CN106949210A - High intensity reductor movable head with excurvation arc-shaped slot - Google Patents
High intensity reductor movable head with excurvation arc-shaped slot Download PDFInfo
- Publication number
- CN106949210A CN106949210A CN201710280159.7A CN201710280159A CN106949210A CN 106949210 A CN106949210 A CN 106949210A CN 201710280159 A CN201710280159 A CN 201710280159A CN 106949210 A CN106949210 A CN 106949210A
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- China
- Prior art keywords
- arc
- shaped slot
- movable head
- shaped
- another side
- 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
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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 excurvation arc-shaped slot applied to articulated robot, one surface of its movable head body bends arc-shaped slot, its another surface to one side provided with some and bends arc-shaped slot, and the intersection arc-shaped that arc-shaped slot each self-forming bent outward each other on plane space is bent to one side, to another side to another side provided with some.The indent bottom for bending arc-shaped slot to one side, to another side is arc-shaped.Match to one side bending arc-shaped slot with the first ball, match to another side bending arc-shaped slot 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 excurvation arc-shaped slot, can make reductor transmission ball and differential speed variator track
The goodness of fit is high, 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 with excurvation arc-shaped slot is servo-actuated
Plate, including movable head body, a surface of the movable head body is provided with some to one side bends arc-shaped slot, its is another
Surface bends to another side provided with some and bend circular arc to one side on arc-shaped slot, and the movable head body surface
Groove with to another side bend arc-shaped slot on plane space each self-forming bent outward intersects arc-shaped each other.
It is described to bend arc-shaped slot with being arc-shaped to the indent bottom of another side bending arc-shaped slot to one side.It is described
The groove width angle for bending arc-shaped slot to one side or the arc-shaped inner groove faces of arc-shaped slot being bent to another side is 30-90 degree.
It is described to match to one side bending arc-shaped slot with the first ball, it is described to bend arc-shaped slot and the matching of the second ball to another side
Set.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, due to one side, bending radial direction not break-through of the arc-shaped slot on movable head body surface to another side, it is to avoid
Former V-shaped groove radial direction break-through is to movable head marginal texture, and it is circular arc to bend arc-shaped slot bottom to one side, to another side
, 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.Its supporting use
First, the second ball coefficient of friction is small so that frictional force 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 from this movable head and its to one side, to another side bend on arc-shaped slot it is corresponding install first, second
Ball coordinates input shaft eccentric motion to complete output to realize deceleration.Automatic mend is realized by this movable head, first, second ball
The eccentric motion of input shaft (eccentric shaft) is repaid, so that the reductor has low, lightweight compact conformation, noise, small volume, biography
Dynamic steady reliable, 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 excurvation arc-shaped slot for the present invention.
Fig. 2 is Fig. 1 side sectional view.
Fig. 3 is the groove width angle schematic diagram of the arc-shaped inner groove faces bent in Fig. 1 to one side (another side).
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 applied to articulated robot the high intensity reductor with excurvation arc-shaped slot with
Dynamic plate, including movable head body 1 (being hollow shape in the middle of it, it is overall annular in shape), a surface of the movable head body is (just
Face) it is (anti-to one side (or to side) bending arc-shaped slot 2 (solid line in Fig. 1 is represented), its another surface provided with some
Face) provided with some to another side (or to opposite side) bending arc-shaped slot 3 (dotted line in Fig. 1 is represented), and it is described with
Arc-shaped slot 2 is bent with bending each idiomorphism on plane space of arc-shaped slot 3 to another side to one side on dynamic plate body surface
Into the intersection arc-shaped (some, as shown in Figure 1) of bent outward each other.It is described to one side bend arc-shaped slot 2 with to another side
The indent bottom of bending arc-shaped slot 3 is arc-shaped (as shown in Figure 2).It is described to bend arc-shaped slot 2 or to another to one side
The groove width angle A of the arc-shaped inner groove faces of side bending arc-shaped slot 3 is 30-90 degree (as shown in Figure 3).It is described to be bent to one side
Arc-shaped slot 2 matches with the first ball (several), described to bend the ball (several) of arc-shaped slot 3 and second to another side
Match.
Wherein, some bend arc-shaped slot to one side, arc-shaped slot are bent to another side in movable head body positive and negative
Locus on should some locus be respectively one, mutually correspondence, formed each other (using the center of circle of the movable head body as
Benchmark) bent outward intersection (i.e. towards the excircle of movable head body), and on the basis of the diameter of the movable head body each other
Symmetrically.
This movable head possesses geometric error compensation effect, and supporting use ball instead of former decussation roller, its surface
Original V-shaped groove structure is instead of from bottom arc-shaped to one side (to another side) bending arc-shaped slot.Due to one side (to
Another side) bottom of bending arc-shaped slot is circular arc, it is to avoid the stress concentration phenomenon of former V-shaped groove bottom point of a knife shape, plus
The strong intensity of movable head；Do not worn due to bending radial direction of the arc-shaped slot on movable head body surface to one side (to another side)
It is logical, it is to avoid structure of the former V-shaped groove radial direction break-through to movable head edge, further enhance the intensity of movable head；Moreover, this is curved
The manufacturing procedure of the arc groove of bent arc-shaped slot bottom is less than former V-shaped groove, the quantity of machining tool is reduced, while improving life
Produce efficiency.Its first, second ball coefficient of friction of supporting use be less than the decussation roller of former application 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, driving electric energy is saved；Single ball
Fewer than decussation roller work step, 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 by
Power is maximum, is deflected in the center line of ball and bear main vertical force in the range of 30 degree, therefore, and this is to one side (to another
Side) hollow depth of bending arc-shaped slot 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
Have the technical effect that：The structural strength of movable head is strengthened, increases the life-span of reductor；Abrasion are reduced, electric energy is saved；It is easy to peace
Dress, 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 excurvation arc-shaped slot, including movable head body (1), it is characterised in that：It is described
One surface of movable head body (1) bends arc-shaped slot (2), its another surface to one side provided with some and is provided with some
To another side bending arc-shaped slot (3), and on the movable head body surface to one side bend arc-shaped slot (2) with to another
The intersection arc-shaped of side bending arc-shaped slot (3) each self-forming bent outward each other on plane space.
2. the high intensity reductor movable head according to claim 1 with excurvation arc-shaped slot, it is characterised in that：It is described
Arc-shaped slot (2) is bent with being arc-shaped to the indent bottom of another side bending arc-shaped slot (3) to one side.
3. the high intensity reductor movable head according to claim 2 with excurvation arc-shaped slot, it is characterised in that：It is described
The groove width angle for bending arc-shaped slot (2) to one side or the arc-shaped inner groove faces of arc-shaped slot (3) being bent to another side is 30-
90 degree.
4. the high intensity reductor movable head with excurvation arc-shaped slot according to Claims 2 or 3, it is characterised in that：
It is described to match to one side bending arc-shaped slot (2) with the first ball, it is described to bend arc-shaped slot (3) and the second ball to another side
Pearl matches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280159.7A CN106949210A (en) | 2017-04-21 | 2017-04-21 | High intensity reductor movable head with excurvation arc-shaped slot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280159.7A CN106949210A (en) | 2017-04-21 | 2017-04-21 | High intensity reductor movable head with excurvation arc-shaped slot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106949210A true CN106949210A (en) | 2017-07-14 |
Family
ID=59476702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710280159.7A Withdrawn CN106949210A (en) | 2017-04-21 | 2017-04-21 | High intensity reductor movable head with excurvation arc-shaped slot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106949210A (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 CN201710280159.7A patent/CN106949210A/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: 20170714 |