CN106801722B - A kind of novel robot speed reducer - Google Patents
A kind of novel robot speed reducer Download PDFInfo
- Publication number
- CN106801722B CN106801722B CN201710151427.5A CN201710151427A CN106801722B CN 106801722 B CN106801722 B CN 106801722B CN 201710151427 A CN201710151427 A CN 201710151427A CN 106801722 B CN106801722 B CN 106801722B
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- CN
- China
- Prior art keywords
- speed reducer
- sleeved
- external tooth
- novel robot
- tooth runner
- Prior art date
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Retarders (AREA)
Abstract
A kind of novel robot speed reducer provided by the invention, has the feature that, comprising: connecting shaft is in cylindrical body；Small bearing is sleeved in the middle part of connecting shaft；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 inside is provided with internal tooth, is meshed with external tooth；And combination beat device, one end is connect with one end of external tooth runner.
Description
Technical field
The present invention relates to speed reducer, in particular to a kind of novel robot speed reducer.
Background technique
Robot is almost monopolized by foreign countries at present with retarder, causes Chinese robot cost relative to external trade price
High by 50 or so, speed reducer plays an important role as the core component of robot sum, and China has to research and development independent intellectual and produces
The speed reducer of power.The speed reducer of one foreign imitation needs to increase very big investment especially Ultra-precision Turning equipment and wants
Catching up with the road that international competition opponent more needs to grow will walk very much, we will research and develop autonomous speed reducer must just enter from design
Hand looks for another way, and can just produce the cycloidal planetary gear speed reducer suitable for robot.
For robot servo motors at work all in middle high speed area, joint of mechanical arm is in slow low speed shape during exercise
State, this part one slow connection will by rapidly its complete.Also to increase the strength of output simultaneously, retarder mainly solves
Both of these problems, present already existing harmonic speed reducer are mainly that flexible retarder is transported by flexible bearing and flexible gear
It is realized with symmetrical two teeth difference.The present invention is realized, so the retarder that the present invention designs by innovative design by plain bearing
It is rigid retarder, by the rigid number of teeth of plain bearing, is realized by the method for tooth difference.
For the bearing of existing retarder because using flexible bearing, cost is very high, it is required that gear wants flexible, this
Kind resislient gear processing technology is complicated, and manufacture difficulty is higher, and cost is also very high.And because gear elasticity hardness not
Height, durability are relatively low.Tooth module is small, and speed ratio is small, and output power is also small.
As shown in Figure 1, Figure 2 and Figure 3, harmonic drive is to realize machinery using the controllable flexible deformation of a building
The transmitting of movement.Harmonic drive is usually made of three basic building blocks, there is the firm gear 8 of internal tooth including one, and a when job can
Generate elastomeric radial and flexbile gear 9 and an internal, oval, flexible rolling of outer ring band mounted in flexbile gear with external tooth
The wave producer 10 of bearing.The outer number of teeth of flexbile gear 9 is less than the interior number of teeth of firm gear.When wave producer 10 rotates, accordingly and long axis
9 external tooth of flexbile gear in direction just completely engaging-in firm gear 8 internal tooth；In short-axis direction, then external tooth disengages internal tooth entirely.When firm gear 8 is solid
Fixed, when wave producer 10 rotates, the external tooth of flexbile gear 9 will be successively engaging-in and nibble out the internal tooth of firm gear 8, on 8 gear ring of flexbile gear
The radial displacement at any point will be in the variation for being similar to sinusoidal waveform.
Summary of the invention
The present invention is to solve the above-mentioned problems and carries out, and it is an object of the present invention to provide a kind of simple process, at low cost new
Humanoid robot speed reducer.
A kind of novel robot speed reducer provided by the invention, has the feature that, comprising: connecting shaft is in cylinder
Body；Small bearing is sleeved in the middle part of connecting shaft；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, inside setting
There is internal tooth, is meshed with external tooth；And combination beat device, one end is connect with one end of external tooth runner.
A kind of novel robot speed reducer provided by the invention, also has a feature in that wherein external tooth is deposited with internal tooth
It is poor in a tooth.
A kind of novel robot speed reducer provided by the invention also has a feature in that wherein, combines beat device,
Fixed pedestal is included, one end of external tooth runner is sleeved on；First spring leaf, side are arranged on fixed pedestal；Connection sheet, one
Side is connect with the other side of the first spring leaf；Second spring piece, side are arranged on the other side of connection sheet；And fixing head,
Side is connect with the other side of second spring piece.
A kind of novel robot speed reducer provided by the invention also has a feature in that wherein, the first spring leaf is
Rectangular, there is circular through hole in inside.
A kind of novel robot speed reducer provided by the invention also has a feature in that wherein, second spring piece is
Rectangular, there is circular through hole in inside.
Invention effect and effect
A kind of involved novel robot speed reducer, speed ratio are big according to the present invention；Since speed ratio is big, in practical applications
Speed ratio big in this way is not needed again, therefore can reduce speed ratio, concedes space, is increased the modulus of work tooth, is increased under equal volume
Intensity and dynamics are added；The hardness for improving tooth is better than similar product wearability；Conventional flex axis is replaced with plain bearing
It holds, accomplishes the great innovation in design, no longer simple imitate relies on flexible gear technology；Significantly reduce single product at
This, can control out cost small lot；Manufacturing process is simple, does not need investment ultrahigh precision machining tool early period, right
The monopolization and price for breaking external speed reducer producer are bullied and oppressed with important practical significance；The qualification rate of product manufacturing is improved, it is whole
A process control it is good, qualification rate can achieve 99%；Part can be processed with traditional mechanical processing technique, significantly
Reduce equipment funds early period investment.
Detailed description of the invention
Fig. 1 is general assembly sectional view of the present invention in the speed reducer of the prior art；
Fig. 2 is exploded perspective view of the present invention in the speed reducer of the prior art；
Fig. 3 is decomposition side view of the present invention in the speed reducer of the prior art；
Fig. 4 is the general assembly sectional view of the novel robot speed reducer of the present invention in embodiment；
Fig. 5 is the exploded perspective view of the novel robot speed reducer of the present invention in embodiment；And
Fig. 6 is the decomposition side view of the novel robot speed reducer of the present invention in embodiment.
Specific embodiment
It reality and applies example referring to the drawings novel robot according to the present invention is explained in detail with speed reducer.
Embodiment
As shown in Figure 4, Figure 5 and Figure 6, novel robot includes connecting shaft 1, small bearing 2, eccentric bushing 3, big with speed reducer
Bearing 4, external tooth runner 5, internal tooth runner 6 and combination beat device 7.
Connecting shaft 1 is in cylindrical body, mainly connects core component with speed reducer as novel robot.
Small bearing 2 is in circular ring shape, and quantity is two, is sleeved on the middle part of the connecting shaft 1.
Eccentric bushing 3 is in cylindrical body, and inner hollow is sleeved on one end of the connecting shaft 1.
Big bearing 4 is in circular ring shape, is sleeved on the outside of the eccentric bushing 3.
External tooth runner 5 is sleeved on the big bearing 4 in circular ring shape, and outside is provided with external tooth 5-1.
Internal tooth runner 6 is in circular ring shape, is sleeved on the external tooth runner 5, inside is provided with internal tooth 6-1, with the external tooth
5-1 is meshed.External tooth 5-1 and internal tooth 6-1 reduces the manufacture difficulty of external tooth runner 5 and internal tooth runner 6 there are a tooth is poor, uses
Traditional handicraft can process, and cost substantially reduces.
External tooth runner 5 and internal tooth runner 6 carry out processing quenching, 5 He of roughing high rigidity external tooth runner by traditional equipment
Internal tooth runner 6, the method for finishing grinding, the overall precision of retarder is improved by adjusting gap.
One end of combination beat device 7 is connect with one end of the external tooth runner 5 includes fixed pedestal 7-1, the first spring leaf
7-2, connection sheet 7-3, second spring piece 7-4 and fixing head 7-5.
Fixed pedestal 7-1 is sleeved on one end of the external tooth runner 5, and the rotation of external tooth runner 5 drives fixed pedestal 7-1 to turn
It is dynamic.
First spring leaf 7-2 is square, and there is circular through hole in inside, and side is arranged on the fixed pedestal 7-1.
Connection sheet 7-3 is in circular ring shape, and side is connect with the other side of the first spring leaf 7-2.
Second spring piece 7-4 is square, and there is circular through hole in inside, and side is arranged on the other side of the connection sheet 7-3.
Fixing head 7-5 is in disk form, and side is connect with the other side of the second spring piece 7-4.
The endless belt of fixed pedestal 7-1, the first spring leaf 7-2, connection sheet 7-3, second spring piece 7-4 and fixing head 7-5
On be symmetrical arranged there are two through-hole, 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 action and effect of embodiment
A kind of novel robot speed reducer, speed ratio according to involved by the present embodiment are big；Since speed ratio is big, in practical application
In do not need speed ratio big so again, therefore speed ratio can be reduced, concede space, the modulus of work tooth be increased, under equal volume
Increase intensity and dynamics；The hardness for improving tooth is better than similar product wearability；Conventional flex axis is replaced with plain bearing
It holds, accomplishes the great innovation in design, no longer simple imitate relies on flexible gear technology；Significantly reduce single product at
This, can control out cost small lot；Manufacturing process is simple, does not need investment ultrahigh precision machining tool early period, right
The monopolization and price for breaking external speed reducer producer are bullied and oppressed with important practical significance；The qualification rate of product manufacturing is improved, it is whole
A process control it is good, qualification rate can achieve 99%；Part can be processed with traditional mechanical processing technique, significantly
Reduce equipment funds early period investment.
Above embodiment is preferred case of the invention, the protection scope being not intended to limit the invention.
Claims (5)
- It is in cylindrical body 1. a kind of novel robot speed reducer has connecting shaft, which is characterized in that further include:Small bearing is sleeved in the middle part of the connecting shaft；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 inside is provided with internal tooth, is meshed with the external tooth；AndBeat device is combined, one end is connect with one end of the external tooth runner.
- 2. a kind of novel robot speed reducer according to claim 1, it is characterised in that:Wherein, there are a tooth is poor with the internal tooth for the external tooth.
- 3. a kind of novel robot speed reducer according to claim 1, it is characterised in that:Wherein, the combination beat device, comprising:Fixed pedestal is sleeved on one end of the external tooth runner；First spring leaf, side are arranged on the fixed pedestal；Connection sheet, side are connect with the other side of first spring leaf；Second spring piece, side are arranged on the other side of the connection sheet；AndFixing head, side are connect with the other side of the second spring piece.
- 4. a kind of novel robot speed reducer according to claim 3, it is characterised in that:Wherein, first spring leaf is rectangular, and there is circular through hole in inside.
- 5. a kind of novel robot speed reducer according to claim 3, it is characterised in that:Wherein, the second spring piece is rectangular, and there is circular through hole in inside.
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 CN106801722A (en) | 2017-06-06 |
| CN106801722B true CN106801722B (en) | 2019-02-15 |
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| 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 |
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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 |
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| Publication number | Publication date |
|---|---|
| CN106801722A (en) | 2017-06-06 |
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