CN106438889B - The V-groove movable head of speed reducer - Google Patents
The V-groove movable head of speed reducer Download PDFInfo
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- CN106438889B CN106438889B CN201610997147.1A CN201610997147A CN106438889B CN 106438889 B CN106438889 B CN 106438889B CN 201610997147 A CN201610997147 A CN 201610997147A CN 106438889 B CN106438889 B CN 106438889B
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- speed reducer
- track
- movable head
- head ontology
- 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
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/02—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members without members having orbital motion
- F16H13/04—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members without members having orbital motion with balls or with rollers acting in a similar manner
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of V-groove movable heads of speed reducer applied to articulated robot, including movable head ontology (7), the one side of the movable head ontology is equipped with horizontal V-shape track (20) for installing the first decussation roller (5), its another side equipped with longitudinal V-type track (21) for installing the second decussation roller (8).Horizontal V-shape track on the movable head ontology forms on plane space cross-shaped with longitudinal V-type track, and intersecting angle is 87.5 degree to 92.5 degree.The present invention can make speed reducer realize that the movement of adjust automatically input shaft (eccentric shaft) fits like a glove with eccentricity, the track of the transmitting balls and differential speed variator that can make speed reducer fits like a glove, speed reducer can be made to export, and steady, mechanical wear rate is low, and applied speed reducer has many advantages, such as that compact-sized, low noise, light-weight, small in size, stable drive is reliable, output accuracy is high.
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 technique
Currently, most of machine driving speed reducer uses gear or worm-drive, cardinal principle is to utilize change gear
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 is to be moved in the form of higher pair between tooth, is easy to 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
In CN104964011A (applying date: on 06 25th, 2015), a kind of crosshead shoe drive for articulated robot is disclosed
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 motion profile for installing the driving ball, track control
Device processed adjusts the output of output shaft by driving ball.This technology does not need to 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, is easy to produce speed reducer and exports the bad phenomenons such as unstable, stepping vibration, wear rate height.
Summary of the invention
In order to solve technical problem present in the prior art and deficiency, the present invention provides a kind of applied to articulated robot
Speed reducer V-groove movable head, the track of the transmitting balls and differential speed variator that can make speed reducer fits like a glove, can make to slow down
Machine output is steady, mechanical wear rate is low.
The purpose of the present invention is realized by following technical solution: the V-groove movable head of speed reducer, including movable head sheet
Body, the one side of the movable head ontology is equipped with horizontal V-shape track, its another side is equipped with longitudinal V-type track.
Horizontal V-shape track on the movable head ontology formed on plane space with longitudinal V-type track it is cross-shaped,
Its intersecting angle is 87.5 degree to 92.5 degree.First decussation roller, the longitudinal direction V-type track are housed on the horizontal V-shape track
It is upper that second decussation roller is housed.
Compared with prior art, the present invention have the following advantages that and the utility model has the advantages that
1, gear is not used to be driven, applied speed reducer uses input shaft (eccentric shaft) as path generator, warp
Differential speed variator is crossed by the first, second decussation roller of corresponding installation on V-groove movable head and its transverse direction, longitudinal V-type track
Cooperation input shaft eccentric motion completes output and slows down to realize.To make its applied speed reducer that there is compact-sized, noise
Low, light-weight, small in size, 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, realize that adjust automatically input shaft is (eccentric by V-groove movable head, the first, second decussation roller, differential speed variator
Axis) movement fit like a glove with eccentricity, the track of the transmitting balls and differential speed variator that make speed reducer fits like a glove, thus real
Existing speed reducer output is steady, and mechanical wear rate is low, eliminates the design defect of former speed reducer S-shaped cycloid groove or crosshead shoe.It is special
Not Shi Yongyu articulated robot related function operation.
Detailed description of the invention
Fig. 1 is the overall structure diagram of speed reducer applied by the present invention.
Fig. 2 is the decomposition diagram of speed reducer applied by the present invention.
Fig. 3 is structural schematic diagram (face A, the face B) of the invention.
Fig. 4 is the structural schematic diagram (face A, the face B) of the differential speed variator in Fig. 2.
Fig. 5 is differential speed variator, movable head ontology, the mounting structure schematic diagram between rear fender in Fig. 2.
Fig. 6 is the output shaft in Fig. 2, the mounting structure schematic diagram between differential speed variator.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawings and detailed description.
Referring to Fig. 3, Fig. 5, the V-groove movable head of speed reducer of the present invention, including movable head ontology 7, the movable head ontology 7
One side (face A) be equipped with horizontal V-shape track 20 (to be parallel a plurality of, also known as the face A V-groove), its another side (face B) is equipped with
Longitudinal V-type track 21 (for parallel a plurality of, the title face B V-groove).First decussation roller 5 is housed on the horizontal V-shape track 20
(several) are equipped with the second decussation roller 8 (several) on the longitudinal direction V-type track 21.
Horizontal V-shape track 20 and longitudinal V-type track 21 on the movable head ontology 7 form cross on plane space and hand over
Forked (to be corresponding a plurality of), it is that effect is best that intersecting angle, which is 87.5 degree to 92.5 degree,.
Referring to Fig. 1 to Fig. 6, the trailing type that the present invention is applied to articulated robot drives speed reducer, further include 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 ontology 7 are in
Between the differential speed variator 12 and rear fender 4；The rear fender 4 is equipped with the transmission rail for installing the first decussation roller 5
Mark 22 makes the first decussation roller move in the transmission track and the movement of input shaft is passed to differential speed variator；The difference
The surface (i.e. the face B) of dynamic speed changer 12 is equipped with the motion profile 19 for installing the second decussation roller 8, and differential speed variator passes through
Second decussation roller adjusts the speed change output of output shaft.
First fixed ring 6 is housed between the rear fender 4 and movable head ontology 7, the differential speed variator 12 with
Second fixed ring 9 is housed between movable plate ontology 7, respectively corresponds the movement for limiting the first decussation roller, the second decussation roller
And so that it will not off-tracks.It is covered between the machine shell 11 with rear fender 4 and in the periphery of the movable head ontology 7
There is gap adjustment circle 10, for adjusting the gap between machine shell and rear fender.
Wherein, decussation roller 15, output shaft 16, bearing lower cover 17 are housed between the bearing upper cover 14 and bearing lower cover 17
It is upper that second fastening screw 18 is housed；The input shaft 2 is centering type (i.e. eccentric shaft), tight equipped with straight pearl bearing 3 and first thereon
Gu screw 1.Another surface (i.e. the face 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 fixation 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 fastening screw 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 fixation 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, guarantee speed reducer proper motion；With
Movable plate ontology 7 be equipped with laterally, longitudinal V-type track respectively correspond and intersect (rotation) roller for installing first, second, allow the
One, the movement of eccentric shaft is passed to differential speed variator, differential speed change in respective V-type move in tracks by the second decussation roller
The face B of device has a motion profile (speed change) for installing second decussation roller, differential speed variator by the second decussation roller come
Carry out the speed change output of output shaft.The present invention can make speed reducer realize that the movement of adjust automatically eccentric shaft is kissed completely with eccentricity
It closes, the transmitting balls of speed reducer and differential speed variator track is made to fit like a glove.
The speed reducer working principle that the present invention applies is as follows: install eccentric shafts 2 in the speed reducer, movable head ontology 7, differential
Speed changer 12, machine shell 11 are connected with bearing upper cover 14, bearing lower cover 17, and the structure of movable head ontology 7 is according to speed reducer
The requirement of steady and rigidity, design has an a plurality of parallel horizontal V-shape track 20 and longitudinal direction V-type track corresponding with its face B on the face A
Right-angled intersection is formed, the first decussation roller on the face A does straight reciprocating motion on horizontal V-shape track 20, and second on the face B is handed over
Fork roller does straight reciprocating motion on longitudinal V-type track 21, and first decussation roller 5 in the face A is in horizontal V-shape track 20 and the face B
The second decussation roller 8 be relatively moved to form rectangular co-ordinate on longitudinal V-type track 21 so that movable head ontology plane sky
Between the eccentricity of eccentric shaft can be cooperated to accomplish to correspond to the circular motion of eccentricity with free movement；First decussation roller 5
It is to do straight reciprocating motion, the second decussation roller on transmission track 22 (V-type) that the first fixed ring 6 on rear fender is fixed
It is dynamic that linear reciprocation is done on the motion profile 19 (V-type) that 8 the second fixed rings 9 lain also on the face B of differential speed variator 12 are fixed,
The face A of differential speed variator 12 is equipped with ball moving track, and for the transmitting balls 13 of dispensing output shaft, transmitting balls are located at output
On the transmitting balls fixation hole 23 of axis 16, differential speed variator does phase by the ball moving track 24 and transmitting balls 13 in its face A
The output of the deceleration of output shaft is formed to movement.
Being fixed on output shaft by transmitting balls on transmitting balls fixation hole, allows transmitting balls in the rolling of differential speed variator
It moves in pearl tracks, will not be displaced in motion process ball, guarantee speed reducer proper motion.Pass through movable head ontology
First, second on (V-groove) and its face A, B intersects (rotation) roller, and eccentric shaft movement is transmitted to differential speed variator, from
The movement of dynamic adjustment eccentric shaft fits like a glove with eccentricity, kisses the ball moving track of transmitting balls and differential speed variator completely
It closes, differential speed variator is done opposite movement by ball moving track and transmitting balls according to eccentric motion, forms output shaft
Slow down output, realizes that speed reducer smoothly slows down output function, it is ensured that the performance of speed reducer and zero clearance improve transmission essence
Degree.
Claims (1)
1. the V-groove movable head of speed reducer, including movable head ontology (7), it is characterised in that: the one of the movable head ontology (7)
Face is equipped with horizontal V-shape track (20), its another side is equipped with longitudinal V-type track (21)；Cross on the movable head ontology (7)
Formed on plane space to V-type track (20) with longitudinal V-type track (21) it is cross-shaped, intersecting angle be 87.5 degree extremely
92.5 degree；The first decussation roller (5) are housed on the horizontal V-shape track (20), are equipped with second on the longitudinal direction V-type track (21)
Decussation roller (8), the movable head ontology (7) are between differential speed variator (12) and rear fender (4), the rear fender (4)
It is equipped with the transmission track (22) for installing the first decussation roller (5), the surface of the differential speed variator (12), which is equipped with, to be used
It is transported in another surface of the motion profile (19) of installation the second decussation roller (8), the differential speed variator (12) equipped with ball
Dynamic rail road (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997147.1A CN106438889B (en) | 2016-11-03 | 2016-11-03 | The V-groove movable head of speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997147.1A CN106438889B (en) | 2016-11-03 | 2016-11-03 | The V-groove movable head of speed reducer |
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| Publication Number | Publication Date |
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| CN106438889A CN106438889A (en) | 2017-02-22 |
| CN106438889B true CN106438889B (en) | 2019-08-09 |
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| CN201610997147.1A Active CN106438889B (en) | 2016-11-03 | 2016-11-03 | The V-groove movable head of speed reducer |
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| CN106870665A (en) * | 2017-04-18 | 2017-06-20 | 海尚集团有限公司 | High intensity reductor movable head with interior bent arc shape groove |
| CN106931113A (en) * | 2017-04-18 | 2017-07-07 | 海尚集团有限公司 | High intensity reductor movable head with shape of a hoof groove |
| CN106949209A (en) * | 2017-04-21 | 2017-07-14 | 海尚集团有限公司 | High intensity reductor movable head with elliptical slot |
| CN106949210A (en) * | 2017-04-21 | 2017-07-14 | 海尚集团有限公司 | High intensity reductor movable head with excurvation arc-shaped slot |
| CN106870664A (en) * | 2017-04-21 | 2017-06-20 | 海尚集团有限公司 | High intensity reductor movable head with straight shape groove |
| CN107191558A (en) * | 2017-06-06 | 2017-09-22 | 海尚集团有限公司 | The movable head and robot reductor and robot of robot reductor |
| CN107191559A (en) * | 2017-06-07 | 2017-09-22 | 海尚集团有限公司 | High intensity reductor movable head with curvilinear shaped slots |
| CN107299969A (en) * | 2017-07-13 | 2017-10-27 | 海尚集团有限公司 | Robot reductor and robot based on the circular ball of egg |
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