CN105889418B - Zero return difference worm gear speed reducer of industrial robot hollow type - Google Patents
Zero return difference worm gear speed reducer of industrial robot hollow type Download PDFInfo
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- CN105889418B CN105889418B CN201410808709.4A CN201410808709A CN105889418B CN 105889418 B CN105889418 B CN 105889418B CN 201410808709 A CN201410808709 A CN 201410808709A CN 105889418 B CN105889418 B CN 105889418B
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 14
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Abstract
The present invention relates to robot retarder technical field, a kind of zero return difference worm gear speed reducer of industrial robot hollow type, including engine base, worm gear, worm screw, output shaft, bearing and end cap, it is characterised in that：On output shaft successively device elastic scheibe, the second end tooth set and spring, elastic scheibe is close to bearing face, spring is close to another bearing inner race end face, two end teeth cover tooth and tooth engagement, first end tooth covers outer circle and endoporus is connected to half slit bamboo or chopped wood worm gear A endoporus and output shaft outer circle, second end tooth covers outer circle and half slit bamboo or chopped wood worm gear B endoporus spline slide fits, second end tooth covers endoporus empty set in output shaft outer circle, 0.1 °~0.2 ° of half slit bamboo or chopped wood wheel deflection, makes the two sides of worm spiral alveolus be engaged respectively with half slit bamboo or chopped wood worm gear A, B in two halves slit bamboo or chopped wood worm gear A, B.Advantageous effect：Enveloping worm drive than big, stable drive, noise is small, bearing capacity is big, will not broken teeth, efficiency 0.85~0.95, bearing it is at low cost；Manufacturing cost is the 25~30% of CORT, lower than Japanese RV c-types.
Description
【Technical field】
The present invention relates to industrial robot retarder technical field, a kind of zero return difference worm gear reducer of industrial robot hollow type
Device.
【Background technology】
Patent of invention CORT (97100463) main problem is：
1. complicated, part is more, the accuracy of manufacture requires very high, expensive；
2. return difference cannot compensate automatically；
3. the hollow types of RV-C can not be replaced.
China's 863 Program, state natural sciences fund one repeat list, it is desirable to which state internal gear expert, first-class manufacture are public
Department is in day
On the basis of this RV, develop belong to Chinese oneself, the retarder with independent intellectual property right replaces Japanese RV.
However, so far be it is assorted it is petty still must be mating from Japanese import RV
This year, the Department of Science and Technology are assorted petty assign again《Industrial robot high accurate speed reducer 863 Program in 2015》
【Invention content】
The present invention is worm geared significant improvement, it is therefore intended that：
It is proposed zero return difference worm gear speed reducer of industrial robot hollow type that a kind of process for machining is ripe, manufacturing cost is low,
To replace Japan's RV-C type hollow decelerators.
Double enveloping hourglass worm gearing has transmission ratio big, compact-sized；Stable drive, vibration and noise are small；
Transmission efficiency (0.85~0.95)；Bearing capacity is 3~4 times of common worm screw, and worm-drive is except worm gear teeth because abrasion makes transverse tooth thickness
It is difficult broken teeth to be thinned outside excessive, thus overload capacity is big, and majority is applied to heavily loaded power transmission occasion.
RV-320C hollow types：Overall dimensions φ 440 × 140,80kg, rated output torque are 3136Nm, price about 5.5
Wan Yuan.Type TOP-200：Worm screw d1=70.13, worm gear b=58, d2=329.87, mt=5.24, T2=3984Nm price
8300 yuan.The two overall dimensions are close, but TOP-200 prices are only the 15% of RV-320C.
Realize that 1arc min return difference technical solutions are in the country：" high precision machine tool, high-precision manufacture ".
High precision machine tool needs the advanced manufacture talent and substantial contribution, keeps manufacturing cost excessively high, enterprise is necessarily by Japan
The price reduction of RV retarders is suppressed, and is collapsed until being squeezed.
Therefore, the present invention has to propose：《The intermediate accuracy of manufacture》Can retarder realize zero return differenceLow manufacture can be used
The Japanese high-precision RV-C type speed reducers of cost retarder substitution
The theoretical foundation of present inventive concept has two：
(1) the elimination gear auxiliary air gap of NC machine tool feed system is designed to the enlightenment of the present invention：
NC machine tool feed system requires mechanical structure to have between high transmission stiffness and the transmission for eliminating as much as gear pair
Gap loses command pulse and bad student is anti-because drive gap can cause each counter motion of feed system to lag behind command signal
To dead zone, transmission accuracy is influenced very big.Numerically-controlled machine tool using two thickness engagings left and right face respectively with the left and right face of wide gear
It is adjacent to, to eliminate backlash；Hubei College of Automotive Engineering Qiu's new bridge proposes《Compensation is new square automatically for roller gear backlash
Method》：" in the gear drive of servo drive system, in order to ensure Bidirectional driving precision, it is necessary to take measures to eliminate flank
Gap, sliding pin slide side set gap adjusting mechanism, and backlash can compensate automatically.”
Qin great Tong, Xie Liyang are edited《Modern mechanical design handbook》It rolls up in 5 the 22nd (designs of optical, mechanical and electronic integration system)
It gives straight-tooth and helical gear and eliminates gear clearance method (refer to volume 5-22-168, page 169)：Driving gear and two panels driven tooth
Taking turns A and B meshing relations is：Driving wheel engages when rotating forward with driven gear A；Driving wheel engages when inverting with driven gear A.
(2) the old small peace Doctors ' Teachers patent of invention of University Of Chongqing《Accurate cycloid pin gear epicyclic transmission apparatus》
(ZL200810069737)：
The technical characteristic of the invention：If the Cycloidal Wheel a and the flank profil face direction of needle tooth engagement in pin wheel housing A are clockwise；
Then the flank profil face direction of the Cycloidal Wheel b in pin wheel housing B and needle tooth engagement is counterclockwise, thus zero return difference when forward and backward.
Principle is described identical as (one).The medium accuracy of manufacture, zero return difference when forward and backward；Disadvantage：Monolithic Cycloidal Wheel is done work.
Technical scheme is as follows：
Device elastic scheibe, the first and second end tooth set and disk spring, elastic scheibe are close to the first circular cone successively on output shaft
Roller bearing inner ring end face, disk spring are close to the second tapered roller bearing internal ring end face；
The inner side end tooth of first and second end tooth set is rake tooth or stepped tooth, and tooth and tooth engagement, the first end tooth set are outer
Circle and endoporus are connected to half slit bamboo or chopped wood worm gear B endoporus and output shaft outer circle, and the second end tooth covers outer circle and half slit bamboo or chopped wood worm gear A endoporus splines
Slide fit, second end tooth cover endoporus empty set in output shaft outer circle；
After two and half slit bamboo or chopped wood worm gear A, B overall processings, wherein one and half slit bamboo or chopped wood worm gears are deflected 0.1 °~0.2 ° when assembly, make snail
It is engaged respectively with two and half slit bamboo or chopped wood worm gear A, B helical teeth the two sides of 2 spiral alveolus of bar.
First and second end tooth set inner side end tooth is wavy circle-arc tooth or sine, similar to sinusoidal curve tooth.
Two and half slit bamboo or chopped wood worm gear A, B are zinc-base wear-resisting alloy.
【Advantageous effect】The present invention than Japan's RV-C type speed reducers, create, be novel, practicability is：
(1) Double enveloping hourglass worm gearing technical maturity, transmission ratio are big, compact-sized, stable drive, vibration and
Noise is small, large carrying capacity, will not broken teeth, transmission efficiency be up to 0.85~0.95, do not need expensive special special bearing；
(2) manufacturing cost estimation is the 25~30% of RV, CORT, and the cost than Japanese RV-C types hollow decelerator is lower.
Than University Of Chongqing《Double-worm wheel accurate transmission mechanism》(200810069736)：Return difference is small, simple in structure, is manufactured into
This is low.
【Description of the drawings】
Fig. 1 are the structural schematic diagram of the embodiment of the present invention；
Fig. 2 original states：The both sides face N, M of worm spiral slot point is separately close to schematic diagram when half slit bamboo or chopped wood worm gear A, B；
Fig. 3 dextrorotation worm gear left hand rules：Left hand four refers to, thumb is illustrated to respectively worm screw, worm gear rotation direction principle
Figure.
【Specific implementation mode】
Referring to Fig.1-3, a kind of zero return difference worm gear speed reducer of industrial robot hollow type, including engine base 1, in the engine base 1
Worm gear, the worm screw 2, flanged disk output shaft 5, bearing support and end cap, the worm gear that are engaged with worm gear include being with gorge circle
Axle journal is supported on 1 endoporus of engine base, axis by first bearing 3 on the outside of two and half slit bamboo or chopped wood worm gear A, B of die joint, the half slit bamboo or chopped wood worm gear A
It is limited to the nose circle lid 4 by being connected on engine base 1, axle journal is supported on big end cap 8 by second bearing 9 on the outside of the half slit bamboo or chopped wood worm gear B
Endoporus, big end cap are connected on engine base 1, on the inside axle journal of the half slit bamboo or chopped wood worm gear A and half slit bamboo or chopped wood worm gear B with unification copper alloy or
The purpose of zinc-base wear-resisting alloy lasso 14, device lasso 14 makes half slit bamboo or chopped wood worm gear A, B form freely supported structure, is set in the output shaft 5
Cable line three-way hole is filled, 5 ring flange of the output shaft is connecting external drive part, the first and second circular cone of 5 both ends of the output shaft
Roller bearing 10,7 is supported on big end cap 8 and 4 endoporus of nose circle lid respectively, it is characterised in that：
Device elastic scheibe 12, the first and second end tooth cover 13,6 and spring 11, the elasticity shelves successively on the output shaft 5
Circle 12 is close to 10 inner ring end face of the first taper roll bearing, and spring 11 is close to 7 inner ring end face of the second taper roll bearing, the bullet
Spring 11 is dish-like or cylindrical compression spring, and elastic scheibe 12 is used for limiting, and spring 11 is used for resetting；
First and second end tooth covers 13,6 inner side end tooth for rake tooth or stepped tooth, and tooth and tooth engagement are described
First end tooth covers 13 outer circles and endoporus is connected to half slit bamboo or chopped wood worm gear B endoporus and 5 outer circle of output shaft, and second end tooth covers outside 6
Circle and half slit bamboo or chopped wood worm gear A endoporus spline slide fits, second end tooth cover 6 endoporus empty sets in 5 outer circle of output shaft, and the load of worm screw 2 turns
When dynamic acting：Since the first and second end tooth set 13,6 is end face tooth engagement, two component of end face between cog normal pressure Fn：Axial force
Fa and peripheral force Ft, when axial force F a is more than 11 compressing force of resetting spring, axial force F a pushes the second end tooth set 6 to move to right, week
The second end tooth is set to cover 6 reverse deflection, one very little angle Δ θ=0.1 °~0.2 ° to power Ft, then half slit bamboo or chopped wood worm gear A helical teeth and 2 spiral shell of worm screw
The rotation alveolus other side faces N are close to, and 2 half slit bamboo or chopped wood worm gear A, B drive 5 work done of output shaft in the same direction；
After two and half slit bamboo or chopped woods worm gear A, B overall processing, when assembly will wherein one and half slit bamboo or chopped wood worm gears deflection Δ θ=0.1 °~
0.2 °, the two sides of 2 spiral alveolus of worm screw are made to be engaged respectively with two and half slit bamboo or chopped wood worm gear A, B helical teeth, deflection angle Δ θ sizes depend on
Generated meshing backlass when worm screw, spiral case making.
Zero return difference worm gear speed reducer of industrial robot hollow type, it is characterised in that：The first and second end tooth set 13,6
Inner side end tooth is wavy circle-arc tooth or sine, similar to sinusoidal curve tooth, since there is no answer wavy circle-arc tooth
Power is concentrated without easy tooth-breaking, and wavy circle-arc tooth is easy to milling, grinding and is active in one's movements.
Zero return difference worm gear speed reducer of industrial robot hollow type, it is characterised in that：Described two and half slit bamboo or chopped woods worm gear A, B are
Zinc-base wear-resisting alloy is cast, zinc-base wear-resisting alloy is cast, there is high intensity, the performance of high abrasion, casting technique is simple, is suitable for
A variety of casting processes method meets production and the requirement that uses, is a kind of excellent engineering material, for instead of ZQSn10-1,
After ZQSn6-6-3, ZQAl9-4 alloy, cost 50~70% is reduced.
Operation principle is summarized as follows：
(a) original state return difference is zero：The both sides face M, N of 2 spiral alveolus of worm screw respectively with two and half slit bamboo or chopped wood worm gear A, B helical teeth
Engagement, that is a very little angle Δ θ is deflected between half slit bamboo or chopped wood worm gear A and half slit bamboo or chopped wood worm gear B, the size of deflection angle Δ θ depends on worm screw
With sideshake caused by spiral case making, generally Δ θ=0.1 °~0.2 °；
When worm screw 2 turns clockwise, according to dextrorotation worm gear left hand rule, worm gear B turn clockwise drive the first end tooth set 13,
Output shaft 5 is driven also to make to turn clockwise；
When worm screw 2 turns counterclockwise, according to dextrorotation worm gear left hand rule, worm gear A turn counterclockwise drive the second end tooth set 6,
Second end tooth set, 6 the first end tooth of drive set 6 drives output shaft 5 to make to turn counterclockwise, thus return difference is zero；
(b) when the load of worm screw 2 rotation acting：Since the first and second end tooth set 13,6 is end face tooth engagement, end face between cog positive pressure
Two component of power Fn：Axial force F a and peripheral force Ft, when axial force F a is more than 11 compressing force of resetting spring, axial force F a is pushed away
Dynamic second end tooth set 6 moves to right, and peripheral force Ft makes the second end tooth cover 6 reverse deflection, one very little angle Δ θ=0.1 °~0.2 °, then partly
Slit bamboo or chopped wood worm gear A helical teeth are close to the 2 spiral alveolus other side faces N of worm screw, and 2 half slit bamboo or chopped wood worm gear A, B drive 5 work done of output shaft in the same direction；
Conversely, when 2 stop of worm screw, resetting spring 11 is allowed to return to initial position, and return difference is zero when forward and backward.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme all belong to the scope of protection of the present invention.
Claims (3)
1. a kind of zero return difference worm gear speed reducer of industrial robot hollow type, including engine base (1), the worm gear in engine base (1), with
Worm screw (2), flanged disk output shaft (5), bearing support and the end cap of worm gear engagement, the worm gear includes using gorge circle as die joint
The first half slit bamboo or chopped wood worm gears (A), the second half slit bamboo or chopped wood worm gears (B), axle journal is propped up by first bearing (3) on the outside of the first half slit bamboo or chopped wood worm gear (A)
It holds in engine base (1) endoporus, axial direction is limited by the nose circle lid (4) being connected on engine base (1), and the second half slit bamboo or chopped wood worm gear (B) is outside
Side shaft journal is supported on big end cap (8) endoporus by second bearing (9), and the big end cap is connected on engine base (1), the first half slit bamboo or chopped wood
Worm gear (A) on the inside axle journal of the second half slit bamboo or chopped wood worm gear (B) with unification copper alloy or zinc-base wear-resisting alloy lasso (14),
Dress cable line three-way hole is set in the output shaft (5), output shaft (5) ring flange is connecting external drive part, the output
Axis (5) both ends are supported on big end cap (8) and nose circle lid (4) endoporus, feature respectively with the first and second taper roll bearing (10,7)
It is：
Device elastic scheibe (12), the first and second end tooth set (13,6) and spring (11) successively on the output shaft (5), the bullet
Property ring washer (12) is close to the first taper roll bearing (10) inner ring end face, and the spring (11) is close to the second taper roll bearing
(7) inner ring end face, the spring (11) are dish-like or cylindrical compression spring；The inner end of the first and second end tooth set (13,6)
Face tooth is rake tooth or stepped tooth, tooth and tooth engagement, and the first end tooth set (13) outer circle and endoporus are connected to described the
In 2 half slit bamboo or chopped wood worm gears (B) and output shaft (5) outer circle, the second end tooth set (6) outer circle and flower in the first half slit bamboo or chopped wood worm gear (A)
Key slide fit, the second end tooth set (6) endoporus empty set is in output shaft (5) outer circle；The first, second half slit bamboo or chopped wood worm gear (A, B) is whole
After processing, wherein one and half slit bamboo or chopped wood worm gears are deflected 0.1 °~0.2 ° when assembly, make the two sides of worm screw (2) spiral alveolus respectively with
The first, second half slit bamboo or chopped wood worm gear (A, B) helical teeth engagements.
2. zero return difference worm gear speed reducer of industrial robot hollow type according to claim 1, it is characterised in that：Described first,
Two end tooth sets (13,6) inner side end tooth is wavy circle-arc tooth or sine curve tooth.
3. zero return difference worm gear speed reducer of industrial robot hollow type according to claim 1 or claim 2, it is characterised in that：Described
One, the second half slit bamboo or chopped wood worm gears (A, B) are zinc-base wear-resisting alloy.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410808709.4A CN105889418B (en) | 2014-12-08 | 2014-12-08 | Zero return difference worm gear speed reducer of industrial robot hollow type |
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|---|---|---|---|
| CN201410808709.4A CN105889418B (en) | 2014-12-08 | 2014-12-08 | Zero return difference worm gear speed reducer of industrial robot hollow type |
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| CN105889418B true CN105889418B (en) | 2018-10-09 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106481744A (en) * | 2016-12-05 | 2017-03-08 | 吴小杰 | Industrial robot end-tooth vuilt-up crankshaft formula RV decelerator |
| CN109707796A (en) * | 2019-01-09 | 2019-05-03 | 银川威力传动技术股份有限公司 | A kind of rotary reducer with damping torque |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002310267A (en) * | 2001-04-10 | 2002-10-23 | Bando Chem Ind Ltd | Resin-made worm wheel, manufacturing device thereof, and manufacturing method therefor |
| JP2004026102A (en) * | 2002-06-28 | 2004-01-29 | Koyo Seiko Co Ltd | Electric power steering device |
| CN201162804Y (en) * | 2008-03-03 | 2008-12-10 | 李旭才 | Worm gear apparatus capable of improving transmission accuracy |
| CN102032320B (en) * | 2010-11-04 | 2013-02-06 | 吴声震 | Zero-return difference worm gear speed reducer for industrial robot |
| CN102062172B (en) * | 2010-11-04 | 2013-11-06 | 吴声震 | Solar tracking gapless worm gear speed reducer |
| CN202251887U (en) * | 2011-09-08 | 2012-05-30 | 江阴克威齿轮箱制造有限公司 | Worm gear sleeve in reducer |
| JPWO2013141002A1 (en) * | 2012-03-23 | 2015-08-03 | 株式会社椿本チエイン | Worm gear device |
| CN102979888A (en) * | 2012-10-09 | 2013-03-20 | 吴小杰 | Bearing grease lubrication worm gear speed reducer of industrial robot |
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Effective date of registration: 20180828 Address after: 325603 No. 3, Zhong Nan Tian Road, North white elephant Town, Yueqing City, Wenzhou, Zhejiang. Applicant after: Chen Wei Address before: 325400 Room 302, building 11, West Garden, Kunyang Town, Pingyang, Wenzhou, Zhejiang Applicant before: Wu Xiaojie |
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Effective date of registration: 20211020 Address after: 215122 building 3, No. 68, Qiye Road, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee after: Suzhou Huazhen industrial robot reducer Co.,Ltd. Address before: 325603 No. 3, Zhong Nan Tian Road, North white elephant Town, Yueqing City, Wenzhou, Zhejiang. Patentee before: Chen Wei |
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Denomination of invention: Hollow type zero return difference worm gear reducer for industrial robots Effective date of registration: 20221014 Granted publication date: 20181009 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Suzhou Branch Pledgor: Suzhou Huazhen industrial robot reducer Co.,Ltd. Registration number: Y2022320010586 |
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Granted publication date: 20181009 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Suzhou Branch Pledgor: Suzhou Huazhen industrial robot reducer Co.,Ltd. Registration number: Y2022320010586 |