CN106884951A - The novel heavy duty gapless driving joint of robot - Google Patents
The novel heavy duty gapless driving joint of robot Download PDFInfo
- Publication number
- CN106884951A CN106884951A CN201510940104.5A CN201510940104A CN106884951A CN 106884951 A CN106884951 A CN 106884951A CN 201510940104 A CN201510940104 A CN 201510940104A CN 106884951 A CN106884951 A CN 106884951A
- Authority
- CN
- China
- Prior art keywords
- worm gear
- planet circular
- gear
- right worm
- casing
- 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.)
- Pending
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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
-
- 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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/042—Combinations of toothed gearings only change gear transmissions in group arrangement
- F16H37/046—Combinations of toothed gearings only change gear transmissions in group arrangement with an additional planetary gear train, e.g. creep gear, overdrive
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is characterised by that achievable helix of cylindrical worm is engaged when left and right worm gear rotates and is produced certain free clearance using a left and right two combination worm gears engagement rotation of geared worm rotation driving；Worm wheel body be the supporter of planet circular system, structure occupy little space, it is compact lightweight, by the differential system of planet circular system, the wear error produced during active force is realized with reaction force to eliminate manufacture worm gear and produce foozle and long-term use, and two groups of planet circular system kinematic errors, reward parameter is dynamically mended using numerical-control motor and repairs wear error, and long-term use gapless driving is realized, improve running accuracy, accurate positioning, speed reducing ratio big；Two groups of planet circular systems are rotarily driven using left and right worm gear and producing differential speed rotation to be transmitted to jackshaft, two groups of planet circular systems has rotation differential speed rotation, synthesis rotating speed to be transmitted on reduction gear ring with revolution function slow down to be transmitted on output shaft and complete high-speed, low-power input, low-speed big output.
Description
Technical field
【Keyword】Joint；Heavy duty；Clearance；Gapless；Planet circular system；RV Decelerator；
" the novel heavy duty gapless driving joint of robot " is related to the precise heavy-load movement in robot building, the crucial reductor technical field in rotational positioning system.
Background technology
" the novel heavy duty gapless driving joint of robot " background technology is to substitute foreign countries' RV decelerators technology and design.External RV decelerators are the precise heavy-load movements in robot building, and durability is high, the critical component in rotational positioning system, and import foreign countries RV decelerators are expensive, such as manufacture, equipment requirement import high-precision equipment, manufacture difficulty is big, and the accuracy of manufacture cannot ensure, there is patent infringement risk.It is that China " 12 " period national " 863 " plan is listed in the technical bottleneck that emphasis is captured.
" the novel heavy duty gapless driving joint of robot " achieves that " manufacture in the novel heavy duty gapless driving joint of robot " in a manufacturing process without import high-precision equipment, using domestic numerically-controlled precise equipment.The investment of import high-precision equipment is reduced, manufacturing cost is reduced, is reduced manufacture difficulty, solves national " 863 " plan and listed in the technical bottleneck that emphasis is captured, in can be widely applied to China manufacture machine person joint and national defence, space precision equipment positioning, turning to deceleration system field.
The content of the invention
" the novel heavy duty gapless driving joint of robot " employs a kind of combination of novel mechanical structure, overall structure occupies little space, compact conformation, and gearratio is big, using numerical-control motor driving power is small, output torque is big, gapless driving is realized when transmission power is slowed down, it is durable in use.
The present invention is characterised by that achievable helix of cylindrical worm is engaged when left and right worm gear rotates and is produced certain free clearance using a left and right two combination worm gears engagement rotation of geared worm rotation driving；
Worm wheel body be the supporter of planet circular system, structure occupy little space, it is compact lightweight, by the differential system of planet circular system, the wear error produced during active force is realized with reaction force to eliminate manufacture worm gear and produce foozle and long-term use, and two groups of planet circular system kinematic errors, reward parameter is dynamically mended using numerical-control motor and repairs wear error, and long-term use gapless driving is realized, improve running accuracy, accurate positioning, speed reducing ratio big；
Two groups of planet circular systems are rotarily driven using left and right worm gear and producing differential speed rotation to be transmitted to jackshaft, two groups of planet circular systems has rotation differential speed rotation, synthesis rotating speed to be transmitted on reduction gear ring with revolution function slow down to be transmitted on output shaft and complete high-speed, low-power input, low-speed big output.
Brief description of the drawings
Figure1st, " the novel heavy duty gapless driving joint of robot " floor map
Figure2nd, " the novel heavy duty gapless driving joint of robot " schematic cross-sectional view
Specific embodiment
1st, Fig. 1 " the novel heavy duty gapless driving joint of robot " floor map function is implemented：
The structure supports left and right worm gear 4, left and right worm gear 4, support planet circular system 6 to be engaged with countershaft-gear 2 using the material manufacture such as Light Aluminum Alloy material and steel into casing 1, and the supporter that left and right worm gear 4 is processed into star wheel series 6 reduces the making space of casing 1 and alleviates " the novel heavily loaded gapless driving joint of robot " weight, compact conformation.Planet circular system 6 is linked as the travelling worm wheel body of certain interval by pivot pin 5 in left and right worm gear 4.Designed to eliminate dynamic clearance, the support of casing 1 bearings at both ends 7 of worm screw 3 engages rotational work with left and right worm gear 4 for deceleration transmission, and adjust pad 8 is the duplex bearing intermediate space adjust pad of 3 bearings at both ends of worm screw 7；
2nd, Fig. 2 " the novel heavy duty gapless driving joint of robot " schematic cross-sectional view function is implemented：
Casing 1 in Fig. 2 schematic cross-sectional views support left and right worm gear 6,7, jackshaft 2, be linked on casing 1 by the axis landing 3 of casing 1, bearing 4, left and right worm gear 6,7 is used to slow down for the first time by the rotation driving of worm screw 5, its work(, planet circular system 8 is driven to rotate when right worm gear 6 rotates, it is engaged in the gear 9 of jackshaft 2, planet circular system 8 to be supported on right worm gear 6 by bearing 10, its work(is used for second and slows down；
Plane bearing 11, bearing 12, cylindrical bearing 17 supports jackshaft 2 in a left side jointly, right worm gear 6, above 7, it is left, right worm gear 6, 7 are assembled into entirety by many microgaps of precision bolt 13, the bearing 15 of planet circular system 14 is installed on left worm gear 7, the gear 16 of jackshaft 2 is engaged in the gear 9 of jackshaft 2 with the rotation of planet circular system 8, two different differentials can be revolved round the sun by planet principle, rotation realizes reversion to eliminate a left side, right worm gear 6, 7, in kinematic chain produce driving error and realize gapless with turn be transmitted to reduction gear ring 18, output shaft 20 and gear ring 18, it is linked as being supported on casing 1 entirely through bearing 21 using many screws 19, uniform screwed hole 22 is processed on the wall thickness of casing 1, the screw of link case lid is designed for installing component.
Beneficial effect
" the novel heavy duty gapless driving joint of robot " substitutes foreign countries' RV decelerators.Only having a handful of countries in the world can produce, and a precision speed reduction device purchasing price is ten thousand yuan of 3-5, Zhi Yue China manufacture machine man-based development." robot novel heavy duty gapless driving joint " reduces the investment of import high-precision equipment, reduces manufacturing cost, reduces that manufacture difficulty is big, solve national " 863 " plan is listed in the technical bottleneck that emphasis is captured, in can be widely applied to precision equipment positioning in China manufacture machine person joint and national defence, space, turning to deceleration system field.
Claims (1)
1. use in specification specific embodiment for claim it is characterized in that：
a、Figure 1“The novel heavy duty gapless driving joint of robot" plane signalFigureFunctional character is：
The structure supports left and right worm gear (4), left and right worm gear (4) to support planet circular system (6) to be engaged with countershaft-gear (2) using the material manufacture such as Light Aluminum Alloy material and steel into casing (1), the supporter that left and right worm gear (4) is processed into star wheel series (6) reduce casing (1) making space alleviate "The novel heavy duty gapless driving joint of robot" weight, compact conformation.Planet circular system (6) is linked as the travelling worm wheel body of certain interval by pivot pin (5) in left and right worm gear (4).Designed to eliminate dynamic clearance, casing (1) support worm screw (3) bearings at both ends (7) engages rotational work with left and right worm gear (4) for deceleration transmission, and adjust pad (8) is worm screw (3) bearings at both ends (7) duplex bearing intermediate space adjust pad；
b、Figure 2“The novel heavy duty gapless driving joint of robot" section view signalFigureFunctional character is：
Figure 2Section view is illustratedIn figureCasing (1) support left and right worm gear (6), (7), jackshaft (2), be linked on casing (1) by casing (1) axis landing (3), bearing (4), left and right worm gear (6), (7) are used to slow down for the first time by worm screw (5) rotation driving, its work(, planet circular system (8) rotation is driven when right worm gear (6) rotates, it is engaged in jackshaft (2) gear (9), planet circular system (8) to be supported on right worm gear (6) by bearing (10), its work(is used for second and slows down；Plane bearing (11),Bearing (12),Cylindrical bearing (17) supports jackshaft (2) in a left side jointly,Right worm gear (6),(7) above,It is left,Right worm gear (6),(7) it is assembled into entirety by many precision bolt (13) microgaps,Planet circular system (14) bearing (15) are installed on left worm gear (7),Jackshaft (2) gear (16) are engaged in jackshaft (2) gear (9) with planet circular system (8) rotation,Two different differentials can be revolved round the sun by planet principle,Rotation realizes reversion to eliminate a left side,Right worm gear (6),(7),In kinematic chain produce driving error and realize gapless with turn be transmitted to reduction gear ring (18),Output shaft (20) and gear ring (18),It is linked as being supported on casing (1) entirely through bearing (21) using many screws (19),The screw that uniform screwed hole (22) designs link case lid for installing component is processed on casing (1) wall thickness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510940104.5A CN106884951A (en) | 2015-12-16 | 2015-12-16 | The novel heavy duty gapless driving joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510940104.5A CN106884951A (en) | 2015-12-16 | 2015-12-16 | The novel heavy duty gapless driving joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106884951A true CN106884951A (en) | 2017-06-23 |
Family
ID=59175405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510940104.5A Pending CN106884951A (en) | 2015-12-16 | 2015-12-16 | The novel heavy duty gapless driving joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106884951A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106438972A (en) * | 2016-11-02 | 2017-02-22 | 哈尔滨工业大学 | Joint capable of adjusting gear clearance |
-
2015
- 2015-12-16 CN CN201510940104.5A patent/CN106884951A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106438972A (en) * | 2016-11-02 | 2017-02-22 | 哈尔滨工业大学 | Joint capable of adjusting gear clearance |
| CN106438972B (en) * | 2016-11-02 | 2019-03-26 | 哈尔滨工业大学 | A kind of joint of adjustable gear clearance |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10948048B2 (en) | Thickness-variable transmission structure for robot joint | |
| CN103195876B (en) | Eccentrically rocking type reduction gear series | |
| CN101907149B (en) | Double cycloid single-stage reducer of industrial robot | |
| TWI481788B (en) | Two-stage cycloidal speed reducer with high reduction ratio | |
| CN203548719U (en) | Cycloidal pin wheel speed reducer and robot | |
| CN105221669B (en) | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot | |
| CN107234632B (en) | Energy-saving variable-rigidity elastic joint based on differential gear train | |
| CN203686041U (en) | Precision 2K-V-type speed reducer | |
| CN203130928U (en) | RV double-cycloidal-pin-wheel speed reducer | |
| CN101793309A (en) | Planet gear speed reducer with small tooth difference and power wrench with large torque | |
| CN104696460A (en) | Bearing speed reducer | |
| CN205350235U (en) | Second grade cycloid steel ball reduction gear that connects in parallel | |
| WO2019120035A1 (en) | Rolling cycloid planetary transmission mechanism | |
| CN206592492U (en) | A kind of poor tooth reductor of high-accuracy cycloid | |
| CN205350242U (en) | No return difference single -stage cycloid awl tooth reduction gear | |
| CN203939933U (en) | The accurate 2K-V type of quill shaft speed reducer | |
| CN203686042U (en) | Hollow sleeve type 2K-V precision speed reducer | |
| CN102490061B (en) | Planetary speed changing device for machine tool spindle | |
| CN101832365A (en) | Industrial robot single-stage cycloidal reducer | |
| CN205371517U (en) | No return difference second grade cycloid awl tooth reduction gear | |
| CN106884951A (en) | The novel heavy duty gapless driving joint of robot | |
| CN104061295A (en) | Friction planetary reducer | |
| CN201348024Y (en) | Compound small teeth difference reducing gear | |
| CN106895114A (en) | Robot envelope planet precision speed reduction device | |
| CN108044645B (en) | Variable-thickness robot joint transmission structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170623 |
|
| WD01 | Invention patent application deemed withdrawn after publication |