WO2024254918A1 - Réducteur d'harmoniques, bras mécanique et robot - Google Patents

Réducteur d'harmoniques, bras mécanique et robot Download PDF

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Publication number
WO2024254918A1
WO2024254918A1 PCT/CN2023/104710 CN2023104710W WO2024254918A1 WO 2024254918 A1 WO2024254918 A1 WO 2024254918A1 CN 2023104710 W CN2023104710 W CN 2023104710W WO 2024254918 A1 WO2024254918 A1 WO 2024254918A1
Authority
WO
WIPO (PCT)
Prior art keywords
steel wheel
wheel
flexible
bearing
outer ring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/104710
Other languages
English (en)
Chinese (zh)
Inventor
冀浩宇
郑随兵
张旭龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Realman Intelligent Technology (beijing) Co Ltd
Original Assignee
Realman Intelligent Technology (beijing) Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Realman Intelligent Technology (beijing) Co Ltd filed Critical Realman Intelligent Technology (beijing) Co Ltd
Publication of WO2024254918A1 publication Critical patent/WO2024254918A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the wave generator comprises a cam and a flexible bearing, wherein the flexible bearing is arranged between the flexible wheel and the cam;
  • the outer ring on one side of the cam that is rollingly connected to the outer ring of the bearing is provided with a cam annular groove, which is a mounting groove for the ball.
  • the steel wheel is provided with threaded holes on the end surface and the outer ring.
  • one end of the first steel wheel is provided with a ring-shaped steel wheel boss extending in an annular manner, and the outer peripheral wall of the steel wheel boss is provided with a first V-shaped annular groove;
  • the inner ring of the second steel wheel is provided with a first steel wheel part and a second steel wheel part, and the inner diameter of the first steel wheel part is greater than the inner diameter of the second steel wheel part;
  • the inner peripheral wall of the first steel wheel part of the second steel wheel is provided with a second V-shaped annular groove, which cooperates with the first V-shaped annular groove to form a rectangular annular groove; and also includes a roller, which is arranged in the rectangular annular groove.
  • a robotic arm comprises one or more joints, wherein the joints comprise a harmonic reducer as described above.
  • a robot comprises the robotic arm as described above.
  • the present invention arranges a bearing outer ring on the outer peripheral wall of at least one side of the cam, and uses the cam as a bearing inner ring. In this way, independent bearing parts are reduced without increasing the volume of the harmonic reducer.
  • the bearing outer ring and the cam form a bearing structure, which increases the rigidity of the bearing and the high integration of the overall structure, so that the harmonic reducer can be used as a completely independent individual, and the stability and rigidity of the structure are increased.
  • the flexible wheel and the flexible bearing are in contact with the bearing outer ring, so the flexible wheel and the flexible bearing can be limited, the axial movement of the flexible wheel can be reduced, and the stability of the flexible wheel can be improved.
  • this integrated design increases the sealing of the structure, can reduce the sealing ring, and does not need to be used in the subsequent
  • An additional structure is added to seal the grease in the reducer, which simplifies the process.
  • the outer ring of the bearing limits the flexible wheel, so there is no need to use additional connecting components and fixing components to fix the flexible wheel, which further simplifies the process and reduces the volume and weight of the harmonic reducer.
  • the harmonic reducer of the present invention can be directly connected to the motor without the need for additional bearings as connecting parts, which reduces the axial length of the harmonic reducer when connected to the motor, further achieving the purpose of miniaturization, and at the same time reduces the difficulty of coaxiality adjustment of multiple component connections, reduces costs, and is conducive to promotion.
  • FIG1 is a cross-sectional view of a harmonic reducer according to an embodiment of the present invention.
  • FIG2 is a schematic diagram of the structure of a robot according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a dual-arm robot according to an embodiment of the present invention.
  • FIG4 is a schematic diagram of the structure of a composite robot according to an embodiment of the present invention.
  • FIG5 is an exploded view of the overall structure of an embodiment of the present invention.
  • FIG1 shows a cross-sectional view of a harmonic reducer of an embodiment of the present invention
  • FIG5 shows an exploded view of the overall structure of an embodiment of the present invention, as shown in FIG1 and FIG5, comprising: a steel wheel 1, a flexible wheel 2 and a wave generator 3; the steel wheel 1, the flexible wheel 2 and the wave generator 3 are all annular structures, and the steel wheel 1, the flexible wheel 2 and the wave generator 3 are sequentially assembled from the outside to the inside; the flexible wheel 2 is arranged in an annular receiving cavity of the steel wheel 1, and the wave generator 3 is arranged in an annular receiving cavity of the flexible wheel 2.
  • the specific spacing between the steel wheel 1, the flexible wheel 2 and the wave generator 3 is not limited here.
  • the steel wheel 1, the flexible wheel 2 and the wave generator 3 are tightly matched.
  • the steel wheel 1 includes a first steel wheel 1-1 and a second steel wheel 1-2.
  • the first steel wheel 1-1 and the second steel wheel 1-2 are annular structures.
  • the first steel wheel 1-1 and the second steel wheel 1-2 form an annular storage cavity.
  • the radial relationship between the first steel wheel 1-1 and the second steel wheel 1-2 is not limited here, nor is the axial relationship between the two.
  • the first steel wheel 1-1 and the second steel wheel 1-2 have the same radial length, and the first steel wheel 1-1 and the second steel wheel 1-2 have the same axial length.
  • the connection structure between the first steel wheel 1-1 and the second steel wheel 1-2 may be a cross roller bearing structure.
  • connection structure is that one end of the first steel wheel 1-1 is provided with a ring-shaped extending steel wheel boss 1-1-1.
  • the overall size ratio relationship between the steel wheel boss 1-1-1 and the first steel wheel 1-1 is not limited here.
  • the steel wheel boss 1-1-1 may be arranged at a position biased toward the outer ring of the first steel wheel 1-1, or may be arranged at a position biased toward the inner ring of the first steel wheel 1-1, or may extend along the position of the center line of the cross section of the first steel wheel 1-1.
  • the outer peripheral wall of the steel wheel boss 1-1-1 is provided with a first V-shaped ring groove, and the positional relationship between the first V-shaped ring groove and the steel wheel boss 1-1-1 is not limited here, nor is the specific shape of the first V-shaped ring groove limited;
  • the inner ring of the second steel wheel 1-2 includes a first steel wheel part 1-2-1 and a second steel wheel part 1-2-2, and the size ratio relationship between the first steel wheel part 1-2-1 and the second steel wheel part 1-2-2 is not limited here, and the inner peripheral edge of the first steel wheel part 1-2-1 is provided with a second V-shaped ring groove, which is in contact with the first V-shaped ring groove.
  • the grooves cooperate to form a rectangular annular groove.
  • the first steel wheel part 1-2-1 has the same axial length as the steel wheel boss 1-1-1, and the two can fit closely together. It also includes a roller 1-5, which is arranged in the rectangular annular groove formed by the first V-shaped annular groove and the second V-shaped annular groove.
  • the roller 1-5 is a cylindrical structure processed from a metal material and is cross-mounted in the rectangular annular groove formed by the first steel wheel 1-1 and the second steel wheel 1-2;
  • the first steel wheel 1-1 An entry and exit position of the roller 1-5 is provided, and a roller stopper is provided.
  • the length of the flexible wheel outer teeth 2-1 is less than the axial length of the outer circumferential wall of the flexible wheel 2, it can be set at one end biased towards the flexible wheel, or it can be set at the center of the flexible wheel 2.
  • the length of the flexible wheel outer teeth 2-1 is the same as the axial length of the outer circumferential wall of the flexible wheel 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)

Abstract

Réducteur harmonique, bras mécanique et robot, le réducteur harmonique comprenant une cannelure circulaire, une cannelure flexible et un générateur d'ondes, le générateur d'ondes comprenant une came et un palier souple; une bague externe de palier est disposée sur une paroi périphérique externe d'au moins un côté de la came, et la came est reliée en rotation à la bague externe de palier; et une paroi périphérique externe de la bague externe de palier est reliée à une paroi périphérique interne de la cannelure circulaire. Dans la présente invention, la bague externe de palier est disposée sur une paroi périphérique externe d'au moins une extrémité de la came, et la came sert de bague interne de palier, de telle sorte que des parties et des composants sont réduits; et sous la même capacité de palier, la bague externe de palier limite la cannelure flexible et le palier flexible, une bague d'étanchéité est omise, et aucun composant de liaison ou composant de fixation supplémentaire n'a besoin d'être utilisé pour fixer la cannelure flexible, ce qui simplifie le processus et réduit le volume et le poids du réducteur harmonique. Le réducteur d'harmoniques selon la présente invention peut être directement relié à un moteur électrique, et aucun palier supplémentaire n'est nécessaire, ce qui réduit la longueur axiale lorsque le réducteur d'harmoniques est relié au moteur électrique, et ne réduit pas la puissance du moteur électrique, ce qui permet en outre d'atteindre l'objectif de miniaturisation, et ainsi le coût est réduit et la promotion est facilitée.
PCT/CN2023/104710 2023-06-12 2023-06-30 Réducteur d'harmoniques, bras mécanique et robot Ceased WO2024254918A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202310689596.XA CN116717570B (zh) 2023-06-12 2023-06-12 一种谐波减速器、机械臂及机器人
CN202310689596.X 2023-06-12

Publications (1)

Publication Number Publication Date
WO2024254918A1 true WO2024254918A1 (fr) 2024-12-19

Family

ID=87871073

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PCT/CN2023/104710 Ceased WO2024254918A1 (fr) 2023-06-12 2023-06-30 Réducteur d'harmoniques, bras mécanique et robot

Country Status (2)

Country Link
CN (1) CN116717570B (fr)
WO (1) WO2024254918A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119594163A (zh) * 2025-02-11 2025-03-11 爱磁科技(天津)有限公司 无齿谐波减速器
CN120845453A (zh) * 2025-09-23 2025-10-28 上海振华轴承总厂有限公司 谐波减速机配套交叉滚子轴承
CN120941448A (zh) * 2025-10-17 2025-11-14 国茂精密传动(常州)有限公司 具身智能机器人用谐波关节模组
CN121474328A (zh) * 2026-01-07 2026-02-06 深圳市杉川谐波传动科技有限公司 谐波减速器及机器人

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117458769B (zh) * 2023-11-03 2024-07-26 睿尔曼智能科技（北京）有限公司 一种集成波发生器的电机及一体化关节
CN117182960B (zh) * 2023-11-07 2024-01-19 睿尔曼智能科技（北京）有限公司 一种一体化关节及机械臂
CN117927633A (zh) * 2024-01-04 2024-04-26 睿尔曼智能科技（北京）有限公司 一种谐波减速器、机器人关节和机器人
CN119550326A (zh) * 2024-12-20 2025-03-04 广东美的电气有限公司 包括机器人用关节装置的机器人机械手臂结构和齿轮装置
CN119825894B (zh) * 2025-01-02 2025-09-30 睿尔曼智能科技(江苏)有限公司 一种谐波减速器和一体化关节
CN120083792A (zh) * 2025-04-02 2025-06-03 广东良质关节科技有限公司 一种人形机器人用双钢轮谐波减速器及人形机器人

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CN206246636U (zh) * 2016-11-19 2017-06-13 广东宝控智能装备科技有限公司 简易谐波减速器
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JP2019060356A (ja) * 2017-09-25 2019-04-18 住友重機械工業株式会社 撓み噛合い式歯車装置
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CN114110126A (zh) * 2021-12-15 2022-03-01 珠海格力电器股份有限公司 谐波减速器、机器人
CN215980696U (zh) * 2021-08-31 2022-03-08 北京柏惠维康科技有限公司 谐波减速器、机械臂及机器人
CN116181877A (zh) * 2022-12-30 2023-05-30 浙江来福谐波传动股份有限公司 超小型双钢轮谐波结构

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CN108374877B (zh) * 2018-04-18 2023-07-21 睿尔曼智能科技（北京）有限公司 一种轴承与谐波一体化的超小型谐波减速器

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Publication number Priority date Publication date Assignee Title
CN206246636U (zh) * 2016-11-19 2017-06-13 广东宝控智能装备科技有限公司 简易谐波减速器
JP2019060356A (ja) * 2017-09-25 2019-04-18 住友重機械工業株式会社 撓み噛合い式歯車装置
CN108343724A (zh) * 2018-03-01 2018-07-31 睿尔曼智能科技（北京）有限公司 一种轴承与谐波一体化的超小型谐波减速器
CN108980301A (zh) * 2018-10-11 2018-12-11 北京中研华飞科技有限公司 用于谐波传动的波发生器以及中空式谐波传动减速器
CN215806136U (zh) * 2021-08-31 2022-02-11 北京柏惠维康科技有限公司 谐波减速器、机械臂及机器人
CN215980696U (zh) * 2021-08-31 2022-03-08 北京柏惠维康科技有限公司 谐波减速器、机械臂及机器人
CN114110126A (zh) * 2021-12-15 2022-03-01 珠海格力电器股份有限公司 谐波减速器、机器人
CN116181877A (zh) * 2022-12-30 2023-05-30 浙江来福谐波传动股份有限公司 超小型双钢轮谐波结构

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119594163A (zh) * 2025-02-11 2025-03-11 爱磁科技(天津)有限公司 无齿谐波减速器
CN120845453A (zh) * 2025-09-23 2025-10-28 上海振华轴承总厂有限公司 谐波减速机配套交叉滚子轴承
CN120941448A (zh) * 2025-10-17 2025-11-14 国茂精密传动(常州)有限公司 具身智能机器人用谐波关节模组
CN121474328A (zh) * 2026-01-07 2026-02-06 深圳市杉川谐波传动科技有限公司 谐波减速器及机器人
CN121474328B (zh) * 2026-01-07 2026-03-17 深圳市杉川谐波传动科技有限公司 谐波减速器及机器人

Also Published As

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