CN106246806A - A kind of decelerator of intelligent nursing machine people - Google Patents
A kind of decelerator of intelligent nursing machine people Download PDFInfo
- Publication number
- CN106246806A CN106246806A CN201610615541.4A CN201610615541A CN106246806A CN 106246806 A CN106246806 A CN 106246806A CN 201610615541 A CN201610615541 A CN 201610615541A CN 106246806 A CN106246806 A CN 106246806A
- Authority
- CN
- China
- Prior art keywords
- wheel
- elliptical drive
- decelerator
- drive
- outer shaft
- 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.)
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Classifications
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
Abstract
The present invention relates to robot, the specifically decelerator of a kind of intelligent nursing machine people, including interior axle and hollow outer shaft, described interior axle inserts hollow outer shaft inner chamber, the external part of described interior axle one end is driven by motor, the external part of the other end is provided with the first elliptical drive for wheel, and described hollow outer shaft is provided with the second elliptical drive for wheel, and described interior axle and hollow outer shaft are respectively arranged with the stop tab stopping that driving wheel moves radially；Coordinating outside described driving wheel and be provided with a flexbile gear, described flexbile gear periphery wall forms two exclusive teeth, and described firm wheel inner circumferential forms the internal tooth engaged respectively with described two exclusive teeth.The present invention uses inside and outside two axles as the drive shaft of reducing gear, and it is substantially without the volume increasing reductor；And driving wheel all can be installed on inside and outside two axles, two driving wheels can drive the gear of the different number of teeth, therefore in transmission process, can need to select according to transmission the gear of the corresponding number of teeth of drive wheel specified, it is achieved change the purpose of gear ratio.
Description
Technical field
The present invention relates to robot, specifically the decelerator of intelligent nursing machine people.
Background technology
Existing robot mainly divides two big classes: Cartesian robot and prosthetic robot.Cartesian robot
Mainly by some linear motion units, motor, control system and end-effector etc. is driven to form.This robot can be for not
Same application, fast and easy is combined into different dimension, various stroke and wall-mounted, cantilevered, the planer-type of different band loading capability
Or the Cartesian robot of the various ways such as reversely hung Yong.Prosthetic robot is mainly driven electricity by some rotary motion unit
Machine, control system and end-effector etc. form.Prosthetic robot can become not with Rapid Combination unlike Cartesian robot
Same dimension.For different application, the prosthetic robot of fixing different dimensions can only be selected, such as arc welding robot, carrying
Robot etc..
The deceleration transmission parts of the decelerator of intelligent nursing machine people use the harmonic speed reducer, harmonic reduction transmission to be mostly
A kind of controlled elasticity deformation is relied on produced by flexible gear to come transmitting movement and the novel mechanical transmission of power, its basic building block bag
Include the wave producer of ellipse, the flexbile gear of thin-wall barrel shape and have the firm wheel of fine rigidity.When wave producer rotates, force soft
Wheel produces elastic deformation, makes its tooth interact with the firm gear teeth, thus realizes the purpose of transmission.Existing intelligent industrial machine
The decelerator flexbile gear of people only has one group of gear just to take turns engagement with corresponding, fixes during this decelerator gear ratio when transmission
, it is difficult to the demand meeting intelligent robot to gear ratio.
Summary of the invention
For above-mentioned technical problem, the present invention provides the deceleration of a kind of intelligent nursing machine people realizing two kinds of gear ratios
Device.
The present invention solves the technical scheme that above-mentioned technical problem used: the decelerator of a kind of intelligent nursing machine people,
Including flexbile gear and the firm wheel that coordinates with flexbile gear, also include respectively by interior axle and the hollow outer shaft of motor-driven rotation, described interior axle
Inserting hollow outer shaft inner chamber, this hollow outer shaft is stretched out at interior axle two ends, and the external part of described interior axle one end is driven by motor, the other end
External part be provided with this interior axle rotate the first elliptical drive for wheel, described hollow outer shaft is provided with and turns with this hollow outer shaft
The second dynamic elliptical drive for wheel, described interior axle and hollow outer shaft are respectively provided with described first elliptical drive for wheel of stop and second ellipse
The stop tab that circle driving wheel moves radially；Coordinate outside described first elliptical drive for wheel and the second elliptical drive for wheel that to be provided with one soft
Wheel, this flexbile gear one end open, the other end is provided with the flange that can connect output shaft, and described flexbile gear periphery wall forms and described the
One elliptical drive for wheel and two exclusive teeth corresponding to the second elliptical drive for wheel, described firm wheel inner circumferential forms divides with described two exclusive teeth
The internal tooth not engaged.
As preferably, or/and form annular groove between two exclusive teeth between described two row's internal tooths.
As preferably, all offer in the middle of the first elliptical drive for wheel and the second elliptical drive for wheel for leading to that respective shaft passes
Hole, the perisporium at each through hole radially offers annular groove, is provided with ring spring, the first elliptical drive for wheel and the second ellipse and drives in annular groove
Driving wheel is fixedly mounted on the axle of correspondence by corresponding ring spring, and the first elliptical drive for wheel and the second Ellipse motion driven all stop with described
Catch axially connects.
As preferably, described stop tab includes the axial interstage sleeve with respective shaft interference fit, and interstage sleeve one end has radially extended
Catch, described ring spring fixed cover is located on interstage sleeve, and described first elliptical drive for wheel and the second elliptical drive for wheel are all axial with catch
Connecting, described interstage sleeve perisporium forms axially arranged several double wedges, and each double wedge is radially in the gap of ring spring.
As preferably, the number of teeth of described two exclusive teeth is unequal, and the tip diameter of two exclusive teeth is unequal.
As preferably, between described flexbile gear and flange, it is provided with buffer part.
As preferably, described buffer part is the tapering that described flexbile gear extends to flange side, and this tapering is fixing with flange even
Connect.
As preferably, the described tapering diameter near flexbile gear side is less than the diameter near flange side.
As preferably, described buffer part is the arc transition portion that described flexbile gear extends to flange side, this arc transition portion
Fix with flange and be connected.
As preferably, this arc transition portion is transitioned into large-diameter circular from small-diameter circular.
As can be known from the above technical solutions, the present invention use inside and outside two axles as the drive shaft of reducing gear, its substantially without
Increase the volume of reductor；And driving wheel all can be installed on inside and outside two axles, two driving wheels can drive the gear of the different number of teeth, because of
This is in transmission process, can select the gear of the corresponding number of teeth of drive wheel specified according to transmission needs, thus can use and refer to
Stable drive ratio carries out transmission, it is achieved change the purpose of gear ratio.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Detailed description of the invention
The present invention it is discussed in detail below in conjunction with Fig. 1:
The decelerator of a kind of intelligent nursing machine people, including flexbile gear 11 and the just wheel 17 that coordinates with flexbile gear, also includes respectively by electricity
Machine drives the interior axle 1 and hollow outer shaft 2 rotated, and interior outer shaft can be driven respectively by two motors, it is possible to by a motor by not
Two same drive mechanisms drive respectively, and described interior axle inserts hollow outer shaft inner chamber 21, can save space；This is stretched out in interior axle two ends
Hollow outer shaft, the external part of described interior axle one end is driven by motor, and the external part of the other end is provided with the rotated with this interior axle
One elliptical drive for wheel 3, described hollow outer shaft is provided with the second elliptical drive for wheel 4 rotated with this hollow outer shaft；Implementing
Cheng Zhong, two driving wheels can drive the gear of the different number of teeth, therefore, when interior axle is rotated by driven by motor, outer shaft can be made not turn
Dynamic, only by the first Ellipse motion driven wheel drive pinion rotation, thus export power；When outer shaft is rotated by driven by motor, in can making
Axle does not rotates, only by the pinion rotation of the second Ellipse motion driven wheel drive additionally different numbers of teeth, thus output and the first Ellipse motion driven
The power of wheel different drive ratios, it is seen that the present invention can realize the transmission of different drive ratios.
In implementation process, two elliptical drive for wheel can drive the flexbile gear gear of the different number of teeth, therefore, at interior axle by motor
Drive when rotating, outer shaft can be made not rotate, only rotated by the first Ellipse motion driven wheel drive first row external tooth, and now outside second row
Tooth and internal tooth are still within engagement, owing to outer shaft does not has driving force, second row external tooth that flexbile gear will not be driven to rotate, and its
Rotate with flexbile gear under the effect of engagement force；In like manner, when outer shaft is rotated by driven by motor, interior axle can be made not rotate, only by second
The pinion rotation of the Ellipse motion driven wheel drive additionally different numbers of teeth, thus output and the power of the first driving wheel different drive ratios, can
See that the present invention can realize the transmission of different drive ratios.On described interior axle and hollow outer shaft, it is respectively provided with stop described first simultaneously
The stop tab 9 that elliptical drive for wheel and the second elliptical drive for wheel move radially, thus ensure that driving wheel will not move axially.
Coordinate outside described first elliptical drive for wheel and the second elliptical drive for wheel and be provided with a flexbile gear 11 that can radially bend, should
Flexbile gear one end open, the other end is provided with the flange 13 that can connect output shaft 12, and described flexbile gear periphery wall forms and described
One elliptical drive for wheel and two exclusive teeth 14 corresponding to the second elliptical drive for wheel, described firm wheel inner circumferential forms and described two exclusive teeth
The internal tooth 18 engaged respectively, thus two kinds of gear ratios are provided.
In the present invention, annular groove 12 is formed between two exclusive teeth on flexbile gear；On the one hand can be in the mistake of processing tooth
Cheng Zhong, annular groove can make chip flow in it, provides convenient for processing；On the other hand, when lubricating two toothrows, annular groove
The interior precipitable a part of waste residue of lubricating oil, it is ensured that the lubricating oil at tooth is the cleanest；In implementation process, it is possible to only two
Between row's internal tooth, annular groove is set, or between two exclusive teeth and between two row's internal tooths, annular groove is set simultaneously.
In implementation process, described interior axle 1 two ends are arranged on hollow outer shaft inner chamber, specifically, described sky by bearing 5
Heart outer shaft two ends form receiving space 22 respectively, are fixedly installed a described bearing 5, the end of bearing in each receiving space
Face not only can be saved space with outer shaft end face, and avoid interfering with miscellaneous part in transmission process；Interior axle
Described two ends are arranged in two bearings, the most not only make interior outer shaft to relatively rotate, it is ensured that interior outer shaft has higher same
Axle degree；And it is more firm that interior axle can be made to support, transmission is more steady.
In the present invention, all offer for leading to that respective shaft passes in the middle of the first elliptical drive for wheel and the second elliptical drive for wheel
Hole 6, the perisporium at each through hole radially offers annular groove 7, is provided with ring spring 8 in annular groove, the first elliptical drive for wheel and second ellipse
Circle driving wheel is fixedly mounted on the axle of correspondence by corresponding ring spring；So on the one hand, driving wheel can be avoided directly with corresponding
Axle contacts and damages driving wheel, and on the other hand the elastic force of ring spring can make assembling convenient；Meanwhile, driving wheel is with respective shaft even
The mode that can use matched in clearance carries out transmission, it is to avoid both contacts, wear phenomenon, and once axle and the abrasion shadow of ring spring occurs
When ringing transmission, only need to change ring spring, save maintenance and maintenance cost.In the present invention, ring spring has radical elasticity
Elasticity part, under the effect of its elastic force, can be fixed on driving wheel on axle, it is ensured that axle drives driving wheel to rotate.Implementing
Cheng Zhong, described stop tab 9 includes the axial interstage sleeve 91 with respective shaft interference fit, makes stop tab rotate with axle, footpath, interstage sleeve one end
To being extended with catch 92, described ring spring fixed cover is located on interstage sleeve, and ring spring can be made directly not contact with axle, it is to avoid damage ring spring,
Described first elliptical drive for wheel and the second elliptical drive for wheel all axially connect with catch, prevent driving wheel from moving axially；Described gear
Set perisporium forms axially arranged several double wedges 93, and each double wedge is radially in the gap of ring spring, thus blocks ring spring, this
Sample can ensure that ring spring rotates along with axle.
In the present invention, when described first elliptical drive for wheel and the second elliptical drive for wheel are as wave producer, can be described
The peripheral distribution of the first elliptical drive for wheel and the second elliptical drive for wheel has axially arranged several rollers 10.In the present invention, institute
The number of teeth stating two toothrows is unequal, thus provides two kinds of different gear ratios, to meet the transmission requirement of robot；Two toothrows
Tip diameter is unequal, it is simple to assemble with the tooth of just wheel；The cross section of described annular groove is V-shaped, facilitates chip and gives up
Slag flows into bottom land along the cell wall tilted；Buffer part 16 it is provided with, owing to flexbile gear is sent out in elliptical wave between described flexbile gear and flange
Being deformed during the driving of raw device, its flange one end can be deformed, and the transmission that may cause flange is steady not, and then
Make output shaft transmission steady not, and buffer part 16 can alleviate above-mentioned deformation, it is ensured that the transmission of flange and output shaft is more steady.
The described buffer part 16 of the present invention is the tapering that described flexbile gear extends to flange side, and the material that tapering uses is with soft
The material of wheel is the same, is respectively provided with elasticity, has cushioning effect, and tapering is fixing with flange to be connected, thus ensures flange stable drive；
In implementation process, the described tapering diameter near flexbile gear side is less than the diameter near flange side, owing to flexbile gear is in transmission
During produce be radially enlarged deformation, its have make near flange side flexbile gear produce radial deformation increase trend,
During transmission power, the deformation effect being subject near the major diameter tapering of flange side is less, thus ensures flange
The stationarity of transmission.As another kind of preferred version, described buffer part is the arc transition that described flexbile gear extends to flange side
Portion, this arc transition portion is fixing with flange to be connected, and this arc transition portion is transitioned into large-diameter circular from small-diameter circular, and its effect is with upper
State tapering effect identical, the most easy to process.
Above-mentioned embodiment is used for illustrative purposes only, and is not limitation of the present invention, relevant technical field
Those of ordinary skill, without departing from the spirit and scope of the present invention, it is also possible to various changes can be made and modification, therefore institute
The technical scheme having equivalent also should belong to scope of the invention.
Claims (10)
1. the decelerator of intelligent nursing machine people, including flexbile gear and the firm wheel that coordinates with flexbile gear, it is characterised in that: also include
Respectively by interior axle and the hollow outer shaft of motor-driven rotation, described interior axle inserts hollow outer shaft inner chamber, and this sky is stretched out at interior axle two ends
Heart outer shaft, the external part of described interior axle one end is driven by motor, and the external part of the other end is provided with first rotated with this interior axle
Elliptical drive for wheel, described hollow outer shaft is provided with the second elliptical drive for wheel rotated with this hollow outer shaft, described interior axle and sky
The stop tab stopping that described first elliptical drive for wheel and the second elliptical drive for wheel move radially it is respectively provided with on heart outer shaft；Described
Coordinating outside one elliptical drive for wheel and the second elliptical drive for wheel and be provided with a flexbile gear, this flexbile gear one end open, the other end is provided with can
Connecting the flange of output shaft, described flexbile gear periphery wall forms corresponding with described first elliptical drive for wheel and the second elliptical drive for wheel
Two exclusive teeth, described firm wheel inner circumferential forms the internal tooth engaged respectively with described two exclusive teeth.
The decelerator of intelligent nursing machine people the most according to claim 1, it is characterised in that: between described two row's internal tooths or/
With two form annular groove between exclusive tooth.
The decelerator of intelligent nursing machine people the most according to claim 1, it is characterised in that: the first elliptical drive for wheel and second
All offering the through hole passed for respective shaft in the middle of elliptical drive for wheel, the perisporium at each through hole radially offers annular groove, annular groove
Inside it is provided with ring spring, the first elliptical drive for wheel and the second elliptical drive for wheel and is fixedly mounted on the axle of correspondence by corresponding ring spring
On, the first elliptical drive for wheel and the second elliptical drive for wheel all axially connect with described stop tab.
The decelerator of intelligent nursing machine people the most according to claim 3, it is characterised in that: described stop tab includes with corresponding
The axial interstage sleeve of axle interference fit, interstage sleeve one end has radially extended catch, and described ring spring fixed cover is located on interstage sleeve, and described first
Elliptical drive for wheel and the second Ellipse motion driven all axially connect with catch, and described interstage sleeve perisporium forms axially arranged several convex
Tooth, each double wedge is radially in the gap of ring spring.
5. according to the decelerator of intelligent nursing machine people described in any one in Claims 1-4, it is characterised in that: described two
The number of teeth of exclusive tooth is unequal, and the tip diameter of two exclusive teeth is unequal.
6. according to the decelerator of intelligent nursing machine people described in any one in Claims 1-4, it is characterised in that: described soft
It is provided with buffer part between wheel and flange.
The decelerator of intelligent nursing machine people the most according to claim 6, it is characterised in that: described buffer part is described flexbile gear
The tapering extended to flange side, this tapering is fixing with flange to be connected.
The decelerator of intelligent nursing machine people the most according to claim 7, it is characterised in that: described tapering is near flexbile gear side
Diameter less than near the diameter of flange side.
The decelerator of intelligent nursing machine people the most according to claim 6, it is characterised in that: described buffer part is described flexbile gear
The arc transition portion extended to flange side, this arc transition portion is fixing with flange to be connected.
The decelerator of intelligent nursing machine people the most according to claim 9, it is characterised in that: this arc transition portion from little directly
Footpath circle is transitioned into large-diameter circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610615541.4A CN106246806A (en) | 2016-07-29 | 2016-07-29 | A kind of decelerator of intelligent nursing machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610615541.4A CN106246806A (en) | 2016-07-29 | 2016-07-29 | A kind of decelerator of intelligent nursing machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106246806A true CN106246806A (en) | 2016-12-21 |
Family
ID=57605992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610615541.4A Pending CN106246806A (en) | 2016-07-29 | 2016-07-29 | A kind of decelerator of intelligent nursing machine people |
Country Status (1)
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|---|---|
| CN (1) | CN106246806A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0822356A1 (en) * | 1996-07-31 | 1998-02-04 | Teijin Seiki Company Limited | Transmission gear |
| CN2850122Y (en) * | 2005-09-20 | 2006-12-20 | 沈阳工业大学 | Out-of-phase rotary AC electric machine with internal and external two rotors |
| CN201034150Y (en) * | 2007-05-28 | 2008-03-12 | 徐玉国 | Harmonic wave clutch stepless speed change device |
| JP2013194836A (en) * | 2012-03-21 | 2013-09-30 | Honda Motor Co Ltd | Harmonic drive gearing and walking assisting device |
| CN103769839A (en) * | 2012-10-24 | 2014-05-07 | 通用汽车环球科技运作有限责任公司 | Serrated shaft debris collector |
| US20150114174A1 (en) * | 2013-10-29 | 2015-04-30 | Roopnarine | Strain wave drive with improved performance |
-
2016
- 2016-07-29 CN CN201610615541.4A patent/CN106246806A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0822356A1 (en) * | 1996-07-31 | 1998-02-04 | Teijin Seiki Company Limited | Transmission gear |
| CN2850122Y (en) * | 2005-09-20 | 2006-12-20 | 沈阳工业大学 | Out-of-phase rotary AC electric machine with internal and external two rotors |
| CN201034150Y (en) * | 2007-05-28 | 2008-03-12 | 徐玉国 | Harmonic wave clutch stepless speed change device |
| JP2013194836A (en) * | 2012-03-21 | 2013-09-30 | Honda Motor Co Ltd | Harmonic drive gearing and walking assisting device |
| CN103769839A (en) * | 2012-10-24 | 2014-05-07 | 通用汽车环球科技运作有限责任公司 | Serrated shaft debris collector |
| US20150114174A1 (en) * | 2013-10-29 | 2015-04-30 | Roopnarine | Strain wave drive with improved performance |
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Application publication date: 20161221 |