Robot harmonic reducer device

Abstract

The invention discloses a robot harmonic reducer device. The robot harmonic reducer device comprises a rigid gear, a flexible gear and a wave generator which are assembled together. A coaxial positioning device is arranged between the flexible gear and the wave generator. The assembly accuracy between the wave generator and the flexible gear is reduced to be less than 2 microns through the coaxial positioning device, and the radial run-out error between the wave generator and the flexible gear is reduced to be less than 5 microns. According to the robot harmonic reducer device, an inner ring and an outer ring of a cross roller bearing are integrally machined on the rigid gear and the flexible gear respectively, roller pins are directly assembled, the inner ring and the outer ring are omitted, and raw materials are saved; moreover, the situation that multiple assembly errors are generated due to the fact that an inner ring, an outer ring and roller pins of a cross roller bearing are machined respectively and then assembled and finally are assembled between a rigid gear and a flexible gear is avoided. The overall assembly error is reduced to be less than 2 microns.

Description

technical field [0001] The invention relates to a harmonic reducer, in particular to a robot harmonic reducer device which increases positioning accuracy and reduces transmission errors, and belongs to the technical field of reducers. Background technique [0002] Harmonic gear reducer is a new type of reducer developed by using the principle of planetary gear transmission. Harmonic gear transmission (referred to as harmonic transmission), it is a planetary gear transmission that relies on flexible parts to generate elastic mechanical waves to transmit power and motion. [0003] Such as figure 1 As shown, the most commonly used harmonic gear reducer on the market is mainly composed of three basic components: A. Rigid gear with an inner ring gear, referred to as rigid gear 1, which is equivalent to the center gear in the planetary system; [0004] B. A flexible gear with an external ring gear, referred to as a flexible gear 5, which is equivalent to a planetary gear; [00...

AI Technical Summary

Problems solved by technology

[0007] One is that the outer circumference of the wave generator 2 is rotationally connected to the rigid wheel 1 through the bearing support 3 and the flexible bearing 4, and the multiple components need to be processed separately and then assembled multiple times, and the assembly error is relatively large;

[0008] The second is that the outer circumference of the flexible wheel 5 is also rotationally connected with the rigid wheel 1 through the roller bearing mounting seat 6 and the cross roller bearing 7. There are also multiple parts that need to be processed separately, and then assembled multiple times, resulting in assembly errors. major defects;

[0009] The third is that the installation hole of the central axis of the flexspline 5 and the installation hole of the central axis of the wave generator 2 are required to be coaxial. In the actual assembly process, since there is no direct positioning device between the flexspline 5 and the wave generator 2, it depends entirely on The assembly accuracy of the transmission shaft determines the coaxiality between the central shaft installation hole of the flex spline 5 and the central shaft installation hole of the wave generator 2, which will lead to large errors and greatly reduce the assembly accuracy

Resulting in lower overall power output accuracy

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