CN106763526B - Robot precision joint speed reducer - Google Patents

Robot precision joint speed reducer Download PDF

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Publication number
CN106763526B
CN106763526B CN201611116083.6A CN201611116083A CN106763526B CN 106763526 B CN106763526 B CN 106763526B CN 201611116083 A CN201611116083 A CN 201611116083A CN 106763526 B CN106763526 B CN 106763526B
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CN
China
Prior art keywords
case lid
gear
thin
eccentric
eccentric gear
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Application number
CN201611116083.6A
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Chinese (zh)
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CN106763526A (en
Inventor
金正已
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Changxin Hao Precision Technology Co Ltd
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Changxin Hao Precision Technology Co Ltd
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Priority to CN201611116083.6A priority Critical patent/CN106763526B/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/08General details of gearing of gearings with members having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H2057/02039Gearboxes for particular applications
    • F16H2057/02069Gearboxes for particular applications for industrial applications

Abstract

Robot precision joint speed reducer, the first eccentric gear and the second eccentric gear are fixed on eccentric shaft; form internal tooth and external tooth on thin-walled resilience gear ring; the internal tooth of thin-walled resilience gear ring is meshed with the first eccentric gear and the second eccentric gear, and the external tooth of thin-walled resilience gear ring is meshed with the tooth of inner wall on output flange;Left case lid is fastened and is fixed together with right case lid, first eccentric gear, the second eccentric gear and thin-walled resilience gear ring are placed in left case lid and right case lid, it is clamped with the first retainer and ball between left case lid and output flange, the first retainer and ball are clamped between right case lid and output flange;The second retainer and cylindrical roller are clamped between left case lid and eccentric shaft.It is inside and outside all with teeth can be inside and outside while engaging due to thin-walled resilience gear ring, the number of teeth of engagement is more simultaneously, the intensity of structure is high, the output of power is big, and since interior external tooth engages simultaneously, reduction ratio range is big, and the speed ratio of interior external tooth is the relationship being multiplied, in addition thin-walled resilience gear ring can reduce the changing of the relative positions rotated between gear with miniature deformation.

Description

Robot precision joint speed reducer
Technical field:
The present invention relates to robotic technology fields, more specifically to the joint speed reducer in a kind of robot.
Background technique:
Existing robot joint speed reducer has two classes, and one kind is rigidity input rigidity output, and such as RV retarder, it is using rigid Property input rigidity output, the power on input shaft passes to output shaft by rigid gear, the disadvantages are as follows: 1, rigidity Gear can be worn in transmission process, when will cause rigid gear in this way and engaging with output shaft, generate biggish transmission mistake Difference is unfavorable for output accuracy control.2, it is engaged using rigid gear with output shaft due to it, so to the processing essence of rigid gear It spends more demanding, keeps the difficulty of processing of rigid gear higher.
Another kind of is the flexible output of rigidity input, and such as harmonic speed reducer, it uses the flexible output of rigidity input, deficiency Place is: the driving error and precision of flexibility output need to be further increased.
Summary of the invention:
The purpose of the present invention is to the deficiencies of the prior art, and provide a kind of robot precision joint speed reducer, it Due to thin-walled resilience gear ring be it is inside and outside it is all with teeth inside and outside can engage simultaneously, while the number of teeth engaged is more, the intensity height of structure, power Output it is big, and since interior external tooth engages simultaneously, reduction ratio range is big, and the speed ratio of interior external tooth is the relationship being multiplied, in addition thin Wall resilience gear ring can reduce the changing of the relative positions rotated between gear with miniature deformation.
Technology solution of the invention is as follows:
Robot precision joint speed reducer, including the first eccentric gear and the second eccentric gear are fixed on eccentric shaft One eccentric gear and the second eccentric gear, form internal tooth and external tooth on thin-walled resilience gear ring, the internal tooth of thin-walled resilience gear ring with First eccentric gear and the second eccentric gear are meshed, and the external tooth of thin-walled resilience gear ring is mutually nibbled with the tooth of inner wall on output flange It closes;
Left case lid is fastened and is fixed together with right case lid, the first eccentric gear, the second eccentric gear and thin-walled Elastic Teeth Circle is placed in left case lid and right case lid, is clamped with the first retainer and ball between left case lid and output flange, right case lid with The first retainer and ball are clamped between output flange;The second retainer and cylinder are clamped between left case lid and eccentric shaft Roller.
The mode that the left case lid is fixed together with right case lid is that left fixture block sleeve is in the preset hole of left case lid And left case lid is being pressed against, right fixture block sleeve is in the preset hole of right case lid and is pressing against right case lid, and left collet sleeve is in the first eccentric tooth In preset hole on wheel, for right collet sleeve in the preset hole on the second eccentric gear, bolt passes through left collet, right collet, a left side The centre bore of fixture block and right fixture block and left collet, right collet, left fixture block and right fixture block are fixed together, left case lid and right case lid It is fixed by screws in together.
The beneficial effects of the present invention are:
1, due to thin-walled resilience gear ring be it is inside and outside it is all with teeth inside and outside can engage simultaneously, while the number of teeth of engagement is more, structure Intensity it is high, the output of power is big, and since interior external tooth engages simultaneously, reduction ratio range is big, and the speed ratio of interior external tooth is multiplication Relationship, in addition thin-walled resilience gear ring can reduce the changing of the relative positions rotated between gear with miniature deformation.
2, the interior external tooth on thin-walled resilience gear ring during exercise, while generating multiple spot and engaging jointly to transmit torque, makes to turn Square transmitting is very steady.
3, it is interior external tooth multi point engagement simultaneously, and it is strong to bear loading capability.
4, due to controlled size be all it is radial, process part when dimensional accuracy be easy to get control, can accomplish very little Back clearance, so retarder output angle precision is greatly improved.
5, it generates external tooth in flexible variety while multi point engagement can eliminate part mismachining tolerance, repeats retarder fixed Position precision is very high.
6, it is the common engagement simultaneously of interior external tooth that thin-walled resilience gear ring has 170 ° of angles in 360 ° of circumference, there is 85 ° on one side, and And Impact direction is symmetry, so return difference is minimum when positive and negative rotation.
7, its entire design structure reduction ratio range is very big: may be implemented from units transmission ratio to tens of thousands of transmission ratios more.
Detailed description of the invention:
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the cross-sectional view of thin-walled resilience gear ring;
Fig. 3 is the cross-sectional view of right case lid.
In figure: 1, the first eccentric gear;2, the second eccentric gear;3, eccentric shaft;4, thin-walled resilience gear ring;5, output flange Disk;6, left case lid;7, right case lid;8, ball;9, cylindrical roller;10, the first retainer;11, the second retainer;12, left fixture block; 13, right fixture block;14, bolt;15, screw;16, left collet;17, right collet.
Specific embodiment:
Embodiment: as shown in Fig. 1 to 3, robot precision joint speed reducer, including the first eccentric gear 1 and second are eccentric Gear 2 is fixed with the first eccentric gear 1 and the second eccentric gear 2 on eccentric shaft 3, forms internal tooth 41 on thin-walled resilience gear ring 4 With external tooth 42, the internal tooth 41 of thin-walled resilience gear ring 4 is meshed with the first eccentric gear 1 and the second eccentric gear 2, thin-walled Elastic Teeth The external tooth 42 of circle 4 is meshed with the tooth of inner wall on output flange 5;
Left case lid 6 is fastened and is fixed together with right case lid 7, the first eccentric gear 1, the second eccentric gear 2 and thin-walled bullet Property gear ring 4 be placed in left case lid 6 and in right case lid 7, be clamped with the first retainer 10 and rolling between left case lid 6 and output flange 5 Pearl 8 is clamped with the first retainer 10 and ball 8 between right case lid 7 and output flange 5;It is pressed from both sides between left case lid 6 and eccentric shaft 3 Hold the second retainer 11 and cylindrical roller 9.
The mode that the left case lid 6 is fixed together with right case lid 7 is that left 12 sleeve of fixture block is in the pre- of left case lid 6 In apertured and left case lid 6 is being pressed against, right 13 sleeve of fixture block is in the preset hole of right case lid 7 and is pressing against right case lid 7, left 16 sleeve of collet In the preset hole on the first eccentric gear 1, right 17 sleeve of collet in the preset hole on the second eccentric gear 2, wear by bolt 14 Cross the centre bore of left collet 16, right collet 17, left fixture block 12 and right fixture block 13 and by left collet 16, right collet 17, left fixture block 12 It is fixed together with right fixture block 13, left case lid 6 is fixed together with right case lid 7 by screw 15.
Working principle: when 3 input power of eccentric shaft, the first eccentric gear 1 and the second eccentric gear 2 have multiple teeth respectively It is closely meshed with the internal tooth 41 of thin-walled resilience gear ring 4, so that output flange 5 is generated rotation, thin-walled by less teeth difference transmission Resilience gear ring 4 can generate flexible a small amount of controlled-deformation movements during the motion, and the external tooth 42 on thin-walled resilience gear ring 4 has multiple It tightly engages and is a little meshed with output flange 5, output flange 5 and external connection reach the final purpose of output torque.

Claims (2)

1. robot precision joint speed reducer, including the first eccentric gear (1) and the second eccentric gear (2), it is characterised in that: partially The first eccentric gear (1) and the second eccentric gear (2) are fixed in mandrel (3), thin-walled resilience gear ring forms internal tooth on (4) (41) and external tooth (42), internal tooth (41) and the first eccentric gear (1) and the second eccentric gear (2) phase of thin-walled resilience gear ring (4) Engagement, the external tooth (42) of thin-walled resilience gear ring (4) are meshed with the tooth of inner wall on output flange (5);
Left case lid (6) and right case lid (7) fasten and are fixed together, the first eccentric gear (1), the second eccentric gear (2) and thin Wall resilience gear ring (4) is placed in left case lid (6) and right case lid (7), and the is clamped between left case lid (6) and output flange (5) One retainer (10) and ball (8) are clamped with the first retainer (10) and ball between right case lid (7) and output flange (5) (8);The second retainer (11) and cylindrical roller (9) are clamped between left case lid (6) and eccentric shaft (3).
2. robot precision joint speed reducer according to claim 1, it is characterised in that: left case lid (6) and right case lid (7) The mode being fixed together is that left fixture block (12) sleeve is in the preset hole of left case lid (6) and is pressing against left case lid (6), right Fixture block (13) sleeve is in the preset hole of right case lid (7) and is pressing against right case lid (7), and left collet (16) sleeve is in the first eccentric gear (1) in the preset hole on, for right collet (17) sleeve in the preset hole on the second eccentric gear (2), bolt (14) passes through left folder Cover (16), right collet (17), the centre bore of left fixture block (12) and right fixture block (13) and by left collet (16), right collet (17), a left side Fixture block (12) and right fixture block (13) are fixed together, and left case lid (6) is fixed together with right case lid (7) by screw (15).
CN201611116083.6A 2016-12-07 2016-12-07 Robot precision joint speed reducer Active CN106763526B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611116083.6A CN106763526B (en) 2016-12-07 2016-12-07 Robot precision joint speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611116083.6A CN106763526B (en) 2016-12-07 2016-12-07 Robot precision joint speed reducer

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Publication Number Publication Date
CN106763526A CN106763526A (en) 2017-05-31
CN106763526B true CN106763526B (en) 2019-11-19

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2649869Y (en) * 2003-09-29 2004-10-20 重庆齿轮箱有限责任公司 Planetary-drive wind-power generating speed increasing box
CN201265641Y (en) * 2008-10-07 2009-07-01 施文江 Planet gear speed-increasing box with variable gear ratio
CN102927210A (en) * 2012-10-26 2013-02-13 浙江西子富沃德电机有限公司 Small tooth difference planetary reducer and elevator traction machine using same

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006038108A (en) * 2004-07-27 2006-02-09 Sumitomo Heavy Ind Ltd Inscribed engagement planetary reduction gear mechanism and inscribed engagement planetary reduction gear device
CN101334093A (en) * 2007-06-26 2008-12-31 镱晴精密齿轮厂股份有限公司 Retarding mechanism
US8142326B2 (en) * 2009-08-25 2012-03-27 Power Network Industry Co., Ltd. Multi-gear mechanism for power tools
CN102865335A (en) * 2011-07-08 2013-01-09 姚杰 Roller meshing transmission mechanism with small teeth difference and speed reducer thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2649869Y (en) * 2003-09-29 2004-10-20 重庆齿轮箱有限责任公司 Planetary-drive wind-power generating speed increasing box
CN201265641Y (en) * 2008-10-07 2009-07-01 施文江 Planet gear speed-increasing box with variable gear ratio
CN102927210A (en) * 2012-10-26 2013-02-13 浙江西子富沃德电机有限公司 Small tooth difference planetary reducer and elevator traction machine using same

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