CN106352043B - Trailing type drives speed reducer - Google Patents
Trailing type drives speed reducer Download PDFInfo
- Publication number
- CN106352043B CN106352043B CN201610997116.6A CN201610997116A CN106352043B CN 106352043 B CN106352043 B CN 106352043B CN 201610997116 A CN201610997116 A CN 201610997116A CN 106352043 B CN106352043 B CN 106352043B
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- faces
- differential speed
- track
- speed variator
- decussation roller
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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
- F16H48/00—Differential gearings
- F16H48/12—Differential gearings without gears having orbital motion
-
- 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
- F16H48/00—Differential gearings
- F16H48/38—Constructional details
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
Abstract
The present invention relates to a kind of trailing types applied to articulated robot to drive speed reducer, including input shaft (2), output shaft (16), machine shell (11), rear fender (4), differential speed variator (12), bearing upper cover (14), bearing lower cover (17), movable head (7) is housed between the differential speed variator and rear fender, the faces A of the movable head are equipped with the faces A V-type track (20) and are equipped with the faces B V-type track (21) equipped with the second decussation roller (8) equipped with the first decussation roller (5), its face B；The rear fender is equipped with the transmission track (22) for installing the first decussation roller；The surface of the differential speed variator is equipped with the movement locus (19) for installing the second decussation roller.The movement that the present invention realizes adjust automatically input shaft (eccentric shaft) fits like a glove with eccentricity, and the track of the transmitting balls and differential speed variator that can make speed reducer fits like a glove, and speed reducer can be made to export, and steady, mechanical wear rate is low.
Description
Technical field
The present invention relates to machine driving braking techniques, and in particular to a kind of driving speed reducer applied to articulated robot.
Background technology
Currently, it is to utilize change gear that most of machine driving speed reducer, which uses gear or worm-drive, cardinal principle,
The number of teeth realizes speed change.Shortcomings and deficiencies present in this kind of machine driving speed reducer are：Since driving member machining accuracy is not high,
There is certain process gap and influence output accuracy in gear or worm reduction gear, during design and installation in addition tooth
It between tooth is moved in the form of higher pair, easy tos produce component wear, is driven the problems such as unstable, noise is big, output accuracy is poor.
Chinese invention patent application number 2015103631823, notification number in announcement on October 07th, 2015
CN104964011A (the applyings date：On 06 25th, 2015) in, disclose a kind of crosshead shoe drive for articulated robot
Dynamic speed reducer, the interior installation input shaft of body, crosshead shoe, tracking controller (i.e. differential speed variator) and output shaft, described ten
Word sliding block is equipped with transmission track for installing transmitting balls, transmitting balls in transmission track movement with by the fortune of input shaft
It is dynamic to pass to tracking controller；Tracking controller lower surface is equipped with the movement locus for installing the driving ball, track control
Device processed is by driving ball to adjust the output of output shaft.This technology need not realize speed change by gear or worm-drive,
The noise for reducing speed reducer to a certain extent, improves transmission efficiency.But it is also easy to produce when driving ball work slight
Bounce, stability is poor, easy tos produce speed reducer and exports the bad phenomenons such as unstable, stepping vibrations, wear rate height.
Invention content
In order to solve the technical problem present in the prior art and deficiency, the present invention provides a kind of applied to articulated robot
Trailing type drive speed reducer, the track of the transmitting balls and differential speed variator that can make speed reducer fits like a glove, and can make speed reducer
Output is steady, mechanical wear rate is low.
The purpose of the present invention is realized by following technical solution：Trailing type drives speed reducer, including input shaft, output
Axis, machine shell, rear fender, differential speed variator, bearing upper cover, bearing lower cover, fill between the differential speed variator and rear fender
There is movable head, the faces A of the movable head are equipped with the faces A V-type track and are equipped with the faces B V-type track equipped with the first decussation roller, its face B
Equipped with the second decussation roller；The rear fender is equipped with the transmission track for installing the first decussation roller, and the first intersection is made to roll
Column moves in the transmission track and the movement of input shaft is passed to differential speed variator；It is set on the surface of the differential speed variator
It is useful for the movement locus of the second decussation roller of installation, the speed change that differential speed variator adjusts output shaft by the second decussation roller is defeated
Go out.
The faces the A V-type track of the movable head forms cross-shaped, the angle of the crossing with the faces B V-type track on plane space
Degree is 87.5 degree to 92.5 degree.In the rear between pressing plate and movable head be equipped with the first fixed ring, the differential speed variator with
Second fixed ring is housed, respectively to making applied to the movement for limiting the first decussation roller, the second decussation roller between movable head
It does not deviate by track.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
1, do not use gear to be driven, using input shaft (eccentric shaft) as path generator, by differential speed variator by
Movable head, the first, second decussation roller cooperation input shaft eccentric motion complete output and slow down to realize.With it is compact-sized, make an uproar
Sound is low, light-weight, small, zero clearance, the advantages that stable drive is reliable, output accuracy is high, transmission ratio and transmission efficiency are up to
93% or more.
2, adjust automatically input shaft (eccentric shaft) is realized by movable head, the first, second decussation roller, differential speed variator
Movement fits like a glove with eccentricity, and the track of the transmitting balls and differential speed variator that make speed reducer fits like a glove, and subtracts to realize
Fast machine output is steady, and mechanical wear rate is low, eliminates former speed reducer S-shaped cycloid groove or the design defect of crosshead shoe.It is especially suitable
Related function operation for articulated robot.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the decomposition diagram of the present invention.
Fig. 3 is the structural schematic diagram (faces A, the faces B) of the movable head in the present invention.
Fig. 4 is the structural schematic diagram (faces A, the faces B) of the differential speed variator in the present invention.
Fig. 5 is differential speed variator in the present invention, movable head, the mounting structure schematic diagram between rear fender.
Fig. 6 is the output shaft in the present invention, the mounting structure schematic diagram between differential speed variator.
Specific implementation mode
Present invention is further described in detail with reference to the accompanying drawings and detailed description.
Referring to Fig. 1 to Fig. 6, the trailing type that the present invention is applied to articulated robot drives speed reducer, including input shaft 2, defeated
Shaft 16, machine shell 11, rear fender 4, differential speed variator 12, bearing upper cover 14, bearing lower cover 17, in the differential speed variator 12
Movable head 7 is housed between rear fender 4, the faces A of the movable head 7 are equipped with the faces A V-type track 20 (for parallel a plurality of, also known as A
Face V-groove) the first decussation roller 5 (several), its face B are housed equipped with the faces B V-type track 21 (for parallel a plurality of, also known as B
Face V-groove) the second decussation roller 8 (several) is housed；The rear fender 4 is equipped with the biography for installing the first decussation roller 5
Dynamic rail mark 22 makes the first decussation roller be moved in the transmission track and the movement of input shaft is passed to differential speed variator；Institute
The surface (i.e. the faces B) for stating differential speed variator 12 is equipped with the movement locus 19 for being used for installing the second decussation roller 8, differential speed variator
The speed change output of output shaft is adjusted by the second decussation roller.
The faces the A V-type track 20 of the movable head 7 and the faces B V-type track 21 formed on plane space it is cross-shaped (for
It is corresponding a plurality of), it is best results that intersecting angle, which is 87.5 degree to 92.5 degree,.It is filled between pressing plate 4 and movable head 7 in the rear
There is the first fixed ring 6, the second fixed ring 9 is housed between the differential speed variator 12 and movable head 7, respectively to being applied to limit
First decussation roller, the second decussation roller movement and so that it is not deviated by track.Between the machine shell 11 and rear fender 4
Locate and be cased with gap adjustment circle 10 in the periphery of the movable head 7, for adjusting the gap between machine shell and rear fender.
Wherein, equipped with decussation roller 15, output shaft 16, bearing lower cover 17 between the bearing upper cover 14 and bearing lower cover 17
It is upper that second trip bolt 18 is housed；The input shaft 2 is centering type (i.e. eccentric shaft), and it is tight that straight pearl bearing 3 and first is housed thereon
Gu screw 1.Another surface (i.e. the faces A) of the differential speed variator 12 is equipped with ball moving track 24, is used for dispensing output shaft
Transmitting balls 13, which is located on the transmitting balls mounting hole 23 of output shaft 16.Rear fender 4 passes through the first fastening
Screw 1 is connect with machine shell 11.The setting of output shaft 16 intersects in bearing upper cover 14, bearing lower cover 17 (belong to and intersect bearing)
Roller 15 is mounted on output shaft 16, passes through the second trip bolt 18 between machine shell 11 and bearing upper cover 14, bearing lower cover 17
Connection, decussation roller 15 then play the role of radial and axial output.
It is fixed on the transmitting balls mounting hole 23 of output shaft by transmitting balls 13, allows transmitting balls in differential speed variator
It moves in 12 ball moving track 24, will not be displaced in motion process transmitting balls, ensure speed reducer proper motion；With
Movable plate 7 is equipped with the faces A, the faces B V-type track and intersects (rotation) roller to being applied to installation first, second respectively, allows first, second
The movement of eccentric shaft is passed to differential speed variator, the faces B of differential speed variator by decussation roller in respective V-type move in tracks
With the movement locus (speed change) for installing second decussation roller, differential speed variator carries out output by the second decussation roller
The speed change of axis exports.The present invention realizes the movement of adjust automatically eccentric shaft and eccentricity fits like a glove, and makes the transmission of speed reducer
Ball and differential speed variator track fit like a glove.
Working principle of the invention is as follows：Install eccentric shafts 2, movable head 7, differential speed variator 12, machine shell in the speed reducer
11 are connected with bearing upper cover 14, bearing lower cover 17, and the structure of movable head 7 is required according to the steady and rigidity of speed reducer, at it
Respectively there are the faces A, the faces B V-type track 20 in upper and lower surface (being divided into the face A, B), are designed with a plurality of parallel faces A V-type track on the faces 21, A
20 and the faces A V-type track corresponding with its face B forms right-angled intersection, the first decussation roller on the faces A is done on the faces A V-type track 20
Straight reciprocating motion, the second decussation roller on the faces B do straight reciprocating motion, the first decussation roller 5 on the faces B V-type track 21
Rectangular co-ordinate is relatively moved to form on the faces B V-type track 21 so that servo-actuated in the faces A V-type track 20 and the second decussation roller 8
Plate can coordinate the eccentricity of eccentric shaft to accomplish to correspond to the circular motion of eccentricity in plane space with free movement；The faces A
Linear reciprocation fortune is done on the 6 fixed transmission track 22 (V-type) of institute of the first fixed ring that first decussation roller 5 is lain also on rear fender
Dynamic, second decussation roller 8 in the faces B lies also in 9 fixed movement locus 19 of the second fixed ring on the faces B of differential speed variator 12
It does linear reciprocation in (V-type) to move, the faces A of differential speed variator 12 are equipped with ball moving track, and the transmission for dispensing output shaft is rolled
Pearl 13, transmitting balls are located on the transmitting balls mounting hole 23 of output shaft 16, the ball moving rail that differential speed variator passes through its face A
Road 24 and transmitting balls 13 do relative motion the output of the deceleration to form output shaft.
Being fixed on output shaft by transmitting balls on transmitting balls mounting hole, allows transmitting balls in the rolling of differential speed variator
It moves in pearl tracks, will not be displaced in motion process ball, ensure speed reducer proper motion.Pass through movable head (V-type
Slot) and its face A, B on first, second intersect (rotation) roller, eccentric shaft movement is transmitted to differential speed variator, automatic tune
The movement of whole eccentric shaft fits like a glove with eccentricity, and the ball moving track of transmitting balls and differential speed variator is made to fit like a glove,
Differential speed variator does opposite movement by ball moving track and transmitting balls according to eccentric motion, forms the deceleration of output shaft
Output realizes that speed reducer smoothly slows down output function, it is ensured that the performance of speed reducer and zero clearance improve transmission accuracy.
Claims (3)
1. trailing type drives speed reducer, including input shaft (2), output shaft (16), machine shell (11), rear fender (4), differential speed change
Device (12), bearing upper cover (14), bearing lower cover (17), it is characterised in that：The differential speed variator (12) and rear fender (4) it
Between movable head (7) is housed, the faces A of the movable head (7) are equipped with the faces A V-type track (20) equipped with the first decussation roller (5), its face B
It is equipped with the faces B V-type track (21) and the second decussation roller (8) is housed；The rear fender (4) is equipped with intersects rolling for installing first
The transmission track (22) of column (5), makes the first decussation roller be moved in the transmission track and the movement of input shaft is passed to difference
Dynamic speed changer；The surface of the differential speed variator (12) is equipped with the movement locus (19) for installing the second decussation roller (8),
The speed change that differential speed variator adjusts output shaft by the second decussation roller exports, on another surface of the differential speed variator (12)
Equipped with ball moving track (24), the transmitting balls (13) of dispensing output shaft are used for, which to be located at output shaft
(16) on.
2. trailing type according to claim 1 drives speed reducer, it is characterised in that：The faces the A V-type rail of the movable head (7)
Road (20) formed on plane space with the faces B V-type track (21) it is cross-shaped, intersecting angle be 87.5 degree to 92.5 degree.
3. trailing type according to claim 1 drives speed reducer, it is characterised in that：Pressing plate (4) and movable head in the rear
(7) the first fixed ring (6) is housed between, the second fixed ring is housed between the differential speed variator (12) and movable head (7)
(9)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997116.6A CN106352043B (en) | 2016-11-03 | 2016-11-03 | Trailing type drives speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997116.6A CN106352043B (en) | 2016-11-03 | 2016-11-03 | Trailing type drives speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106352043A CN106352043A (en) | 2017-01-25 |
| CN106352043B true CN106352043B (en) | 2018-08-28 |
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ID=57861668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610997116.6A Active CN106352043B (en) | 2016-11-03 | 2016-11-03 | Trailing type drives speed reducer |
Country Status (1)
| Country | Link |
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| CN (1) | CN106352043B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107165986B (en) * | 2017-06-16 | 2023-08-01 | 海尚集团有限公司 | Cycloidal transmission mechanism of speed reducer based on rolling cone piece |
| CN107504145B (en) * | 2017-08-31 | 2023-08-15 | 海尚集团有限公司 | Speed reducer with eccentric compensation follow-up mechanism |
| CN108331889A (en) * | 2018-04-04 | 2018-07-27 | 海尚集团有限公司 | Driving skateboard component with hybrid motion |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004183784A (en) * | 2002-12-03 | 2004-07-02 | Nidec-Shimpo Corp | Rotating member for power transmission, power transmitting device, rotational driving device, and image forming part driving device for image forming apparatus |
| CN102767600A (en) * | 2012-07-31 | 2012-11-07 | 广西玉林正方机械有限公司 | Bs speed reducer |
| CN103161898A (en) * | 2013-03-23 | 2013-06-19 | 广西玉林正方机械有限公司 | Double-layer ball reducer |
| CN104964011B (en) * | 2015-06-25 | 2018-07-13 | 广州启帆工业机器人有限公司 | Cross slide block driving speed reducer for multi-joint robot |
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2016
- 2016-11-03 CN CN201610997116.6A patent/CN106352043B/en active Active
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| Publication number | Publication date |
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| CN106352043A (en) | 2017-01-25 |
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