CN106801722A - A kind of novel robot reductor - Google Patents
A kind of novel robot reductor Download PDFInfo
- Publication number
- CN106801722A CN106801722A CN201710151427.5A CN201710151427A CN106801722A CN 106801722 A CN106801722 A CN 106801722A CN 201710151427 A CN201710151427 A CN 201710151427A CN 106801722 A CN106801722 A CN 106801722A
- Authority
- CN
- China
- Prior art keywords
- sleeved
- external tooth
- novel robot
- reductor
- tooth runner
- 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.)
- Granted
Links
Classifications
-
- 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
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed 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
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- 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
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed 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
- F16H2001/327—Toothed 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Retarders (AREA)
Abstract
A kind of novel robot reductor that the present invention is provided, has the feature that, including：Connecting shaft, in cylinder；Small bearing, is sleeved on connecting shaft middle part；Eccentric bushing, is sleeved on one end of connecting shaft；Big bearing, is sleeved on the outside of eccentric bushing；External tooth runner, is sleeved on big bearing, and outside is provided with external tooth；Internal tooth runner, is sleeved on external tooth runner, and inner side is provided with internal tooth, is meshed with external tooth；And combination beat device, one end is connected with one end of external tooth runner.
Description
Technical field
The present invention relates to reductor, more particularly to a kind of novel robot reductor.
Background technology
Robot decelerator is almost monopolized by foreign countries at present, causes Chinese robot cost relative to external trade price
High by 50 or so, reductor plays an important role as the core component of robot sum, and China has to research and development independent intellectual and produces
The reductor of power.The reductor of the foreign imitation of needs to increase very big input especially Ultra-precision Turning equipment and will
Catching up with international competition opponent more needs the road grown to walk very much, and we will research and develop autonomous reductor must just enter from design
Hand, looks for another way, and can just produce the cycloidal planetary gear speed reducer suitable for robot.
Robot servo motors at work all in middle high speed area, joint of mechanical arm in motion in slow low speed shape
State, this part one slow connection will by rapidly its complete.Also to increase the strength of output simultaneously, decelerator is mainly solved
The two problems, the harmonic speed reducer for having existed now is mainly flexible decelerator and is transported by flexible bearing and flexible gear
Realized with symmetrical two teeth difference.The present invention is realized by innovative design by plain bearing, so the decelerator of present invention design
It is rigid decelerator, by the rigid number of teeth of plain bearing, is realized by the method for tooth difference.
, because using flexible bearing, cost is very high, and it requires that gear is flexible for the bearing of existing decelerator, this
Plant resislient gear processing technology complicated, manufacture difficulty is higher, and cost is also very high.And because gear elasticity hardness not
Height, durability is relatively low.Tooth module is small, and speed is than small, and power output is also small.
As shown in Figure 1, Figure 2 and Figure 3, harmonic drive is to realize machinery using a controllable elastic deformation for structure
The transmission of motion.Harmonic drive is generally made up of three basic building blocks, including a firm wheel 8 for having an internal tooth, can during a job
Produce elastomeric radial and with external tooth flexbile gear 9 and one be mounted in flexbile gear inside, ovalize, the flexible rolling of outer ring band
The wave producer 10 of bearing.The interior number of teeth of the outer number of teeth of flexbile gear 9 less than firm wheel.When wave producer 10 is rotated, accordingly and major axis
The external tooth of flexbile gear 9 in direction just completely engaging-in firm wheel 8 internal tooth；In short-axis direction, then external tooth disengages internal tooth entirely.When firm wheel 8 is solid
Fixed, when wave producer 10 rotates, the external tooth of flexbile gear 9 will be engaging-in successively and nibble out the internal tooth of firm wheel 8, on the gear ring of flexbile gear 8
The radial displacement at any point is by the change for being similar to sinusoidal waveform.
The content of the invention
The present invention is carried out to solve the above problems, it is therefore intended that provide a kind of process is simple, low cost it is new
Humanoid robot reductor.
A kind of novel robot reductor that the present invention is provided, has the feature that, including：Connecting shaft, in cylinder
Body；Small bearing, is sleeved on connecting shaft middle part；Eccentric bushing, is sleeved on one end of connecting shaft；Big bearing, is sleeved on the outer of eccentric bushing
Side；External tooth runner, is sleeved on big bearing, and outside is provided with external tooth；Internal tooth runner, is sleeved on external tooth runner, and inner side is set
There is internal tooth, be meshed with external tooth；And combination beat device, one end is connected with one end of external tooth runner.
A kind of novel robot reductor that the present invention is provided, also has the feature that：Wherein, external tooth is deposited with internal tooth
It is poor in a tooth.
A kind of novel robot reductor that the present invention is provided, also has the feature that：Wherein, beat device is combined,
Have：Fixed pedestal, is sleeved on one end of external tooth runner；First spring leaf, side is arranged on fixed pedestal；Connection sheet, one
Side is connected with the opposite side of the first spring leaf；Second spring piece, side is arranged on the opposite side of connection sheet；And gland,
Side is connected with the opposite side of second spring piece.
A kind of novel robot reductor that the present invention is provided, also has the feature that：Wherein, the first spring leaf is
Square, there is manhole inner side.
A kind of novel robot reductor that the present invention is provided, also has the feature that：Wherein, second spring piece is
Square, there is manhole inner side.
Invention effect and effect
According to a kind of novel robot reductor involved in the present invention, speed is than big；Because speed ratio is big, in actual applications
Speed that again need not be so big compares, therefore can reduce fast ratio, concedes space, increases the modulus of work tooth, increases under equal volume
Intensity and dynamics are added；The hardness of tooth is improve, it is better than like product wearability；Replace conventional flex axle with plain bearing
Hold, accomplish the great innovation in design, no longer simple imitation relies on flexible gear technology；Significantly reduce single product into
This, even if small lot can also control out cost；Manufacturing process is simple, and early stage need not put into ultrahigh precision machining tool, right
The monopolization and price for breaking external reductor producer are bullied and oppressed with important practical significance；The qualification rate of product manufacturing is improve, it is whole
Individual process control it is good, qualification rate can reach 99%；Part just can be processed with traditional mechanical processing technique, significantly
Reduce early stage equipment funds input.
Brief description of the drawings
Fig. 1 is general assembly profile of the present invention in the reductor of prior art；
Fig. 2 is exploded perspective view of the present invention in the reductor of prior art；
Fig. 3 is decomposition side view of the present invention in the reductor of prior art；
Fig. 4 is the general assembly profile of novel robot reductor of the present invention in embodiment；
Fig. 5 is the exploded perspective view of novel robot reductor of the present invention in embodiment；And
Fig. 6 is the decomposition side view of novel robot reductor of the present invention in embodiment.
Specific embodiment
Reality and apply example novel robot involved in the present invention is explained in detail with reductor referring to the drawings.
Embodiment
As shown in Figure 4, Figure 5 and Figure 6, novel robot has with reductor：It is connecting shaft 1, small bearing 2, eccentric bushing 3, big
Bearing 4, external tooth runner 5, internal tooth runner 6 and combination beat device 7.
Connecting shaft 1 is in cylinder, and core component is mainly connected as novel robot reductor.
Small bearing 2 is in annular, and quantity is two, is sleeved on the middle part of the connecting shaft 1.
Eccentric bushing 3 is in cylinder, and inner hollow is sleeved on one end of the connecting shaft 1.
Big bearing 4 is in annular, is sleeved on the outside of the eccentric bushing 3.
External tooth runner 5 is sleeved on the big bearing 4 in annular, and outside is provided with external tooth 5-1.
Internal tooth runner 6 is in annular, is sleeved on the external tooth runner 5, and inner side is provided with internal tooth 6-1, with the external tooth
5-1 is meshed.External tooth 5-1 and internal tooth 6-1 is poor in the presence of a tooth, reduces the manufacture difficulty of external tooth runner 5 and internal tooth runner 6, uses
Traditional handicraft can just be processed, and cost is substantially reduced.
External tooth runner 5 and internal tooth runner 6 are processed quenching, the He of roughing high rigidity external tooth runner 5 by legacy equipment
Internal tooth runner 6, the method for finishing grinding, the overall precision of decelerator is improved by adjusting gap.
One end of combination beat device 7 is connected with one end of the external tooth runner 5 to be had：Fixed pedestal 7-1, the first spring leaf
7-2, connection sheet 7-3, second spring piece 7-4 and gland 7-5.
Fixed pedestal 7-1 is sleeved on one end of the external tooth runner 5, and external tooth runner 5 is rotated and drives fixed pedestal 7-1 to turn
It is dynamic.
First spring leaf 7-2 is square, and there is manhole inner side, and side is arranged on the fixed pedestal 7-1.
Connection sheet 7-3 is in annular, and side is connected with the opposite side of the first spring leaf 7-2.
Second spring piece 7-4 is square, and there is manhole inner side, and side is arranged on the opposite side of the connection sheet 7-3.
Gland 7-5 is in disk form, and side is connected with the opposite side of the second spring piece 7-4.
Fixed pedestal 7-1, the first spring leaf 7-2, connection sheet 7-3, the endless belt of second spring piece 7-4 and gland 7-5
On be symmetrically arranged with two through holes, fixed pedestal 7-1, the first spring leaf 7-2, connection sheet 7-3, second spring piece 7-4 and solid
Determine head 7-5 to be connected and fixed by two through holes.
The effect of embodiment and effect
A kind of novel robot reductor according to involved by the present embodiment, speed is than big；Because speed is than big, in practical application
In again need not so big speed ratio, therefore fast ratio can be reduced, concede space, the modulus of work tooth is increased, under equal volume
Increased intensity and dynamics；The hardness of tooth is improve, it is better than like product wearability；Replace conventional flex axle with plain bearing
Hold, accomplish the great innovation in design, no longer simple imitation relies on flexible gear technology；Significantly reduce single product into
This, even if small lot can also control out cost；Manufacturing process is simple, and early stage need not put into ultrahigh precision machining tool, right
The monopolization and price for breaking external reductor producer are bullied and oppressed with important practical significance；The qualification rate of product manufacturing is improve, it is whole
Individual process control it is good, qualification rate can reach 99%；Part just can be processed with traditional mechanical processing technique, significantly
Reduce early stage equipment funds input.
Above-mentioned implementation method is preferred case of the invention, is not intended to limit protection scope of the present invention.
Claims (5)
1. a kind of novel robot reductor, it is characterised in that including：
Connecting shaft, in cylinder；
Small bearing, is sleeved on the connecting shaft middle part；
Eccentric bushing, is sleeved on one end of the connecting shaft；
Big bearing, is sleeved on the outside of the eccentric bushing；
External tooth runner, is sleeved on the big bearing, and outside is provided with external tooth；
Internal tooth runner, is sleeved on the external tooth runner, and inner side is provided with internal tooth, is meshed with the external tooth；And
Combination beat device, one end is connected with one end of the external tooth runner.
2. a kind of novel robot reductor according to claim 1, it is characterised in that：
Wherein, the external tooth is poor in the presence of a tooth with the internal tooth.
3. a kind of novel robot reductor according to claim 1, it is characterised in that：
Wherein, the combination beat device, has：
Fixed pedestal, is sleeved on one end of the external tooth runner；
First spring leaf, side is arranged on the fixed pedestal；
Connection sheet, side is connected with the opposite side of first spring leaf；
Second spring piece, side is arranged on the opposite side of the connection sheet；And
Gland, side is connected with the opposite side of the second spring piece.
4. a kind of novel robot reductor according to claim 3, it is characterised in that：
Wherein, first spring leaf is square, and there is manhole inner side.
5. a kind of novel robot reductor according to claim 3, it is characterised in that：
Wherein, the second spring piece is square, and there is manhole inner side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151427.5A CN106801722B (en) | 2017-03-14 | 2017-03-14 | A kind of novel robot speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151427.5A CN106801722B (en) | 2017-03-14 | 2017-03-14 | A kind of novel robot speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106801722A true CN106801722A (en) | 2017-06-06 |
| CN106801722B CN106801722B (en) | 2019-02-15 |
Family
ID=58988281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710151427.5A Active CN106801722B (en) | 2017-03-14 | 2017-03-14 | A kind of novel robot speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106801722B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1368422A (en) * | 2001-02-09 | 2002-09-11 | 吴声震 | Speed reducer with micro back lash for industrial robot |
| CN1669746A (en) * | 2004-03-16 | 2005-09-21 | 发那科株式会社 | Industrial robot with speed reducer in rotary joints |
| CN2779158Y (en) * | 2005-02-23 | 2006-05-10 | 张国林 | 9000 series cycloidal planetary gear speed reducer |
| CN102297244A (en) * | 2010-06-22 | 2011-12-28 | 住友重机械工业株式会社 | Eccentrically swing type reduction gear |
| CN205459700U (en) * | 2016-03-21 | 2016-08-17 | 上海卓道医疗科技有限公司 | Ectoskeleton formula upper limbs rehabilitation training robot |
| CN205896048U (en) * | 2015-11-20 | 2017-01-18 | 广州长仁工业科技有限公司 | Planet cycloidal reducer |
-
2017
- 2017-03-14 CN CN201710151427.5A patent/CN106801722B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1368422A (en) * | 2001-02-09 | 2002-09-11 | 吴声震 | Speed reducer with micro back lash for industrial robot |
| CN1669746A (en) * | 2004-03-16 | 2005-09-21 | 发那科株式会社 | Industrial robot with speed reducer in rotary joints |
| CN2779158Y (en) * | 2005-02-23 | 2006-05-10 | 张国林 | 9000 series cycloidal planetary gear speed reducer |
| CN102297244A (en) * | 2010-06-22 | 2011-12-28 | 住友重机械工业株式会社 | Eccentrically swing type reduction gear |
| CN205896048U (en) * | 2015-11-20 | 2017-01-18 | 广州长仁工业科技有限公司 | Planet cycloidal reducer |
| CN205459700U (en) * | 2016-03-21 | 2016-08-17 | 上海卓道医疗科技有限公司 | Ectoskeleton formula upper limbs rehabilitation training robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106801722B (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204658445U (en) | A kind of Industrial robots Mechanical mechanism of six degree of freedom | |
| US8016893B2 (en) | Gear bearing drive | |
| CN107053245B (en) | Rotary variable stiffness flexible joint | |
| CA2694004A1 (en) | Gear bearing drive | |
| WO2021189677A1 (en) | Limb structure having parallel-driven joint for bionic robot, and bionic robot | |
| CN105500359A (en) | Heavy-load SCARA (selective compliance assembly robot arm) transfer robot | |
| CN104385293A (en) | Rotary type flexible joint | |
| CN107234632B (en) | Energy-saving variable-rigidity elastic joint based on differential gear train | |
| CN106224453A (en) | A kind of big retarding is than external toothing quill shaft planetary reduction gear | |
| CN202209382U (en) | Transmission mechanism for thin type harmonic retarder | |
| CN204893986U (en) | Wrist joint structure of robot | |
| CN108422442A (en) | A kind of ultra-small integrated servo joint | |
| CN202756546U (en) | Harmonic reducer and manipulator | |
| CN106801722A (en) | A kind of novel robot reductor | |
| CN203686042U (en) | Hollow sleeve type 2K-V precision speed reducer | |
| KR20100085870A (en) | Manipulator with an external rotor motor | |
| CN105856218B (en) | A kind of apery type planar multiple-articulation robot based on belt transmission | |
| CN207145542U (en) | A kind of high-accuracy harmonic wave speed reducing machine of robot | |
| CN110355740B (en) | Parallel mechanism with two motion modes of 1R1T and 3T | |
| CN109434820B (en) | Six-degree-of-freedom industrial robot | |
| CN206536503U (en) | A kind of rotary-type variation rigidity flexible joint | |
| CN101659031A (en) | Oilstone feeding device of honing machine | |
| CN104551468A (en) | Controllable mechanism-type mobile welding robot with five degrees of freedom | |
| CN205639483U (en) | Elasticity conversion reduction gear | |
| CN216991983U (en) | Novel robot joint based on hooke joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |