bearing rotating part 2301 is larger than the set error value, the controller is guided to control the speed reducer body error compensation motor stator 7 and the electromagnet 10 through detection data, at the moment, the electromagnet 10 is electrified to adsorb the floating disc 1201 to separate from the rotating disc 1202 to release braking, and the speed reducer body error compensation motor stator 7 is connected with a circuit of the speed reducer body error compensation motor stator 7 according to the instruction of the controller to enable the wave generator integrated rotor 13 to rotate, so that the rotation angle error of the output rigid bearing rotating part 2301 is compensated. The speed reducer body error compensation motor stator 7 and the wave generator integrated rotor 13 are external relative to the input rigid external gear 16, the output rigid external gear 15 and the flexible internal gear 14 of the speed reducer transmission part, have better heat dissipation capacity, and have more compact whole structure without arranging additional heat dissipation devices.
Compared with the common servo motor single control input end corner error compensation, the electromechanical integrated harmonic speed reducer with the full closed loop compensation, which is used for enabling transmission errors to be input from the main driving servo motor 1 to be output by the speed reducer body error compensation motor, has higher output end transmission precision. A lubricating grease storage chamber is arranged between the flexible wheel and the wave generator, a dynamic pressure oil film is formed in the transmission process to replace a flexible bearing, and the service life of the whole harmonic reducer is prolonged.
The present utility model also provides an industrial robot comprising: the harmonic gear drive of any of the above embodiments.
It is further understood that the term "plurality" in this disclosure means two or more, and other adjectives are similar thereto. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It is further understood that the terms "first," "second," and the like are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the expressions "first", "second", etc. may be used entirely interchangeably. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It will be further understood that although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.
Claims (11)
1. A harmonic gear transmission, comprising:
a main driving servo motor;
a compensation motor;
the harmonic gear transmission mechanism comprises an input rigid gear, an output rigid gear, a flexible gear arranged with the input rigid gear and the output rigid gear ring sleeve and a wave generator arranged with the flexible gear ring sleeve, wherein the input rigid gear is in transmission connection with a rotor of the main driving servo motor, and the wave generator is in transmission connection with the rotor of the compensation motor and can be in sliding fit with the flexible gear;
the compensation braking mechanism comprises a first braking piece, a second braking piece and a braking driving piece, wherein the first braking piece is connected with a rotor of the compensation motor, the second braking piece is connected with the braking driving piece, and when the output rotation angle error of the output rigid gear is smaller than or equal to a set error value, the braking driving piece drives the second braking piece to enable the second braking piece to be in contact braking with the first braking piece, so that the rotor of the compensation motor is in a braking stop state; when the output rotation angle error of the output rigid gear is larger than the set error value, the brake driving piece drives the second brake piece to enable the second brake piece and the first brake piece to release braking, so that the rotor of the compensation motor is in a rotating state.
2. The harmonic gear drive of claim 1 wherein the harmonic gear is driven by a harmonic drive motor,
the first braking piece comprises a braking disc fixed on the output side of the rotor of the compensation motor;
the second braking piece comprises a floating disc fixed on an output side plate, the floating disc is sleeved on the outer side of the braking disc, and the output side plate is fixed on the stator output side of the compensation motor;
the brake driving piece comprises an electromagnet and an elastic component, wherein the electromagnet is arranged on the output side plate, the elastic component is elastically connected with the floating disc, the electromagnet corresponds to the position of the floating disc and is used for magnetically adsorbing the floating disc to enable the floating disc to be separated from the brake disc to release braking, or for desorbing the floating disc to enable the floating disc to be in contact with the brake disc to brake under the elastic action of the elastic component.
3. The harmonic gear drive of claim 2 wherein,
the elastic component includes being fixed in guide arm on the output curb plate, cover are located the spring on the guide arm, wherein the floating disc wears to locate the guide arm, the spring is located output curb plate with between the floating disc.
4. The harmonic gear drive of claim 2, further comprising:
an input-side bearing, wherein a fixed part of the input-side bearing is connected with a flange of the main driving servo motor, a rotating part of the input-side bearing is connected with a rotor of the main driving servo motor through an internal and external spline assembly, and the rotating part of the input-side bearing is also connected with the input rigid gear;
and an output-side bearing, wherein a fixed end of the output-side bearing is connected to the output side plate, and a rotating portion of the output-side bearing is connected to the output rigid gear.
5. The harmonic gear assembly of claim 4, further comprising:
an input side plate connected between the input side bearing and the compensation motor;
the output side plate is connected between the output side bearing and the compensation motor.
6. The harmonic gear drive of claim 1 wherein the harmonic gear is driven by a harmonic drive motor,
the input rigid gear having a first input ring tooth, the output rigid gear having a first output ring tooth;
the flexible gear having a second annular tooth and a first mating surface, the first input annular tooth and the first output annular tooth being engageable with the second annular tooth;
the wave generator is provided with a second matching surface opposite to the first matching surface, part of the second matching surface is in sliding fit with the first matching surface, a gap with a variable size is formed between the first matching surface and the second matching surface, and the gap is filled with lubricant, wherein when the main driving servo motor drives the input rigid gear to rotate, part of the second matching surface of the wave generator slides relative to the first matching surface, so that the flexible gear is deformed to enable the first input annular teeth, the first output annular teeth and the second annular teeth to be partially meshed.
7. The harmonic gear drive of claim 6 wherein the harmonic gear is driven by a harmonic drive motor,
the wave generator is elliptical, the second matching surface positioned at the short axis of the wave generator is in sliding fit with the first matching surface of the flexible gear,
the gap becomes smaller gradually from a major axis to a minor axis of the wave generator in a circumferential direction of the wave generator, wherein the lubricant flows from a gap larger position to a gap smaller position of the gap upon relative rotation of the wave generator and the flexible gear.
8. The harmonic gear transmission device according to claim 6 or 7, wherein,
the first input annular gear is arranged on the outer peripheral surface of the input rigid gear to form an input-side rigid external gear; the first output annular teeth are arranged on the outer peripheral surface of the output rigid gear to form an output side rigid external gear;
the second annular teeth are arranged on the inner peripheral surface of the flexible gear to form a flexible internal gear, the first matching surface is the outer peripheral surface of the flexible gear, and the flexible internal gear is sleeved outside the input side rigid external gear and the output side rigid external gear;
the second matching surface is the inner peripheral surface of the wave generator, and the wave generator is sleeved on the outer side of the flexible internal tooth gear.
9. The harmonic gear assembly of claim 8, further comprising:
and the support shaft penetrates through the inner holes of the input side rigid externally toothed gear and the output side rigid externally toothed gear, is connected with the input side rigid externally toothed gear and the output side rigid externally toothed gear in a sliding manner through bearings and is used for supporting the input side rigid externally toothed gear and the output side rigid externally toothed gear.
10. The harmonic gear drive of claim 1, further comprising:
the first encoder is arranged on the main driving servo motor and is used for detecting the output rotation angle of the main driving servo motor; and
the second encoder is arranged on the compensation motor and is used for detecting the output rotation angle of the output rigid gear, and when the second encoder detects that the output rotation angle error is larger than a set error value, the compensation motor rotates to compensate the rotation angle error.
11. An industrial robot, comprising:
a harmonic gear drive as claimed in any one of claims 1 to 10.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202223249143.5U CN219035494U (en) | 2022-12-05 | 2022-12-05 | Harmonic gear transmission device and industrial robot |
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| CN202223249143.5U CN219035494U (en) | 2022-12-05 | 2022-12-05 | Harmonic gear transmission device and industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116952099A (en) * | 2023-09-20 | 2023-10-27 | 常州全瑞机电科技有限公司 | Gear detection device and detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116952099A (en) * | 2023-09-20 | 2023-10-27 | 常州全瑞机电科技有限公司 | Gear detection device and detection method |
| CN116952099B (en) * | 2023-09-20 | 2023-12-01 | 常州全瑞机电科技有限公司 | Gear detection device and detection method |
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