CN108006167A - A kind of intelligent robot reducer structure - Google Patents
A kind of intelligent robot reducer structure Download PDFInfo
- Publication number
- CN108006167A CN108006167A CN201711496791.1A CN201711496791A CN108006167A CN 108006167 A CN108006167 A CN 108006167A CN 201711496791 A CN201711496791 A CN 201711496791A CN 108006167 A CN108006167 A CN 108006167A
- Authority
- CN
- China
- Prior art keywords
- gear
- ring gear
- speed reducer
- intelligent robot
- ring
- 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
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 51
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/48—Special means compensating for misalignment of axes, e.g. for equalising distribution of load on the face width of the teeth
-
- 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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
-
- 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
- F16H2001/323—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 comprising eccentric crankshafts driving or driven by a 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
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention provides a kind of intelligent robot reducer structure, while ensureing large torque output power, simply realize the gap adjustment between ring gear and translation wheel, reduce the overall operation noise of retarder, reduce the mechanical wear between mechanical part, it includes speed reducer base, speed reducer base supports input shaft, output panel is arranged in speed reducer base, supported by speed reducer base, centre wheel is set with input shaft, centre wheel is engaged with planetary gear, planetary gear is translatable by eccentric axis connection and taken turns, eccentric shaft is supported by output panel, corresponding with translation wheel the first ring gear and the second ring gear are provided with speed reducer base, skewed slot is provided with the outside of first ring gear, skewed slot is corresponded on speed reducer base and is provided with regulation cock, regulation cock includes adjustable side and positioning end.
Description
Technical field
The present invention relates to the technical field of intelligent robot component, more particularly to a kind of intelligent robot reducer structure.
Background technology
As science and technology and industrial expansion, intelligent robot increasingly obtain extensive concern, by the setting of distinct program,
Intelligent robot can complete the work of quite a few mankind, but whether intelligent robot is realized by what program
It substitutes the work of the mankind, it is the motor function that can realize each component of robot that its is most basic, at present each component of robot
Movement realizes frequently with retarder, and common retarder is RV retarders, and RV gear reducers are by planet-gear speed reducer
Prime and the rear class of cycloidal planetary gear speed reducer composition, RV retarders have compact-sized, and gearratio is big, and certain
Under the conditions of have auto-lock function gearing, be one of most common gear reducer, it is small with its, and anti-impact force is strong, turn round
Many advantages, such as square is big, high transmission accuracy, and idle running and back clearance are small, with small vibration, and speed reducing ratio is big is widely used in industrial robot
On.But this Design of Speed Reducer manufacture complexity, processing and installation required precision is high, in order to enable Design of Speed Reducer is simple, compared with
The machining accuracy of retarder is reduced well, has invented a kind of robot retarder, Patent No. CN201520892134.9,
In the technical solution, the clearance control of gear ring and translation wheel is more difficult, so that in the process of running between ring gear and translation wheel
Gap can be gradually increased so that the running noises of whole retarder are larger, add the mechanical wear between mechanical part.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of intelligent robot reducer structure, ensures that large torque output is dynamic
While power, the gap adjustment between ring gear and translation wheel is simply realized, so as to effectively reduce the overall fortune of retarder
Row noise, while reduce the mechanical wear between mechanical part.
Its technical solution is such：A kind of intelligent robot reducer structure, it includes speed reducer base, the retarder
Seat supports input shaft, output panel are arranged in the speed reducer base, are supported by the speed reducer base, are set with the input shaft
There is centre wheel, the centre wheel is engaged with planetary gear, and the planetary gear is translatable by eccentric axis connection and taken turns, and the eccentric shaft passes through
The output panel supports, and corresponding with the translation wheel the first ring gear and the second ring gear are provided with the speed reducer base,
It is characterized in that：Skewed slot is provided with the outside of first ring gear, the skewed slot is corresponded on the speed reducer base and is provided with adjusting
Bolt, the regulation cock include adjustable side and positioning end.
It is further characterized by, and multiple skewed slots are provided with first ring gear；Multiple skewed slots are symmetrical
Arrangement；The speed reducer base includes retarder casing and end cap, and the input shaft passes through the endcap support, first internal tooth
Circle and second ring gear are arranged in the casing；Second ring gear is fixedly connected with the speed reducer base；It is described
Nut is set on input shaft on the outside of the end cap, and the input shaft is positioned with the casing by the nut；The translation
Take turns as pinwheel or wildhaber-novikov gear or epicyclodial wheel or involute gear, first ring gear and second ring gear be with it is flat
The corresponding hypocycloid gear ring of driving wheel or circular arc gear ring or pin gear ring or involute gear ring；The regulation cock is threaded adjusting
Bolt.
The present invention using the above structure, is provided with skewed slot, corresponding to skewed slot on speed reducer base is provided with the outside of the first ring gear
Regulation cock, regulation cock include adjustable side and positioning end, and during normal work, translation wheel is nibbled with the first ring gear and the second ring gear
Close, realize power transmission, when translation wheel increases with the first ring gear and the second ring gear back lash, by adjusting end motion
The skewed slot on the first ring gear of extruding is removed, realizes the first ring gear and the dislocation of the second ring gear, compensate in translation wheel and first
Gear ring and the second ring gear back lash, thus reduce translation wheel between engaging between the first ring gear and the second ring gear
Gap, simply realizes the gap adjustment between ring gear and translation wheel, ensure that translation wheel drives operating steadily for output panel, from
And the overall operation noise of retarder is effectively reduced, while reduce the mechanical wear between mechanical part.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the left view schematic diagram of Fig. 1；
Fig. 3 is the first annular gear structure schematic diagram；
Fig. 4 is the A of Fig. 3 to partial schematic diagram；
Fig. 5 is regulation cock structure diagram.
Embodiment
With reference to the accompanying drawings and examples, the present invention will be further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of intelligent robot reducer structure, it includes speed reducer base 1,
Output panel 2 is arranged in speed reducer base 1, is supported by speed reducer base 1, and speed reducer base 1 supports input shaft 3, is covered on input shaft 3
Equipped with centre wheel 4, centre wheel 4 is engaged with three planetary gears 5, and planetary gear 5 connects translation wheel 7, eccentric shaft by eccentric shaft 6 respectively
6 are supported by output panel 2, are provided with speed reducer base 1 and are taken turns 7 corresponding first ring gear 8a and the second ring gear 8b with translation,
Multiple skewed slots 9 are provided with the outside of first ring gear 8a, skewed slot 9 is corresponded on speed reducer base 1 and is provided with regulation cock 10, regulation cock 10
Including adjustable side 10a and positioning end 10b, translation wheel 7 is pinwheel or wildhaber-novikov gear or epicyclodial wheel or involute gear, in first
Gear ring 8a and the second ring gear 8b is to take turns 7 corresponding hypocycloid gear rings or circular arc gear ring or pin gear ring or involute teeth with translation
Circle.
During work, input shaft 3 rotates, and drives centre wheel 4, and centre wheel 4 drives planetary gear 5 to move again, 5 rotation band of planetary gear
Dynamic eccentric shaft 6 rotates, and eccentric shaft 6 rotates 7 opposite output panel 2 of driving translation wheel and does translational motion.Translation wheel 7 do be translatable it is same
When, the gear teeth meshing of the gear teeth and fixed first ring gear 8a and the second ring gear 8b thereon, due to by translation wheel 7
The limitation that the gear teeth meshing of the gear teeth and fixed first ring gear 8a and the second ring gear 8b act on, translation take turns 7 again in turn
Driving output panel 2 does fixed-axis rotation, so as to obtain an output rotary motion, during normal work, translation wheel 7 and the first ring gear
8a and the second ring gear 8b engagements, realize power transmission, when translation wheel 7 is engaged with the first ring gear 8a and the second ring gear 8b
When gap increases, the skewed slot 9 that the screw thread on fixing end 10b causes 10a movements in adjustable side to go on the first ring gear 8a of extruding is rotated,
The relative position of fixing end 10b secured adjusted bolts, realizes the first ring gear 8a and the second ring gear 8b dislocation, compensate for being translatable
7 and first ring gear 8a of wheel and the second ring gear 8b back lashes, so as to reduce translation wheel 7 and the first ring gear 8a and second
Back lash between ring gear 8b, simply realizes the gap adjustment between ring gear and translation wheel, ensure that translation wheel drives
Output panel operates steadily, so as to effectively reduce the overall operation noise of retarder, while reduces the machine between mechanical part
Tool is worn.
Second ring gear 8b is fixedly connected with speed reducer base 1, and it is opposite with translation wheel to further reduce the second ring gear
Gap.
Speed reducer base 1 includes retarder casing 11 and end cap 12, and input shaft 3 is supported by end cap 12, the first ring gear 8a
It is arranged on the second ring gear 8b in casing 11, reduces the installation difficulty of retarder, improve installation effectiveness.
Nut 13 is set in the outside of end cap 12 on input shaft 1, input shaft 1 is positioned with casing 11 by nut 13, passes through spiral shell
Mother is fixed to realize the gap reduced between input shaft and casing, reduce further the operation noise of retarder.
In the present embodiment, the first ring gear and the second ring gear are intended merely to describe technical term easy to use, certainly
First ring gear is fixedly connected with speed reducer base, and skewed slot, which is arranged on the second ring gear, should also be relevant with the technical solution
Technical solution, should also be within the scope of the present invention certainly.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto, as long as there is a tooth in two gear rings
Circle is adjusted by regulation cock, realizes the dislocation of two gear rings, the back lash of compensation gear ring and translation wheel, the common skill of this area
Art personnel are enlightened by it, in the case where not departing from this creation objective, are not inventively designed similar to the technical solution
Frame mode and embodiment, be within the scope of protection of the invention.
Claims (8)
1. a kind of intelligent robot reducer structure, it includes speed reducer base, and the speed reducer base supports input shaft, and output panel is set
Put in the speed reducer base, supported by the speed reducer base, be set with centre wheel on the input shaft, the centre wheel with
Planetary gear engages, and the planetary gear is translatable by eccentric axis connection and taken turns, and the eccentric shaft is supported by the output panel, described to subtract
Corresponding with the translation wheel the first ring gear and the second ring gear are provided with fast device seat, it is characterised in that：In described first
Skewed slot is provided with the outside of gear ring, the skewed slot is corresponded on the speed reducer base and is provided with regulation cock, the regulation cock includes adjusting
End and positioning end.
A kind of 2. intelligent robot reducer structure according to claim 1, it is characterised in that：On first ring gear
It is provided with multiple skewed slots.
A kind of 3. intelligent robot reducer structure according to claim 2, it is characterised in that：Multiple skewed slots are symmetrical
Arrangement.
A kind of 4. intelligent robot reducer structure according to claim 1, it is characterised in that：Second ring gear with
The speed reducer base is fixedly connected.
A kind of 5. intelligent robot reducer structure according to claim 1, it is characterised in that：The speed reducer base includes
Retarder casing and end cap, the input shaft are set by the endcap support, first ring gear and second ring gear
Put in the casing.
A kind of 6. intelligent robot reducer structure according to claim 5, it is characterised in that：In institute on the input shaft
State and nut is set on the outside of end cap, the input shaft is positioned with the casing by the nut.
A kind of 7. intelligent robot reducer structure according to claim 1, it is characterised in that：The translation wheel is pinwheel
Or wildhaber-novikov gear or epicyclodial wheel or involute gear, first ring gear and second ring gear are corresponding with translation wheel
Hypocycloid gear ring or circular arc gear ring or pin gear ring or involute gear ring.
A kind of 8. intelligent robot reducer structure according to claim 1, it is characterised in that：The regulation cock is band spiral shell
The regulation cock of line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496791.1A CN108006167A (en) | 2017-12-31 | 2017-12-31 | A kind of intelligent robot reducer structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496791.1A CN108006167A (en) | 2017-12-31 | 2017-12-31 | A kind of intelligent robot reducer structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108006167A true CN108006167A (en) | 2018-05-08 |
Family
ID=62049919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711496791.1A Pending CN108006167A (en) | 2017-12-31 | 2017-12-31 | A kind of intelligent robot reducer structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108006167A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4770054A (en) * | 1985-10-24 | 1988-09-13 | Ha Jung Y | Apparatus for providing limited backlash rotation of a transmission for a vehicle |
| CN2089996U (en) * | 1990-12-27 | 1991-12-04 | 梁蕃焕 | Few perimeter differential planetary reducing machine |
| JP2003014055A (en) * | 2001-06-27 | 2003-01-15 | Showa Corp | Backlash adjusting device of worm reduction gear |
| US20080210182A1 (en) * | 2004-02-25 | 2008-09-04 | Schaeffler Kg | Electric Camshaft Adjuster |
| CN102506150A (en) * | 2011-10-20 | 2012-06-20 | 天津商业大学 | Stacked gear structure with side clearance removal through elasticity |
| JP2014177971A (en) * | 2013-03-13 | 2014-09-25 | Sumitomo Heavy Ind Ltd | Flexible engagement type gear device |
| CN104141745A (en) * | 2014-07-29 | 2014-11-12 | 西北工业大学 | Star type herringbone gear reducer |
| CN104895781A (en) * | 2014-09-17 | 2015-09-09 | 襄阳博亚精工装备股份有限公司 | Internal gear pump |
| CN205136487U (en) * | 2015-11-10 | 2016-04-06 | 林箐 | Reduction gear for robot |
| CN105864397A (en) * | 2016-05-03 | 2016-08-17 | 常州机电职业技术学院 | Clearance-eliminating skewed-tooth cylindrical gear |
| CN205559750U (en) * | 2016-03-18 | 2016-09-07 | 上海师范大学 | Can eliminate gear engagement structure of gear engagement sideshake |
| CN207814350U (en) * | 2017-12-31 | 2018-09-04 | 无锡凯涵科技有限公司 | A kind of intelligent robot reducer structure |
-
2017
- 2017-12-31 CN CN201711496791.1A patent/CN108006167A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4770054A (en) * | 1985-10-24 | 1988-09-13 | Ha Jung Y | Apparatus for providing limited backlash rotation of a transmission for a vehicle |
| CN2089996U (en) * | 1990-12-27 | 1991-12-04 | 梁蕃焕 | Few perimeter differential planetary reducing machine |
| JP2003014055A (en) * | 2001-06-27 | 2003-01-15 | Showa Corp | Backlash adjusting device of worm reduction gear |
| US20080210182A1 (en) * | 2004-02-25 | 2008-09-04 | Schaeffler Kg | Electric Camshaft Adjuster |
| CN102506150A (en) * | 2011-10-20 | 2012-06-20 | 天津商业大学 | Stacked gear structure with side clearance removal through elasticity |
| JP2014177971A (en) * | 2013-03-13 | 2014-09-25 | Sumitomo Heavy Ind Ltd | Flexible engagement type gear device |
| CN104141745A (en) * | 2014-07-29 | 2014-11-12 | 西北工业大学 | Star type herringbone gear reducer |
| CN104895781A (en) * | 2014-09-17 | 2015-09-09 | 襄阳博亚精工装备股份有限公司 | Internal gear pump |
| CN205136487U (en) * | 2015-11-10 | 2016-04-06 | 林箐 | Reduction gear for robot |
| CN205559750U (en) * | 2016-03-18 | 2016-09-07 | 上海师范大学 | Can eliminate gear engagement structure of gear engagement sideshake |
| CN105864397A (en) * | 2016-05-03 | 2016-08-17 | 常州机电职业技术学院 | Clearance-eliminating skewed-tooth cylindrical gear |
| CN207814350U (en) * | 2017-12-31 | 2018-09-04 | 无锡凯涵科技有限公司 | A kind of intelligent robot reducer structure |
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