CN108119615A - Novel industrial robot retarder - Google Patents
Novel industrial robot retarder Download PDFInfo
- Publication number
- CN108119615A CN108119615A CN201711350429.3A CN201711350429A CN108119615A CN 108119615 A CN108119615 A CN 108119615A CN 201711350429 A CN201711350429 A CN 201711350429A CN 108119615 A CN108119615 A CN 108119615A
- Authority
- CN
- China
- Prior art keywords
- ring gear
- gear
- fixed
- fixed ring
- rotating disc
- 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
- 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
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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
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- 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
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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
- 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
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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
Abstract
The present invention provides a kind of Novel industrial robot retarder, installing plate including motor, for installing motor, fixed ring gear is installed on installing plate, rotating disc is installed between fixed ring gear and installing plate, rotating disc is equipped with ring raceway between fixed ring gear, installing plate respectively, ball is installed, rotating disc is equipped with internal tooth, and the drive gear with internal tooth cooperation is equipped on the output shaft of the motor in ring raceway；Pressing plate is fixed on fixed ring gear, movable ring gear is installed between fixed ring gear and pressing plate, movable ring gear is equipped with ring raceway between fixed ring gear, pressing plate, ball is equipped in ring raceway respectively；The center of the rotating disc is fixed with bent axle, and bearing is equipped on bent axle, is equipped with duplicate gear on bearing, and the external gear on duplicate gear is engaged with movable ring gear.
Description
Technical field
The present invention relates to mechanical equipment more particularly to a kind of Novel industrial robot retarders.
Background technology
At present, upstream key components and parts are broadly divided on Robot industry chain, middle reaches machine system integrates and downstream application.
For the angle of industrial chain, upstream key components and parts and external gap are bigger.In all kernel components, speed reducer is most
For key.Industrial robot cost structure approximately as：Body 22%, servo-drive system 25%, retarder 38%, control system
10% and other 5%.It is simple to split domestic 6 shaft industrial robot costs (250,000 yuan of totle drilling cost), it can be seen that retarder and
Two costs of servomotor are close to 130,000 yuan, mainly based on import, once completing production domesticization cost will decline to a great extent.Industrial machine
The reducer of device people mainly has 3 classes, is RV retarders, harmonic speed reducer, cycloidal-pin gear speed reducer respectively.Wherein, RV
Retarder is suitable in heavy duty robot, since industrial joint robot demand is still based on heavy duty at this stage, RV
Retarder occupies most of demand.Accurate retarding machine is even more the hard defects of Chinese robot development.In speed reducer field, world supply
Business mainly has Na Botesike and Harmonic two.On accurate retarding machine on industrial machine person joint, Na Botesi
The global market share of gram Nabtesco products up to 60%, especially in/workhorse people on, RV speed reducers market accounts for
There is rate to be up to 90%.
According to industry personage's introduction, a four big Zoomlion purchasing price of precision speed reduction device is 30,000 yuan to 50,000 yuan, is sold to state
About 70,000 yuan of the client being inside on speaking terms, about 120,000 yuan of the general normal client of relation, interior-capital-enterprise purchase the cost of accurate retarding machine
One times more expensive than Zoomlion more, it is seen that profit difference therebetween has much.RV speed reducers only have a handful of countries in the world
It can produce, " 12th Five-Year Plan " period, national " 863 " plan is included in the technical bottleneck that emphasis is captured.Domestic top university and section
It grinds mechanism tackling key problem in several years and also there was only paper, without material object.Due to RV cycloid reducers and harmonic speed reducer, both retarders
It is with the obvious advantage, so industrial robot is substantially with both retarders, but both retarder high precision machinings, Long Qishi
Its flexbile gear of harmonic speed reducer is that special material is of high cost and domestic lack and the footpath that is illustrated in patent of invention CN103982600A is poor
Since the gear pair rotation in the difference subrack of footpath is frictional drive, precision is difficult to ensure sub- retarder.
The content of the invention
The invention solves the above-mentioned problems of the prior art, provide a kind of Novel industrial robot retarder, structure
Compact and simple, transmission resistance is small, processing technology is easy to implement, output power, strong shock resistance, reduction ratio scope are big.
The present invention solves the technical solution that its technical problem uses：This Novel industrial robot retarder, including motor,
For installing the installing plate of motor, fixed ring gear on installing plate is installed, is equipped with and turns between fixed ring gear and installing plate
Moving plate, rotating disc are equipped with ring raceway between fixed ring gear, installing plate, ball are equipped in ring raceway, rotate respectively
Disk is equipped with internal tooth, and the drive gear with internal tooth cooperation is equipped on the output shaft of the motor；It is fixed on fixed ring gear
Pressing plate is equipped with movable ring gear between fixed ring gear and pressing plate, movable ring gear is respectively between fixed ring gear, pressing plate
Equipped with ring raceway, ball is installed in ring raceway；The center of the rotating disc is fixed with bent axle, and axis is equipped on bent axle
It holds, duplicate gear is installed on bearing, the external gear on duplicate gear is engaged with movable ring gear.
In order to further perfect, fixed ring gear, movable ring gear, the tooth module on duplicate gear are identical.
The invention has the advantages that：Structure of the present invention is the compactest, and speed is than big, all same modulus straight gears, friction
Small, transmission efficiency replaces fricting movement, comprehensive RV retarders and harmonic wave speed reducer using the rolling of bearing and ball,
Numerous planetary gears on RV retarders are eliminated, and bent axle becomes only to need one, eliminates on harmonic speed reducer to material and precision
It is required that high flexbile gear.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the scheme of installation of duplicate gear and movable ring gear in the present invention；
Fig. 3 is the scheme of installation of duplicate gear and fixed ring gear in the present invention.
Reference sign：Motor 1, installing plate 2, fixed ring gear 3, rotating disc 4, ring raceway 5, ball 6, sliding tooth
Wheel 7, pressing plate 8, movable ring gear 9, bent axle 10, bearing 11, duplicate gear 12.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings：
Referring to the drawings：Novel industrial robot retarder in the present embodiment, including motor 1, the installation for installing motor 1
Plate 2 is equipped with fixed ring gear 3 on installing plate 2, rotating disc 4, rotating disc 4 is equipped between fixed ring gear 3 and installing plate 2
Ring raceway 5 is equipped between fixed ring gear 3, installing plate 2 respectively, ball 6 is installed in ring raceway 5, is set on rotating disc 4
There is internal tooth, the drive gear 7 with internal tooth cooperation is installed on the output shaft of the motor 1；Pressing plate is fixed on fixed ring gear 3
8, movable ring gear 9 is installed, movable ring gear 9 is respectively with fixing ring gear 3, pressing plate 8 between fixed ring gear 3 and pressing plate 8
Between be equipped with ring raceway 5, ball 6 is installed in ring raceway 5；The center of the rotating disc 4 is fixed with bent axle 10, bent axle 10
On bearing 11 is installed, duplicate gear 12 is installed, the external gear on duplicate gear 12 is nibbled with movable ring gear 9 on bearing 11
It closes.Fixed ring gear 3, movable ring gear 9, the tooth module on duplicate gear 12 are identical.
The present invention using modulus 1.5, the fixation ring gear 3 of the number of teeth 74, fixed ring gear 3 respectively with movable ring gear 9, turn
Moving plate 4 does relative rotary motion, and has screw hole that can be fixed with installing plate 2.The modulus of movable ring gear 9 is the 1.5, number of teeth simultaneously
For 73, relative rotary motion is done with fixed ring gear 3, pressing plate 8 respectively, while has screw hole connection is external to export.Also duplex
Gear 12 (1.5 number of teeth of modulus is 70 and 71), there is bent axle 10 at center, and it is 20 to also have 2 modulus of drive gear, 1.5 number of teeth.
Transmission principle:Motor 1 drives drive gear 2 to rotate, and drive gear 2 drives (interior 1.5 number of teeth of tooth module of rotating disc 4
60) to rotate, bent axle 10 is fixed on rotating disc 4, bent axle 10 drives duplicate gear 12 to rotate, and duplicate gear 12 will be in fixation
It is fluctuated on gear ring 3, so as to which drive activity ring gear 9 performs relative motion, reaches big reduction ratio, this example speed is than being 222.
Although the present invention is shown and described by reference to preferred embodiment, this specialty ordinary skill
Personnel can make various variation in form and details it is to be appreciated that in the range of claims.
Claims (2)
1. a kind of Novel industrial robot retarder, including motor (1), for installing the installing plate of motor (1) (2), feature
It is：Fixed ring gear (3) on the installing plate (2) is installed, rotation is installed between fixed ring gear (3) and installing plate (2)
Disk (4), rotating disc (4) are equipped with ring raceway (5) between fixed ring gear (3), installing plate (2) respectively, and ring raceway (5) is interior
Ball (6) is installed, rotating disc (4) is equipped with internal tooth, and the driving with internal tooth cooperation is equipped on the output shaft of the motor (1)
Gear (7)；Pressing plate (8) is fixed on fixed ring gear (3), movable internal tooth is installed between fixed ring gear (3) and pressing plate (8)
It encloses (9), movable ring gear (9) is equipped with ring raceway (5), ring raceway (5) between fixed ring gear (3), pressing plate (8) respectively
Ball (6) is inside installed；The center of the rotating disc (4) is fixed with bent axle (10), and bearing (11), axis are equipped on bent axle (10)
It holds and duplicate gear (12) is installed on (11), the external gear on duplicate gear (12) is engaged with movable ring gear (9).
2. Novel industrial robot retarder according to claim 1, it is characterized in that：The fixed ring gear (3), activity
Tooth module on ring gear (9), duplicate gear (12) is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711350429.3A CN108119615A (en) | 2017-12-15 | 2017-12-15 | Novel industrial robot retarder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711350429.3A CN108119615A (en) | 2017-12-15 | 2017-12-15 | Novel industrial robot retarder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108119615A true CN108119615A (en) | 2018-06-05 |
Family
ID=62229900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711350429.3A Pending CN108119615A (en) | 2017-12-15 | 2017-12-15 | Novel industrial robot retarder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108119615A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109667858A (en) * | 2018-12-27 | 2019-04-23 | 精诚工科汽车系统有限公司 | Parking actuator and vehicle with it |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204852270U (en) * | 2015-08-31 | 2015-12-09 | 张江礼 | Novel industrial robot reduction gear |
| CN204985552U (en) * | 2015-08-17 | 2016-01-20 | 张江礼 | Industrial robot reduction gear |
-
2017
- 2017-12-15 CN CN201711350429.3A patent/CN108119615A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204985552U (en) * | 2015-08-17 | 2016-01-20 | 张江礼 | Industrial robot reduction gear |
| CN204852270U (en) * | 2015-08-31 | 2015-12-09 | 张江礼 | Novel industrial robot reduction gear |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109667858A (en) * | 2018-12-27 | 2019-04-23 | 精诚工科汽车系统有限公司 | Parking actuator and vehicle with it |
| CN109667858B (en) * | 2018-12-27 | 2021-05-25 | 精诚工科汽车系统有限公司 | Parking executor and vehicle that has it |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180605 |
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| WD01 | Invention patent application deemed withdrawn after publication |