CN106763526B - Robot precision joint reducer - Google Patents

Abstract

Robot precision joint reducer, the first eccentric gear and the second eccentric gear are fixed on the eccentric shaft, the thin-walled elastic ring gear is formed with internal teeth and external teeth, the inner teeth of the thin-walled elastic ring gear are connected with the first eccentric gear and the second The two eccentric gears are meshed, and the outer teeth of the thin-walled elastic ring gear are meshed with the teeth on the inner wall of the output flange; the left case cover and the right case cover are fastened and fixed together, the first eccentric gear, the second eccentric gear and the The thin-walled elastic ring gear is placed in the left case cover and the right case cover, the first cage and balls are clamped between the left case cover and the output flange, and the second cage is clamped between the right case cover and the output flange. A cage and balls; a second cage and cylindrical rollers are clamped between the left case cover and the eccentric shaft. Because the thin-walled elastic ring gear has teeth on the inside and outside, it can mesh both inside and outside at the same time. The number of teeth meshing at the same time is large, the strength of the structure is high, and the output of force is large. It is a multiplicative relationship. In addition, the thin-walled elastic ring gear can be slightly deformed to reduce the rotational misalignment between the gears.

Description

Robot precision joint reducer

Technical field:

The invention relates to the technical field of robots, and more specifically relates to a joint reducer used on a robot.

Background technique:

There are two types of existing robot joint reducers, one is rigid input and rigid output, such as RV reducer, which uses rigid input and rigid output, and the power on the input shaft is transmitted to the output shaft through rigid gears. The disadvantages are 1. The rigid gear will be worn during the transmission process, which will cause a large transmission error when the rigid gear meshes with the output shaft, which is not conducive to the output precision control. 2. Since it uses rigid gears to mesh with the output shaft, it requires high machining accuracy for the rigid gears, which makes the processing of the rigid gears more difficult.

The other type is rigid input and flexible output, such as harmonic reducer, which uses rigid input and flexible output. The disadvantage is that the transmission error and accuracy of flexible output need to be further improved.

Invention content:

The purpose of the present invention is to provide a precision joint reducer for robots to address the deficiencies of the prior art. Since the thin-walled elastic ring gear has teeth both inside and outside, the inside and outside can be meshed at the same time, the number of teeth meshing at the same time is large, and the strength of the structure is high. The output of the force is large, and because the internal and external teeth mesh at the same time, the range of the reduction ratio is large, and the speed ratio of the internal and external teeth is a multiplicative relationship. In addition, the thin-walled elastic ring gear can be slightly deformed to reduce the rotational misalignment between the gears.

Technical solutions of the present invention are as follows:

Robot precision joint reducer, including the first eccentric gear and the second eccentric gear, the first eccentric gear and the second eccentric gear are fixed on the eccentric shaft, the thin-walled elastic ring gear is formed with internal teeth and external teeth, and the thin-walled elastic gear The inner teeth of the ring mesh with the first eccentric gear and the second eccentric gear, and the outer teeth of the thin-walled elastic ring mesh with the teeth on the inner wall of the output flange;

The left case cover and the right case cover are fastened and fixed together, the first eccentric gear, the second eccentric gear and the thin-walled elastic ring are placed in the left case cover and the right case cover, between the left case cover and the output flange The first cage and balls are clamped, the first cage and balls are clamped between the right case cover and the output flange; the second cage and cylindrical rollers are clamped between the left case cover and the eccentric shaft.

The left case cover and the right case cover are fixedly connected together in such a way that the left clamping block is inserted into the preset hole of the left case cover and pressed against the left case cover, and the right clamping block is inserted into the preset hole of the right case cover. hole and pressing the right case cover, the left jacket is inserted into the preset hole on the first eccentric gear, the right jacket is inserted into the preset hole on the second eccentric gear, and the bolt passes through the left jacket, The center holes of the right jacket, the left clip and the right clip fix the left jacket, the right jacket, the left clip and the right clip together, and the left case cover and the right case cover are fixed together by screws.

The beneficial effects of the present invention are:

1. Since the thin-walled elastic ring gear has teeth both inside and outside, it can engage both inside and outside at the same time. The number of teeth meshing at the same time is large, the strength of the structure is high, and the output of force is large, and because the internal and external teeth mesh at the same time, the reduction ratio range is large, and the speed of the internal and external teeth is large. The ratio is a multiplicative relationship. In addition, the thin-walled elastic ring gear can be slightly deformed to reduce the rotational misalignment between the gears.

2. When the internal and external teeth on the thin-walled elastic ring gear are in motion, they simultaneously generate multi-point joint meshing to transmit torque, which makes the torque transmission very stable.

3. It is multi-point meshing of internal and external teeth at the same time, with strong load bearing capacity.

4. Since the controlled dimensions are all radial, the dimensional accuracy is easy to control when processing parts, and a small backlash can be achieved, so the output angle accuracy of the reducer is greatly improved.

5. It produces flexible changes, and the simultaneous multi-point meshing of the internal and external teeth can eliminate part of the machining error and make the repeat positioning accuracy of the reducer very high.

6. The thin-walled elastic ring gear has an angle of 170° in the 360° of the circumference, the internal and external teeth are meshed together at the same time, and one side has 85°, and the direction of the force is symmetrical, so the hysteresis is extremely small during forward and reverse rotation.

7. The reduction ratio range of its entire design structure is very large: from a single-digit transmission ratio to tens of thousands of transmission ratios can be realized.

Description of drawings:

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a sectional view of a thin-walled elastic ring gear;

Figure 3 is a sectional view of the right case cover.

In the figure: 1. First eccentric gear; 2. Second eccentric gear; 3. Eccentric shaft; 4. Thin-walled elastic gear ring; 5. Output flange; 6. Left case cover; 7. Right case cover; 8 , Ball; 9, Cylindrical Roller; 10, First Cage; 11, Second Cage; 12, Left Clamp; 13, Right Clamp; 14, Bolt; 15, Screw; 16, Left Jacket; 17 , right jacket.

Detailed ways:

Embodiment: As shown in Figures 1 to 3, the robot precision joint reducer includes a first eccentric gear 1 and a second eccentric gear 2, and the eccentric shaft 3 is fixed with the first eccentric gear 1 and the second eccentric gear 2, thin-walled Internal teeth 41 and external teeth 42 are formed on the elastic ring gear 4, the inner teeth 41 of the thin-walled elastic ring gear 4 mesh with the first eccentric gear 1 and the second eccentric gear 2, and the outer teeth 42 of the thin-walled elastic ring gear 4 Engage with the teeth on the inner wall of the output flange 5;

The left case cover 6 and the right case cover 7 are fastened and fixed together, the first eccentric gear 1, the second eccentric gear 2 and the thin-walled elastic ring gear 4 are placed in the left case cover 6 and the right case cover 7, and the left case cover 6 and the output flange 5 clamp the first cage 10 and the ball 8, between the right case cover 7 and the output flange 5 clamp the first cage 10 and the ball 8; the left case cover 6 and the The second cage 11 and the cylindrical roller 9 are sandwiched between the eccentric shafts 3 .

The left case cover 6 and the right case cover 7 are fixedly connected together in such a way that the left clamping block 12 is inserted in the preset hole of the left case cover 6 and presses the left case cover 6, and the right clamping block 13 is inserted and sleeved in the left case cover 6. In the preset hole of the right case cover 7 and pressing the right case cover 7, the left jacket 16 is inserted into the preset hole on the first eccentric gear 1, and the right jacket 17 is inserted into the second eccentric gear 2. In the preset hole, the bolt 14 passes through the center hole of the left jacket 16, the right jacket 17, the left clamp block 12 and the right clamp block 13 and connects the left jacket 16, the right jacket 17, the left clamp block 12 and the right clamp Block 13 is fixed together, and left case cover 6 and right case cover 7 are fixed together by screw 15.

Working principle: when the eccentric shaft 3 inputs power, the first eccentric gear 1 and the second eccentric gear 2 respectively have a plurality of teeth that are tightly meshed with the inner teeth 41 of the thin-walled elastic ring gear 4, and the output is achieved through transmission with less tooth difference. The flange 5 rotates, and the thin-walled elastic ring gear 4 produces a flexible and small amount of controlled deformation movement during the movement. The outer teeth 42 on the thin-walled elastic ring gear 4 have multiple closely meshing points with the output flange 5 The output flange 5 is connected with the outside to achieve the ultimate 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).