CN106949209A - High intensity reductor movable head with elliptical slot - Google Patents
High intensity reductor movable head with elliptical slot Download PDFInfo
- Publication number
- CN106949209A CN106949209A CN201710280157.8A CN201710280157A CN106949209A CN 106949209 A CN106949209 A CN 106949209A CN 201710280157 A CN201710280157 A CN 201710280157A CN 106949209 A CN106949209 A CN 106949209A
- Authority
- CN
- China
- Prior art keywords
- elliptical slot
- movable head
- longitudinal
- reductor
- ball
- 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.)
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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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
- F16H2057/02073—Reduction gearboxes for industry
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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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
-
- 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
- F16H2057/02091—Measures for reducing weight of gearbox
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Bearings For Parts Moving Linearly (AREA)
Abstract
The invention discloses a kind of high intensity reductor movable head with elliptical slot applied to articulated robot, a surface of movable head body provided with it is longitudinally disposed with its a diameter of symmetrical longitudinal elliptical slot, its another surface provided with laterally setting with its a diameter of symmetrical horizontal elliptical slot.Horizontal elliptical slot on the movable head body surface forms cross-like each other with longitudinal elliptical slot on plane space, and the transverse direction, the indent bottom of longitudinal elliptical slot are arc-shaped.The horizontal elliptical slot matches with the first ball, and longitudinal elliptical slot 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 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 present in this kind of machine driving reductor are：Because driving member machining accuracy is not high,
There is certain process gap and influence output accuracy in gear or worm reduction gear, add tooth during design and installation,
Between tooth moved in higher pair form, easily produce component wear, be 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 being used for installing transmitting balls, and transmitting balls move to input in transmission track
The motion of axle passes to tracking controller；Tracking controller lower surface is provided with the movement locus for being used 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, improves transmission efficiency to a certain extent.But, the driving ball is easily produced when working
The slight bounce of life, its less stable, easily unstable, the stepping vibrations of generation reductor output, wear rate height etc. are bad shows
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 that there is multiple intersection 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 easily occur movable head phenomenon of rupture in experiment or practical application, it have impact on the service life of reductor.
In addition movable head the decussation roller of supporting use exist that frictional force is big, is easy to consume, assembles the defects such as complexity.
The content of the invention
In order to solve the technical problem and deficiency present in prior art, the present invention provides a kind of applied to articulated robot
The high intensity reductor movable head with elliptical slot, 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 elliptical slot,
Including movable head body, a surface of the movable head body is provided with longitudinally disposed oval with its a diameter of symmetrical longitudinal direction
Shape groove, its another surface are provided with laterally setting with its a diameter of symmetrical horizontal elliptical slot.
Horizontal elliptical slot on the movable head body surface is formed each other with longitudinal elliptical slot on plane space
Cross-like, and the transverse direction, the indent bottom of longitudinal elliptical slot are arc-shaped.The horizontal elliptical slot or longitudinal direction ellipse
The groove width angle of the arc-shaped inner groove faces of groove is 30-90 degree.The horizontal elliptical slot matches with the first ball, described vertical
Match to elliptical slot with the second ball.
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 elliptical slot on movable head body surface, it is to avoid former V-shaped groove footpath
To break-through to the structure at movable head edge, and the bottom of the elliptical slot is circular arc, it is to avoid former V-shaped groove bottom point of a knife shape
Stress concentration phenomenon, strengthen the intensity of movable head.First, second ball coefficient of friction of its supporting use is small so that rub
Wiping power is small, and 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
Cross differential speed variator defeated with corresponding first, second ball installed on this movable head and its transverse direction, longitudinal elliptical slot
Enter eccentric shaft motion to complete output to realize deceleration.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, the lightweight compact conformation, noise, small volume, stable drive can
Lean on, output accuracy is high, the low advantage of mechanical wear rate.
Brief description of the drawings
Fig. 1 has the structural representation of the high intensity reductor movable head of elliptical slot for the present invention.
Fig. 2 is Fig. 1 side sectional view.
Fig. 3 is the groove width angle schematic diagram of horizontal (longitudinal direction) elliptical slot arc-shaped inner groove faces in Fig. 1.
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 elliptical slot 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) for the movable head body 1
With its (referring to movable head body) a diameter of symmetrical longitudinal elliptical slot 2, (solid line in Fig. 1 is represented, is provided with longitudinally disposed
One), its another surface (reverse side) is provided with laterally setting with its a diameter of symmetrical (void in Fig. 1 of horizontal elliptical slot 3
Line is represented, is one).
Horizontal elliptical slot 3 on the surface of movable head body 1 is formed mutually with longitudinal elliptical slot 2 on plane space
For cross-like (as shown in Figure 1), and the transverse direction, the indent bottom of longitudinal elliptical slot are arc-shaped (as shown in Figure 2).It is described
The groove width angle A of the arc-shaped inner groove faces of horizontal elliptical slot 3 or longitudinal elliptical slot 2 is 30-90 degree (as shown in Figure 3).
The horizontal elliptical slot 3 matches with the first ball (several), longitudinal ball (several) of elliptical slot 2 and second
Match.
Wherein, with a diameter of symmetrical transverse direction (longitudinal direction) elliptical slot of movable head body：Half of elliptical slot i.e. therein
It is that 180 degree have rotated with the center of circle of movable head body compared with another half of elliptical slot.
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) elliptical slot of bottom arc-shaped.Because the bottom of the elliptical slot is
Circular arc, it is to avoid the stress concentration phenomenon of former V-shaped groove bottom point of a knife shape, strengthen the intensity of movable head；Due to the ellipse
Radial direction not break-through of the shape groove on movable head body surface, it is to avoid former V-shaped groove radial direction break-through is entered to the structure at movable head edge
One step strengthens the intensity of movable head；Moreover, the manufacturing procedure of the arc groove of elliptical slot bottom is less than former V-shaped groove, reduce
The quantity of machining tool, while improving production efficiency.Its ball coefficient of friction of supporting use be less than the intersection of former application
Roller so that frictional force is small, service wear is low, service life increase；And because frictional force is small, its power consumption is also few, saves
Drive electric energy；Single ball is fewer than the roller work step of intersection, it is easy to install, and production efficiency is high.
As shown in figure 3, according to its supporting application ball force analysis, under vertical force, the bottom of ball by
Power is maximum, is deflected in the center line of ball and bear main vertical force in the range of 30 degree, therefore, the indent of this elliptical slot
Depth can be made than shallower, when its groove width angle A can be for 90 degree (groove width throw be total), i.e., -45 ° 45 ° of ＜ groove width pivot angles ＜,
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 movable head
Structural strength, increase reductor life-span；Abrasion are reduced, electric energy is saved；It is easily installed, saves artificial, improve production efficiency；
The quantity of machining tool is reduced, investment amount is reduced.
Claims (4)
1. the high intensity reductor movable head with elliptical slot, 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 longitudinal elliptical slot (2), its another surface
Provided with laterally setting with its a diameter of symmetrical horizontal elliptical slot (3).
2. the high intensity reductor movable head according to claim 1 with elliptical slot, it is characterised in that：It is described servo-actuated
Horizontal elliptical slot (3) on plate body (1) surface forms cross-like each other with longitudinal elliptical slot (2) on plane space,
And the transverse direction, the indent bottom of longitudinal elliptical slot are arc-shaped.
3. the high intensity reductor movable head according to claim 2 with elliptical slot, it is characterised in that：The transverse direction
The groove width angle of elliptical slot (3) or the arc-shaped inner groove faces of longitudinal elliptical slot (2) is 30-90 degree.
4. the high intensity reductor movable head with elliptical slot according to Claims 2 or 3, it is characterised in that：It is described
Horizontal elliptical slot (3) matches with the first ball, and longitudinal elliptical slot (2) matches with the second ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280157.8A CN106949209A (en) | 2017-04-21 | 2017-04-21 | High intensity reductor movable head with elliptical slot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280157.8A CN106949209A (en) | 2017-04-21 | 2017-04-21 | High intensity reductor movable head with elliptical slot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106949209A true CN106949209A (en) | 2017-07-14 |
Family
ID=59476938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710280157.8A Withdrawn CN106949209A (en) | 2017-04-21 | 2017-04-21 | High intensity reductor movable head with elliptical slot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106949209A (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
- 2017-04-21 CN CN201710280157.8A patent/CN106949209A/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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Legal Events
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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: 20170714 |