CN104251290A - Speed reducer for small-load industrial robot - Google Patents
Speed reducer for small-load industrial robot Download PDFInfo
- Publication number
- CN104251290A CN104251290A CN201410433233.0A CN201410433233A CN104251290A CN 104251290 A CN104251290 A CN 104251290A CN 201410433233 A CN201410433233 A CN 201410433233A CN 104251290 A CN104251290 A CN 104251290A
- Authority
- CN
- China
- Prior art keywords
- helical gear
- axle
- retarder
- hypoid
- large helical
- 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.)
- Pending
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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
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/24—Toothed gearings for conveying rotary motion without gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth
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- 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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
Abstract
The invention discloses a speed reducer for a small-load industrial robot. The speed reducer comprises a speed reduction box (6), a bevel pinion shaft (3), a bevel gear wheel shaft (4), a hypoid gear wheel (2) and a motor (12); two ends of each of the bevel pinion shaft (3) and the bevel gear wheel shaft (4) are arranged in the speed reduction box (6) rotationally, the bevel pinion shaft (3) and the bevel gear wheel shaft (4) are parallel to each other, and a bevel pinion and a bevel gear wheel which are meshed with each other are arranged on the bevel pinion shaft (3) and the bevel gear wheel shaft (4) respectively. The hypoid gear wheel (2) is arranged on the bevel gear wheel shaft (4). The motor (12) is arranged on the speed reduction box (6), a hypoid pinion (1) is arranged on an output shaft of the motor (12) and meshed with the hypoid gear wheel (2), and axes of the hypoid pinion (1) and the hypoid gear wheel (2) are perpendicular in different planes. The speed reducer has the advantages of low cost, long service life, stable transmission, low noise and simple structure.
Description
Technical field
The present invention relates to a kind of small-sized support industrial robot retarder, belong to industrial robot field.
Background technique
In robot body R&D process, joint speed reducer is a very the key link, is one of technological core of whole robotic part research and development.And the cost of joint speed reducer occupies larger ratio in mechanical part overall cost.
Find in the domestic independent research joint of robot transmission scheme of investigation, low support industrial robot J2, J3 articulation structure of load within the scope of 3-6Kg is substantially all the drive mechanism adopting " actuating motor+gear+speed reducer+output terminal ", the concrete scheme of this structure is that J2, J3 axle actuating motor is placed in swivel base and large arm respectively, J2 axle actuating motor driven gear drives J2 axle speed reducer, J2 axle output end of reducer and large arm link together, thus drive large arm to move to the position of specifying according to the speed of specifying; J3 axle actuating motor driven gear drives J3 axle speed reducer, J3 axle output end of reducer and motor cabinet link together, thus drive motor seat moves to the position of specifying according to the speed of specifying, in the program, RV speed reducer selected by speed reducer, because RV speed reducer has transmit the features such as speed ratio is large, transmitting accuracy is high, volume is little, lightweight.Foreign brand name RV speed reducer price is high, and lead time is long; With foreign brand name RV speed reducer, there is a big difference in material, preparation process etc. for domestic RV speed reducer, and under equivalent specifications and precision, product price is originally also higher, and the life-span is short, and structural type is few, and it is large that apparent size compares external same specification speed reducer.
Summary of the invention
The object of this invention is to provide a kind of small-sized support industrial robot retarder, solve the technological deficiency that in prior art, cost is high.
For solving the problem, the technical solution used in the present invention is:
A kind of small-sized support industrial robot retarder, comprises
Deceleration box;
The bevel pinion axle and large helical gear axle that are arranged in deceleration box are rotated in two ends, and bevel pinion axle is parallel with large helical gear axle, and bevel pinion axle and large helical gear axle arrange bevel pinion and large helical gear respectively, and bevel pinion and large helical gear are meshed;
Be arranged on the hypoid gearwheel on large helical gear axle;
Be arranged on the motor on deceleration box, the output shaft of motor arranges hypoid pinion, hypoid pinion is meshed with hypoid gearwheel, and both axis antarafacials are vertical.
The reducing gear that the present invention adopts Hypoid Gear Drives to add Helical gear Transmission to combine, first order transmission is Hypoid Gear Drives, have that precision is high, speed ratio is large, efficiency is high, compact structure, life-span long and features such as stable drive, hypoid gear is cheap for manufacturing cost; Second level transmission is Helical gear Transmission, has engagement property good, the advantage that stable drive, noise are little, and helical gear contact ratio is large, reduces the load of often pair of gear, improves the bearing capacity of the flank of tooth; Do not produce minimum teeth number that root cuts few etc., helical gear processing cost is lower; Thus entirety reduce cost of the present invention, better economy.
As a further improvement on the present invention, deceleration box side arranges retarder end cap, and bevel pinion axle and the equal one end of large helical gear axle are arranged on deceleration box, and the other end rotates and is arranged on retarder end cap.
In order to ensure the stress that whole retarder built-in system reaches best, large and small helical gear shaft adopts dual-support structure, improves inner rigidity further, assembly precision, reduces stressed to the helical gear flank of tooth of load transfer.
As a further improvement on the present invention, retarder end cap is arranged respectively the first corresponding with bevel pinion axle and large helical gear axle respectively end cap and the second end cap, the first end cap, large helical gear axle one end communicates with deceleration box outside through the second end cap.
First end cap and the second end cap are set, for the sealing of bevel pinion axle and large helical gear axle axle head.
As a further improvement on the present invention, hypoid pinion is arranged on the output shaft of motor by connecting sleeve.
With connecting sleeve, hypoid pinion is arranged on the output shaft of motor, for convenience detach and installation.
As a further improvement on the present invention, motor is arranged on deceleration box by interface board.
Arrange interface board, the installation being convenient to motor and deceleration box is fixed.
As a further improvement on the present invention, large helical gear axle and deceleration box installation place arrange eccentric bushing.
The position of large helical gear axle can be adjusted, thus centre distance when adjustment large helical gear engages with bevel pinion between large helical gear axle and bevel pinion axle.
In sum, the invention has the beneficial effects as follows: cost is low, the life-span is long, stable drive, noise are little, and the present invention also has the simple advantage of structure.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the P direction view of Fig. 1.
Fig. 3 is the schematic diagram of the embodiment of the present invention one.
Fig. 4 is the Q direction view of Fig. 3.
Fig. 5 is the schematic diagram of the embodiment of the present invention two.
Fig. 6 is the M direction view of Fig. 5.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
Small-sized support industrial robot retarder as depicted in figs. 1 and 2, comprise deceleration box 6, deceleration box 6 side arranges retarder end cap 7, bevel pinion axle 3 and large helical gear axle 4 are set in deceleration box 6, the two ends of bevel pinion axle 3 are rotated respectively by bearing and are arranged on deceleration box 6 and retarder end cap 7, the two ends of bevel pinion axle 3 and the inner ring of bearing are fixed, the outer ring of bearing is separately fixed on deceleration box 6 and retarder end cap 7, thus realizes relatively rotating of bevel pinion axle 3 and deceleration box 6 and retarder end cap 7; Large helical gear axle 4 two ends are rotationally connected by bearing and deceleration box 6 and retarder end cap 7, large helical gear axle 4 is fixed near one end of retarder end cap 7 and bearing inner race, outer ring and the retarder end cap 7 of bearing are fixed, large helical gear axle 4 is fixed away from one end of retarder end cap 7 and bearing inner race, the outer ring of bearing is set with eccentric bushing 10, eccentric bushing peace 10 is contained on deceleration box 6.
Large helical gear axle 4 is arranged hypoid gearwheel 2, by interface board 5 mounted motor 12 on deceleration box 6, bevel pinion axle 3 is parallel with large helical gear axle 4, bevel pinion axle 3 and large helical gear axle 4 arrange bevel pinion and large helical gear respectively, bevel pinion and large helical gear are meshed, the output shaft of motor 12 arranges hypoid pinion 1 by connecting sleeve 11, hypoid pinion 1 is meshed with hypoid gearwheel 2, and hypoid pinion 1 is vertical with the axis antarafacial of hypoid gearwheel 2.
Retarder end cap 7 is arranged respectively the first corresponding with bevel pinion axle 3 and large helical gear axle 4 respectively end cap 9 and the second end cap 8, large helical gear axle 4 one end communicates with deceleration box 6 outside through the second end cap 8, and bevel pinion axle 3 is enclosed in deceleration box 6 by the first end cap 9.
Transmission process: motor 12 drives connecting sleeve 11 to rotate, thus drive hypoid pinion 1 to rotate, be meshed with hypoid gearwheel 2 owing to turning hyperboloid small gear 1, so rotation and moment of torsion are passed to hypoid gearwheel 2 by engagement by hypoid pinion 1, moment of torsion and rotation are passed to bevel pinion axle 3 by key by hypoid gearwheel 2 again, rotation and moment of torsion are passed to large helical gear axle 4 by the bevel pinion that is meshed and large helical gear by bevel pinion axle 3, and large helical gear axle 4 rotates and will to rotate and moment of torsion exports.
Embodiment one:
As shown in Figure 3 and Figure 4, the connecting plate 5 of small-sized for the present invention support industrial robot retarder is connected to form new large arm with simple and easy large arm 13, in the overall built-in and simple and easy large arm 13 of motor 12, new large arm can complete original large arm, RV retarder and actuating motor and combine produced function.
Embodiment two:
As shown in Figure 5 and Figure 6, the deceleration box 6 of small-sized for the present invention support industrial robot retarder is arranged on simple and easy transposase 11 4 by screw, large helical gear axle 4 and simple and easy large arm 13 are connected to form new swivel base, complete original swivel base, RV speed reducer and actuating motor and combine produced function.
What be not specifically noted in specification of the present invention is prior art, and should be understood that described in the present invention, concrete case study on implementation is only better case study on implementation of the present invention, is not used for limiting practical range of the present invention.Namely all equivalences done according to the content of the present patent application the scope of the claims change and modify, all should as technology category of the present invention.
Claims (6)
1. a small-sized support industrial robot retarder, is characterized in that: comprise
Deceleration box (6);
The bevel pinion axle (3) and large helical gear axle (4) that are arranged in deceleration box (6) are rotated in two ends, bevel pinion axle (3) is parallel with large helical gear axle (4), bevel pinion axle (3) and large helical gear axle (4) arrange bevel pinion and large helical gear respectively, and bevel pinion and large helical gear are meshed;
Be arranged on the hypoid gearwheel (2) on large helical gear axle (4);
Be arranged on the motor (12) on deceleration box (6), the output shaft of motor (12) is arranged hypoid pinion (1), hypoid pinion (1) is meshed with hypoid gearwheel (2), and both axis antarafacials are vertical.
2. small-sized support industrial robot according to claim 1 retarder, it is characterized in that: deceleration box (6) side arranges retarder end cap (7), bevel pinion axle (3) and large helical gear axle (4) are all arranged on deceleration box (6) in one end, and the other end rotates and is arranged on retarder end cap (7).
3. small-sized support industrial robot according to claim 2 retarder, it is characterized in that: retarder end cap (7) is arranged respectively the first end cap (9) corresponding with bevel pinion axle (3) and large helical gear axle (4) respectively and the second end cap (8), first end cap (9), large helical gear axle (4) one end communicates with deceleration box (6) outside through the second end cap (8).
4. small-sized support industrial robot according to claim 1 retarder, is characterized in that: hypoid pinion (1) is arranged on the output shaft of motor (12) by connecting sleeve (11).
5. small-sized support industrial robot according to claim 1 retarder, is characterized in that: motor (12) is arranged on deceleration box (6) by interface board (5).
6. the small-sized support industrial robot retarder according to any one of Claims 1-4, is characterized in that: large helical gear axle (4) and deceleration box (6) installation place arrange eccentric bushing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410433233.0A CN104251290A (en) | 2014-08-28 | 2014-08-28 | Speed reducer for small-load industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410433233.0A CN104251290A (en) | 2014-08-28 | 2014-08-28 | Speed reducer for small-load industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104251290A true CN104251290A (en) | 2014-12-31 |
Family
ID=52186457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410433233.0A Pending CN104251290A (en) | 2014-08-28 | 2014-08-28 | Speed reducer for small-load industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104251290A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106286716A (en) * | 2015-06-23 | 2017-01-04 | 株式会社三共制作所 | Employ inscribe cam and the power transmission of the little gear of cylinder |
| US11486485B2 (en) | 2018-07-24 | 2022-11-01 | Sew-Eurodrive Gmbh & Co. Kg | Geared motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020029647A1 (en) * | 1997-08-18 | 2002-03-14 | Eddie Brooks | Gear ratio multiplier |
| CN1397849A (en) * | 1996-01-29 | 2003-02-19 | 冲数据株式会社 | Toner case |
| CN1605769A (en) * | 2003-10-10 | 2005-04-13 | 住友重机械工业株式会社 | Geared motor for electric wheelchair |
| US20050115347A1 (en) * | 2003-11-28 | 2005-06-02 | Sumitomo Heavy Industries, Ltd. | Speed reducer having hypoid gear |
| CN204127212U (en) * | 2014-08-28 | 2015-01-28 | 南京埃斯顿机器人工程有限公司 | A kind of small-sized support industrial robot retarder |
-
2014
- 2014-08-28 CN CN201410433233.0A patent/CN104251290A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397849A (en) * | 1996-01-29 | 2003-02-19 | 冲数据株式会社 | Toner case |
| US20020029647A1 (en) * | 1997-08-18 | 2002-03-14 | Eddie Brooks | Gear ratio multiplier |
| CN1605769A (en) * | 2003-10-10 | 2005-04-13 | 住友重机械工业株式会社 | Geared motor for electric wheelchair |
| US20050115347A1 (en) * | 2003-11-28 | 2005-06-02 | Sumitomo Heavy Industries, Ltd. | Speed reducer having hypoid gear |
| CN204127212U (en) * | 2014-08-28 | 2015-01-28 | 南京埃斯顿机器人工程有限公司 | A kind of small-sized support industrial robot retarder |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106286716A (en) * | 2015-06-23 | 2017-01-04 | 株式会社三共制作所 | Employ inscribe cam and the power transmission of the little gear of cylinder |
| US11486485B2 (en) | 2018-07-24 | 2022-11-01 | Sew-Eurodrive Gmbh & Co. Kg | Geared motor |
| US11927261B2 (en) | 2018-07-24 | 2024-03-12 | Sew-Eurodrive Gmbh & Co. Kg | Geared motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141231 |
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| RJ01 | Rejection of invention patent application after publication |