CN106931113A - High intensity reductor movable head with shape of a hoof groove - Google Patents
High intensity reductor movable head with shape of a hoof groove Download PDFInfo
- Publication number
- CN106931113A CN106931113A CN201710263401.XA CN201710263401A CN106931113A CN 106931113 A CN106931113 A CN 106931113A CN 201710263401 A CN201710263401 A CN 201710263401A CN 106931113 A CN106931113 A CN 106931113A
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- China
- Prior art keywords
- groove
- span
- ungulate
- movable head
- longitudinal
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Classifications
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- 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
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
- F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
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- 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
-
- 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
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of high intensity reductor movable head with shape of a hoof groove for being applied to articulated robot, a surface of movable head body be provided with it is longitudinally disposed with its a diameter of symmetrical ungulate groove of longitudinal span, its another surface be provided with horizontally set with its a diameter of symmetrical ungulate groove of horizontal span.The ungulate groove of horizontal span on the movable head body surface forms cross-like each other with longitudinal ungulate groove of span on plane space, and the transverse direction, the indent bottom of the ungulate groove of longitudinal span are arc-shaped.The ungulate groove of horizontal span matches with the first ball, and longitudinal ungulate groove of span matches with the second ball.Present invention enhances movable head structural strength, increase the life-span of reductor；Abrasion are reduced, electric energy is saved；It is easily installed, saves artificial, improve production efficiency.Its reductor applied has the advantages that low, lightweight compact conformation, noise, small volume, stable drive reliability, output accuracy are high.
Description
Technical field
The present invention relates to machine driving braking technique, and in particular to a kind of driving reductor for being applied to articulated robot with
Dynamic plate.
Background technology
At present, most of machine driving reductor uses gear or worm-drive, and its cardinal principle is to utilize to change gear
The number of teeth realizes speed change.Shortcomings and deficiencies existing for this kind of machine driving reductor are：Because driving member machining accuracy is not high,
Gear or worm reduction gear influence output accuracy during design and installation in the presence of certain process gap, add tooth
It is to be moved in higher pair form between tooth, easily produces component wear, is driven the problems such as unstable, noise is big, output accuracy is poor.
In Chinese invention patent application number 201510363182.3, a kind of cross for articulated robot is disclosed
Input shaft, crosshead shoe, tracking controller (i.e. differential speed variator) and output shaft are installed in slider-actuated reductor, its body,
The crosshead shoe is provided with the transmission track for installing transmitting balls, and transmitting balls move to be input into transmission track
The motion of axle passes to tracking controller；Tracking controller lower surface is provided with the movement locus for installing the driving ball,
Tracking controller adjusts the output of output shaft by driving ball.This technology need not be realized by gear or worm-drive
Speed change, reduces the noise of reductor to a certain extent, improves transmission efficiency.But, the driving ball is easily produced when working
Raw slight bounce, its less stable, unstable, stepping vibrations, wear rate are high etc. bad to be showed easily to produce reductor to export
As.Particularly in application for a patent for invention number 201610997120.2, disclose a kind of trailing type of articulated robot and steadily slow down
Machine, has used right-angled intersection movable head to compensate the malalignment error on driving-chain in accurate retarding machine, due to movable head
It is upper have it is multiple intersect V-grooves (also known as V-type track, and radial direction break-through is to the edge for being servo-actuated plate surface) structure, reduce with
The intensity of dynamic plate, and movable head phenomenon of rupture is susceptible in experiment or practical application, have impact on the service life of reductor.
In addition movable head the decussation roller of supporting use exist that frictional force is big, be easy to consume, assemble the defects such as complexity.
The content of the invention
In order to solve the technical problem and deficiency existing for prior art, the present invention provides one kind and is applied to articulated robot
The high intensity reductor movable head with shape of a hoof groove, can make reductor transmission ball and differential speed variator track it is complete
It coincide, reductor can be made to export steady, mechanical wear rate low.
The purpose of the present invention is realized by following technical solution：High intensity reductor movable head with shape of a hoof groove,
Including movable head body, a surface of the movable head body is provided with longitudinally disposed with its a diameter of symmetrical longitudinal span
Ungulate groove, its another surface be provided with horizontally set with its a diameter of symmetrical ungulate groove of horizontal span.
The ungulate groove of horizontal span on the movable head body surface is formed with longitudinal ungulate groove of span on plane space
Cross-like, and the transverse direction each other, the indent bottom of the ungulate groove of longitudinal span are arc-shaped.The ungulate groove of horizontal span is vertical
It is 30-90 degree to the groove width angle of the arc-shaped inner groove faces of the ungulate groove of span.
The ungulate groove of horizontal span matches with the first ball, and longitudinal ungulate groove of span and the second ball match
Set.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, due to laterally, radial direction not break-through of longitudinal ungulate groove of span on movable head body surface, it is to avoid former V-shaped groove
Radial direction break-through to movable head edge structure, and the bottom of the ungulate groove of the span is circular arc, it is to avoid former V-shaped groove bottom knife
Pointed stress concentration phenomenon, strengthens the intensity of movable head.First, second ball coefficient of friction of its supporting use is small, makes
Frictional force it is small, service wear is low, service life increase.
2nd, gear is not used to be driven, the reductor applied uses input shaft (eccentric shaft) as path generator, warp
Differential speed variator is crossed with first, second ball of corresponding installation on this movable head and its transverse direction, the ungulate groove of longitudinal span
Input shaft eccentric motion completes output to realize slowing down.Automatic compensation input shaft is realized by this movable head, first, second ball
The eccentric motion of (eccentric shaft), so that the reductor has low, lightweight compact conformation, noise, small volume, stable drive can
By, output accuracy is high, the low advantage of mechanical wear rate.
Brief description of the drawings
Fig. 1 is the structural representation of high intensity reductor movable head of the present invention with shape of a hoof groove.
Fig. 2 is the side sectional view of Fig. 1.
Fig. 3 is the groove width angle schematic diagram of the ungulate groove arc-shaped inner groove faces of horizontal (longitudinal direction) span in Fig. 1.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Referring to Fig. 1, Fig. 2, the present invention is applied to the high intensity reductor movable head with shape of a hoof groove of articulated robot,
Including movable head body 1 (being hollow shape in the middle of it, it is overall annular in shape), on a surface (front) of the movable head body 1
It is provided with longitudinally disposed (anti-with its a diameter of symmetrical ungulate groove 2 of longitudinal span (solid line in Fig. 1 is represented), its another surface
Face) be provided with horizontally set with its a diameter of symmetrical ungulate groove 3 of horizontal span (dotted line in Fig. 1 is represented).
The ungulate groove 3 of horizontal span and the ungulate shape on plane space of groove 2 of longitudinal span on the surface of movable head body 1
Into cross-like each other (as shown in Figure 1), and the transverse direction, the indent bottom of the ungulate groove of longitudinal span are arc-shaped (such as Fig. 2 institutes
Show).The groove width angle A of the arc-shaped inner groove faces of the ungulate groove of horizontal span or longitudinal ungulate groove of span for 30-90 degree (such as
Shown in Fig. 3).The ungulate groove of horizontal span matches with the first ball (several), longitudinal ungulate groove of span and second
Ball (several) matches.
Wherein, with a diameter of symmetrical transverse direction (longitudinal direction) the ungulate groove of span of movable head body：I.e. single shape of a hoof groove with it is another
One shape of a hoof groove is compared, and is that have rotated 180 degree with the center of circle of movable head body.
This movable head possesses geometric error compensation effect, and supporting use ball instead of former decussation roller, its surface
Original V-shaped groove structure instead of by transverse direction (longitudinal direction) ungulate groove of span of bottom arc-shaped.Due to the bottom of the ungulate groove of the span
Portion is circular arc, it is to avoid the stress concentration phenomenon of former V-shaped groove bottom point of a knife shape, strengthens the intensity of movable head；Due to this
Radial direction not break-through of the ungulate groove of span on movable head body surface, it is to avoid former V-shaped groove radial direction break-through to movable head edge
Structure, further enhances the intensity of movable head；And, the manufacturing procedure of the arc groove of the ungulate trench bottom of span is less than former V-arrangement
Groove, reduces the quantity of machining tool, while improve production efficiency.Its supporting use ball coefficient of friction less than it is former should
Decussation roller so that frictional force is small, service wear is low, and service life increases；And because frictional force is small, its power consumption
It is few, save and drive electric energy；Single ball is fewer than the roller work step for intersecting, it is easy to install, production efficiency is high.
As shown in figure 3, according to its supporting application ball force analysis, under vertical force, the bottom of ball is received
Power is maximum, is deflected in the center line of ball and bear main vertical force in the range of 30 degree, therefore, the ungulate groove of this span it is interior
Recessed depth can be made than shallower, its groove width angle A can for 90 degree (groove width throw is total) when, i.e., -45 ° ＜ groove width pivot angles ＜
45 ° so that the intensity of this movable head is greatly increased.So, what structure innovation of the invention was produced has the technical effect that：Strengthen with
The structural strength of dynamic plate, increases the life-span of reductor；Abrasion are reduced, electric energy is saved；It is easily installed, saves artificial, improves production
Efficiency；The quantity of machining tool is reduced, investment amount is reduced.
Claims (4)
1. the high intensity reductor movable head with shape of a hoof groove, including movable head body (1), it is characterised in that：It is described servo-actuated
One surface of plate body (1) is provided with longitudinally disposed with its a diameter of symmetrical ungulate groove of longitudinal span (2), its another surface
Be provided with horizontally set with its a diameter of symmetrical ungulate groove of horizontal span (3).
2. the high intensity reductor movable head with shape of a hoof groove according to claim 1, it is characterised in that：It is described servo-actuated
The ungulate groove of horizontal span (3) on plate body (1) surface is formed with the longitudinal ungulate groove of span (2) on plane space intersects each other
Shape, and the transverse direction, the indent bottom of the ungulate groove of longitudinal span are arc-shaped.
3. the high intensity reductor movable head with shape of a hoof groove according to claim 2, it is characterised in that：The transverse direction
The groove width angle of the arc-shaped inner groove faces of the ungulate groove of span or the ungulate groove of longitudinal span is 30-90 degree.
4. the high intensity reductor movable head with shape of a hoof groove according to claim 1, it is characterised in that：The transverse direction
The ungulate groove of span matches with the first ball, and longitudinal ungulate groove of span matches with the second ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263401.XA CN106931113A (en) | 2017-04-18 | 2017-04-18 | High intensity reductor movable head with shape of a hoof groove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263401.XA CN106931113A (en) | 2017-04-18 | 2017-04-18 | High intensity reductor movable head with shape of a hoof groove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106931113A true CN106931113A (en) | 2017-07-07 |
Family
ID=59436975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710263401.XA Withdrawn CN106931113A (en) | 2017-04-18 | 2017-04-18 | High intensity reductor movable head with shape of a hoof groove |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106931113A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5197930A (en) * | 1990-12-27 | 1993-03-30 | Kenji Imase | Gearless differential speed reducer device |
| CN1130577A (en) * | 1994-03-04 | 1996-09-11 | 三村建治 | Differential gear |
| CN201129416Y (en) * | 2007-12-20 | 2008-10-08 | 陕西工业职业技术学院 | Novel cycloidal steel ball speed reducer |
| CN101709767A (en) * | 2009-11-20 | 2010-05-19 | 北京工业大学 | Two-tooth difference plane steel ball driving device |
| CN105508532A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Two-stage-parallel cycloidal steel ball speed reducer |
| CN106438889A (en) * | 2016-11-03 | 2017-02-22 | 海尚集团有限公司 | V-shaped slot follower plate of speed reducer |
-
2017
- 2017-04-18 CN CN201710263401.XA patent/CN106931113A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5197930A (en) * | 1990-12-27 | 1993-03-30 | Kenji Imase | Gearless differential speed reducer device |
| CN1130577A (en) * | 1994-03-04 | 1996-09-11 | 三村建治 | Differential gear |
| CN201129416Y (en) * | 2007-12-20 | 2008-10-08 | 陕西工业职业技术学院 | Novel cycloidal steel ball speed reducer |
| CN101709767A (en) * | 2009-11-20 | 2010-05-19 | 北京工业大学 | Two-tooth difference plane steel ball driving device |
| CN105508532A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Two-stage-parallel cycloidal steel ball speed reducer |
| CN106438889A (en) * | 2016-11-03 | 2017-02-22 | 海尚集团有限公司 | V-shaped slot follower plate of speed reducer |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170707 |