CN109465805B - Transmission and robot - Google Patents

Transmission and robot Download PDF

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Publication number
CN109465805B
CN109465805B CN201710801401.0A CN201710801401A CN109465805B CN 109465805 B CN109465805 B CN 109465805B CN 201710801401 A CN201710801401 A CN 201710801401A CN 109465805 B CN109465805 B CN 109465805B
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Prior art keywords
disc
cycloid
transmission
output
input shaft
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Active
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CN201710801401.0A
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Chinese (zh)
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CN109465805A (en
Inventor
魏瀛
朱紫嫣
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Kronico Ltd
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Kronico Ltd
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Publication of CN109465805A publication Critical patent/CN109465805A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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

Abstract

The invention provides a transmission device and a robot with the transmission device, wherein the transmission device comprises an input shaft which can be eccentrically connected with a power input mechanism, and a primary cycloid disc and a secondary cycloid disc are arranged on the input shaft and can be driven by the input shaft to rotate eccentrically; the primary cycloid disk is matched with a transmission piece with an outer cycloid outline in the eccentric rotation process, the secondary cycloid disk is matched with an output disk with an outer cycloid outline in the eccentric rotation process, and the output disk rotates relative to the transmission piece while rotating in a matched mode with the secondary cycloid disk so as to achieve speed reduction output of power. The transmission device provided by the invention adopts a transmission combination structure of the first-stage cycloid disc and the second-stage cycloid disc, has the advantages of short transmission stroke, stable power output, compact structure and light weight, can realize multi-stage speed reduction and large reduction ratio output, can realize the reduction ratio of the same size which is dozens of times higher than that of other types of transmission devices, and is suitable for the design of microminiature and light-weight robots.

Description

Transmission and robot
Technical Field
The invention belongs to the technical field of mechanical transmission, particularly relates to the field of mechanical transmission applied to robots, and particularly relates to a transmission device and a robot with the transmission device.
Background
The industrial robot has the characteristics of high speed, accuracy, compact machine body mechanism, large transmission power, multiple degrees of freedom and improved rigidity. At present, two transmission devices applied to the field of robots are mainly provided, one is an RV reducer, and the other is a harmonic reducer. Most of the existing RV type cycloidal speed reducers are industrial-grade speed reducers, although the output performance is good, the size is large and the weight is large, the RV type cycloidal speed reducers are mainly applied to large engineering equipment or industrial robots and are not suitable for small light-weight robots; most cycloidal needle reducers are unipolar, have small reduction ratio and are not suitable for miniaturization design. And the transmission device based on the power transmission of the meshing gear has small output torque, limited reduction ratio and narrow application range.
Therefore, there is a need for an improvement of the above structure.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and firstly provides a transmission device which can obtain a larger reduction ratio under a smaller space structure size so as to meet the requirements of a small-sized and light-weighted robot.
The transmission device provided by the invention comprises an input shaft which can be eccentrically connected with a power input mechanism, wherein a primary cycloid disc and a secondary cycloid disc are arranged on the input shaft and are driven by the input shaft to synchronously eccentrically rotate; the primary cycloid disc is matched with a transmission piece with an outer cycloid outline in the eccentric rotation process, the secondary cycloid disc is matched with an output disc with an outer cycloid outline in the eccentric rotation process, and the output disc rotates relative to the transmission piece while rotating in a matched manner with the secondary cycloid disc so as to realize the speed reduction output of power; still including offering the installation component of eccentric orfice, power input mechanism is including setting up power element on the installation component, through eccentric orfice is connected with power element and by power element drives pivoted driving part and set up in follower on the input shaft, the follower with the driving part cooperation is in order to drive the input shaft rotates.
As an alternative structure of the present invention, the input shaft and the output disc are hollow.
As an optional structure of the invention, the number of teeth of the primary cycloid disc is n 1 The number of teeth of the second-level cycloid disc is n 2 And the output speed reduction ratio i of the output disc is as follows:
i＝[n 1 ×(n 2 +1)]/(n 1 -n 2 )；
wherein n is 1 Is 6-70 teeth, n 2 5-69 teeth, and the reduction ratio i is 36-4900.
As an optional structure of the present invention, the reduction ratio between the driven member and the driving member is i 1 The number of teeth of the primary cycloid disc is n 1 The number of teeth of the second-level cycloid disc is n 2 And the output speed reduction ratio i of the output disc is as follows:
i＝i 1 ×[n 1 ×(n 2 +1)]/(n 1 -n 2 )；
wherein i 1 Is 2-8 stages, n 1 Is 6-70 teeth, n 2 5-69 teeth, and the reduction ratio i is 72-39200. As an optional structure of the invention, the transmission member is provided with a cavity, and the primary cycloid disc and the secondary cycloid disc are arranged on the transmission memberThe driving part is arranged in the cavity of the driving part and swings in a matching way through the input shaft arranged in the cavity of the driving part and the primary cycloid disc bearing and the secondary cycloid disc bearing which are correspondingly fixed on the input shaft; one end of the output disc is arranged in a cavity formed in the transmission part, and the other end of the output disc is positioned by matching with the end cover; one end of the transmission piece is connected with the end cover, the other end of the transmission piece is connected with the supporting piece, and the supporting piece is connected with the power input mechanism and is connected with the input shaft through a bearing.
As an optional structure of the invention, the transmission part is of a hollow shell structure, the part of the transmission part matched with the primary cycloid disk is processed with an outer cycloid contour matched with the peripheral tooth profile of the primary cycloid disk, and the other part of the transmission part is provided with a placement position capable of accommodating the secondary cycloid disk and the output disk; one end of the output disc is provided with an outer cycloid outline which can be matched with the peripheral tooth form of the secondary cycloid disc, the end of the output disc is arranged in the cavity of the transmission part, and the other end of the output disc penetrates through the end cover and extends outwards.
As an optional structure of the present invention, a pressing cover is further disposed outside the end cap, and is fixedly connected to the end cap.
The invention also provides a robot, which comprises a driving mechanism and an executing mechanism, wherein the driving mechanism comprises the transmission device.
The transmission device provided by the invention adopts a transmission combination structure of the first-stage cycloid disc and the second-stage cycloid disc, has the advantages of short transmission stroke, stable power output, compact structure, small volume and light weight, can realize multi-stage speed reduction and large reduction ratio output, has the reduction ratio higher than that of other types of transmission devices by more than dozens of times under the same size, and is suitable for the design of miniature and light-weight robots. Furthermore, the input shaft of the transmission device adopts an eccentric position installation design, and the input shaft and the output disc both adopt a hollow structure, so that the weight of the transmission device can be reduced, the internal wiring is also facilitated, and the power input mechanism which is eccentrically installed cannot interfere with the wiring at the hollow position, so that the transmission device is more suitable for a miniaturized structure with compact space. Meanwhile, the mounting part for fixing the power element can adapt to motor speed reduction motors or other power transmission mechanisms with different models and sizes, does not need auxiliary mounting accessories, and is extremely convenient and reliable to use and debug.
The robot adopting the transmission device can meet the requirements of small and light robots which are gradually developed, and can provide a wider application range for the robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a mating structure of a cycloid disc and a transmission member according to an embodiment of the present invention;
FIG. 3 is a schematic view of the relative positions of the mounting member and the support member and the input shaft according to the embodiment of the present invention;
fig. 4 is a schematic view of the power input mechanism according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.
Referring to fig. 1, 2 and 4, the present invention provides an embodiment of a transmission device, including an input shaft 18, an output disc 5, a primary cycloid disc 14, a secondary cycloid disc 9 and a transmission member 11, wherein the input shaft 18 is eccentrically connected to a power input mechanism 16, and is driven by the power input mechanism 16 to eccentrically rotate around a power output center of the power input mechanism 16; the input shaft 18 is provided with a primary cycloid disc 14 and a secondary cycloid disc 9 in an arrangement mode, and the primary cycloid disc 14 and the secondary cycloid disc 9 can be matched with a primary cycloid disc bearing 15 and a secondary cycloid disc bearing 8 which are correspondingly arranged on the input shaft 18, so that the primary cycloid disc 14 and the secondary cycloid disc 9 can rotate eccentrically under the driving of the input shaft 18. The transmission part 11 has an outer cycloid outline (as shown in fig. 2), and can be matched with the primary cycloid disc 14, namely, the primary cycloid disc 14 is matched with the transmission part 11 in the eccentric rotation process to form a primary cycloid disc transmission assembly; the output disc 5 also has an outer cycloid outline and can be matched with the secondary cycloid disc 9, namely, the secondary cycloid disc 9 can be matched with the output disc 5 in the eccentric rotation process to form a secondary cycloid disc transmission assembly. Meanwhile, the output disc 5 is matched with the input shaft 18 through the first bearing 6 and supported on the input shaft 18, and the center of the output disc is in the same straight line with the center of the input shaft 18. In the structure of the invention, the first-stage cycloid disk 14 and the second-stage cycloid disk 9 are both arranged on the eccentric rotating input shaft 18 and are respectively meshed with the transmission piece 11 and the output disk 5, so that the output disk 5 can rotate relative to the transmission piece 11 while rotating in a matching way with the second-stage cycloid disk 9, namely, in the process of realizing two times of outer cycloid contour meshing between the first-stage cycloid disk 14 and the transmission piece 11 and between the second-stage cycloid disk 9 and the output disk 5, the output disk 5 can also rotate around the center of the transmission piece 11 at a certain rotating speed, thereby achieving the effect of double-stage speed reduction output and obtaining higher speed reduction ratio. Therefore, the transmission device adopting the design structure has the advantages that the primary cycloid disc transmission assembly and the secondary cycloid disc transmission assembly are arranged on the input shaft 18 in an arrayed mode, the transmission stroke is short, a compact overall structure can be obtained, the size is small, the weight is light, large reduction ratio can be output, the power output stability is good, the reduction ratio under the same size can be dozens of times higher than that of other types of transmission devices, and the transmission device is suitable for small and light robots.
In the two-stage speed reduction embodiment structure combining the primary cycloid disc transmission assembly and the secondary cycloid disc transmission assembly, the number of teeth of the primary cycloid disc 14 is n 1 The number of teeth of the second-level cycloid disc 9 is n 2 Then, the output speed reduction ratio i output by the output disc 5 is:
i＝[n 1 ×(n 2 +1)]/(n 1 -n 2 )；
wherein n is 1 Is 6-70 teeth, n 2 5-69 teeth.
Therefore, the reduction ratio range of the structure can reach 36-4900, a larger reduction ratio can be obtained on the basis of a smaller space structure, and the structure can be suitable for various speed output requirements.
In the structure of the embodiment of the present invention, the power input mechanism 16 for driving the input shaft 18 to rotate may be implemented in various ways, such as a crank mechanism, or as shown in fig. 1, 3 and 4, a mounting member 22 is designed, an eccentric hole a is formed on the mounting member 22, the power input mechanism 16 includes a driving member 162 driven by a power element 163 to rotate and a driven member 161 engaged with the driving member 162, and the power element 163 is fixed on the mounting member 22, and may be a motor or a speed reducing motor, or other power elements.
As shown in fig. 3, the power element 163 is mounted on the mounting member 22 in the region of (R-R), wherein the radius of the through hole of the hollow eccentric shaft 18 is R, and the radius of the supporting member 13 is R, so that the power element can be adapted to different models of size power elements, and the design can be customized according to the type of the motor to be matched, and the motors or speed reducing motors with various sizes and models can be matched to be mounted, so as to realize modularization and customization. The output shaft of the power element 163 passes through the eccentric hole a, the driving element 161 is connected or arranged on the output shaft of the power element 163 and is arranged in the cavity formed in the supporting part 13, the driven element 161 is fixed on the input shaft 18, one side of the driven element is positioned by the second shaft sleeve 20 arranged at the side end of the fourth bearing 21, the other end side of the driven element is fixed by the sealing cover 17, and the sealing cover 16 is fixedly connected with the mounting part 22. Thus, the power output from the power element 163 can be transmitted to the input shaft 18 through the eccentric hole a by the engagement between the driving member 162 and the driven member 161 connected thereto, so that the input shaft 18 eccentrically rotates about the center of the power element 163, and a certain reduction ratio can be obtained. Therefore, through one-stage speed reduction between the driving part 162 and the driven part 161 and two-stage speed reduction between the first-stage cycloid disc 14 and the driving part 11 and between the second-stage cycloid disc 9 and the output disc 5, the output disc 5 can obtain three-stage speed reduction ratio, and further obtain greater speed reduction effect. It is understood that the driving member 162 and the driven member 161 may be engaged by gears with the same module, and other gear transmission, belt transmission or other transmission structures may be adopted, as long as the structure capable of transmitting the input power to the input shaft 18 and obtaining a certain reduction ratio is ensured, and all that is within the protection scope of the present invention.
Compared with the prior art in which the input shaft is mostly positioned at the midpoint of the transmission device, the eccentric mounting design of the motor has the defects of needing additional supporting pieces and transmission pieces, having high difficulty in eccentric mounting, use and debugging and being not suitable for the miniaturized design of the robot, the design of the mounting piece 22 can adapt to motor speed reduction motors or other power transmission mechanisms with different models and sizes, does not need other intermediate structures or auxiliary mounting fittings, is extremely convenient and reliable to use and debug, improves the universality of the transmission device, and can further reduce the size of the whole machine. Moreover, the structure can also have various installation forms, various output modes and various reduction ratios, can form a plurality of highly integrated structures of components, has more compact structure, lower processing and assembling requirements, is convenient to install and has good application prospect.
In the structure of the three-stage speed reduction embodiment provided by the invention, the first-stage speed reduction ratio of the meshing between the driving part 162 and the driven part 161 is set as i 1 The number of teeth of the first-level cycloid disc 14 is n 1 The number of teeth of the second-level cycloid disc 9 is n 2 Then, the first step is executed,
the output speed reduction ratio i output by the output disc 5 is as follows:
i＝i 1 ×[n 1 ×(n 2 +1)]/(n 1 -n 2 )；
wherein，i 1 Is 2-8, n 1 Is 6-70 teeth, n 2 5-69 teeth.
Therefore, the available reduction ratio range can be as high as 72-39200, the applicable speed output range is larger, large reduction ratio can be realized under smaller size, and the reduction ratio is far beyond other products.
Referring again to fig. 1, as a further structure of the above embodiment of the present invention, the input shaft 18 and the output disc 5 are both designed as hollow structures. Therefore, the weight of the transmission device can be reduced, and internal wiring is facilitated. Meanwhile, the power input mechanism 16 is eccentrically arranged relative to the hollow input shaft 18, so that the routing of the central cavity of the input shaft 18 and the output disc 5 is not interfered, and the transmission device is more suitable for a miniaturized structure with compact space.
Referring to fig. 1 and 2, as a specific design of the above structure of the embodiment of the present invention, the transmission member 11 is provided with a cavity, and is a hollow shell structure, a cavity portion of the cavity that is matched with the primary cycloid disc 14 is processed with an outer cycloid contour (as shown in fig. 2) that can be matched with the peripheral tooth form of the primary cycloid disc 14, and another portion of the cavity has a placement position that can accommodate the matching of the secondary cycloid disc 9 and the output disc 5. The primary cycloid disk 14 and the secondary cycloid disk 9 are arranged in a cavity of the transmission part 11, one end of the input shaft 18 penetrates through the cavity of the transmission part 11, the primary cycloid disk bearing 15 and the secondary cycloid disk bearing 8 are fixed on the input shaft, and transverse positioning on the input shaft 18 is achieved through the clamping ring 12, so that the primary cycloid disk 14 and the secondary cycloid disk 9 swing under the driving of the input shaft 18 through the primary cycloid disk bearing 15 and the secondary cycloid disk bearing 9 respectively. It will be appreciated that the primary cycloid discs 14 and the secondary cycloid discs 9 may also share a single bearing, fixedly coupled by a screw and mounted on the input shaft 18, with the same design effect. Meanwhile, the output disc 5 is also of a hollow structure and is sleeved on the input shaft 18 through the first bearing 6. One end of the output disc 5 is disc-shaped and is provided with a concave cavity, an outer cycloid outline which can be matched with the peripheral tooth form of the secondary cycloid disc 9 is processed on the concave cavity, the end is arranged at the placing position of the cavity of the transmission piece 11 and is adjacent to the part, processed with the outer cycloid outline, of the transmission piece 11, and the end is separated through a spacer ring 23 so as to avoid interference. The other end of the output disc 5 is a hollow shaft, the periphery of the hollow shaft is matched with the end cover 1 through a bearing, the hollow shaft penetrates through the center of the end cover to extend outwards, and the hollow shaft can be connected with related components. It will be appreciated that the bearings for the output disc 5 and end cap 1 may be provided singly or in pairs as shown in figure 1 by the second bearing 3 and third bearing 7, the pairs being separated by the retainer ring 2, or cross roller bearings may be used to the same effect. In the structure, the periphery of the output disc 5 is matched with the end cover 1 through the bearing (the second bearing 3 or/and the third bearing 7), and the hollow cavity is sleeved on the input shaft 18 through the bearing 6, so that the input shaft 18 and the output disc 5 can form a plurality of supporting points in a smaller space, the transmission stability is effectively ensured, the stability of the output disc 5 during power output is further improved, and the accuracy of the robot during the action of the robot can be improved. One end of the transmission piece 11 is fixedly connected with the end cover 1, the other end of the transmission piece is fixedly connected with a supporting piece 13, the supporting piece 13 is of a hollow structure, is sleeved on the input shaft 18 and is matched with the input shaft 18 through a fourth bearing 21, and the fourth bearing 21 can be positioned on the input shaft 18 through a first shaft sleeve 19. In the structure, the transmission part 11 can be used as a transmission component to be matched with the primary cycloid disc bearing 15 to transmit power, and the transmission part 11 can be used as a shell to be used as a cavity for accommodating the components, so that the components are arranged in the cavity, the transmission stroke can be shortened, the space size of the whole machine is reduced, and the compactness and the miniaturization of the structure of the whole machine are facilitated.
A gland 4 with a plate-shaped structure is arranged on the outer side of the end cover 1 and is fixedly connected with the end cover 1 through a bolt 10. The provision of the gland 4 can on the one hand act as a stop for the second bearing 3 and on the other hand facilitate the installation and maintenance of the output disc 5 and the second and third bearings 3 and 7.
The invention further provides a robot with the transmission device, which comprises a driving mechanism and an executing mechanism, wherein the driving mechanism comprises the transmission device. Specifically, the executing mechanism may include a mechanical arm, a manipulator, a mechanical joint, and the like, and the mechanical joint is driven to rotate by the driving mechanism to drive the mechanical arm and the manipulator to move.
The robot with the transmission device has compact structure, small space size, good power output stability and wide application range, can meet the requirements of small and light robots which are developed day by day, and has very important significance for promoting the development of miniature robots.
The present invention is not limited to the above preferred embodiments, and any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. The transmission device is characterized by comprising an input shaft which can be eccentrically connected with a power input mechanism, wherein a primary cycloid disc and a secondary cycloid disc are arranged on the input shaft and are driven by the input shaft to synchronously eccentrically rotate; the primary cycloid disc is matched with a transmission piece with an outer cycloid outline in the eccentric rotation process, the secondary cycloid disc is matched with an output disc with an outer cycloid outline in the eccentric rotation process, and the output disc rotates relative to the transmission piece while rotating in a matched manner with the secondary cycloid disc so as to realize the speed reduction output of power;
the transmission device further comprises a mounting part provided with an eccentric hole, the power input mechanism comprises a power element arranged on the mounting part, a driven part arranged on the input shaft and connected with the power element through the eccentric hole, the driven part drives the power element to rotate, and the driven part is matched with the driving part to drive the input shaft to rotate.
2. The transmission of claim 1, wherein said input shaft and said output disc are hollow.
3. The transmission of claim 1, wherein said primary cycloidal disc has n teeth 1 The number of teeth of the second-level cycloid disc is n 2 The output speed reduction ratio i of the output disc is as follows:
i＝[n 1 ×(n 2 +1)]/(n 1 -n 2 )；
wherein n is 1 Is 6-70 teeth, n 2 5-69 teeth, and the reduction ratio i is 36-4900.
4. The transmission of claim 1, wherein the driven member and the driving member have a reduction ratio of i 1 The number of teeth of the primary cycloid discs is n 1 The number of teeth of the second-level cycloid disc is n 2 And the output speed reduction ratio i of the output disc is as follows:
i＝i 1 ×[n 1 ×(n 2 +1)]/(n 1 -n 2 )；
wherein i 1 Is 2-8 stages, n 1 Is 6-70 teeth, n 2 5-69 teeth, and the reduction ratio i is 72-39200.
5. The transmission device according to any one of claims 1 to 4, wherein the transmission member is provided with a cavity, and the primary cycloid disc and the secondary cycloid disc are arranged in the cavity of the transmission member and are matched to swing through the input shaft arranged in the cavity of the transmission member and the primary cycloid disc bearing and the secondary cycloid disc bearing which are correspondingly fixed on the input shaft; one end of the output disc is arranged in a cavity formed in the transmission part, and the other end of the output disc is positioned by matching with the end cover; one end of the transmission piece is connected with the end cover, the other end of the transmission piece is connected with the supporting piece, and the supporting piece is connected with the power input mechanism and is connected with the input shaft through a bearing.
6. The transmission device as claimed in claim 5, wherein the transmission member is a hollow shell structure, the part of the transmission member, which is matched with the primary cycloid disc, is processed with an outer cycloid contour matched with the peripheral tooth shape of the primary cycloid disc, and the other part of the transmission member is provided with a placement position for accommodating the matching of the secondary cycloid disc and the output disc; one end of the output disc is provided with an outer cycloid outline which can be matched with the peripheral tooth form of the secondary cycloid disc, the end of the output disc is arranged in the cavity of the transmission part, and the other end of the output disc penetrates through the end cover and extends outwards.
7. The transmission device as claimed in claim 5, wherein a gland is further provided outside the end cap and is fixedly connected with the end cap.
8. Robot comprising a drive mechanism and an actuator, characterized in that the drive mechanism comprises a transmission according to any of claims 1-7.
CN201710801401.0A 2017-09-07 2017-09-07 Transmission and robot Active CN109465805B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN109465805B true CN109465805B (en) 2022-08-05

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Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102705452B (en) * 2012-05-25 2014-11-12 重庆大学 Two-stage conical internal cycloid transmission device
CN104613134A (en) * 2015-01-16 2015-05-13 苏州悍猛谐波机电有限公司 Synchronous cycloid speed reducing device
KR101767867B1 (en) * 2017-01-13 2017-08-16 주식회사 아로텍 Animal-inspired robots
CN106994681A (en) * 2017-04-01 2017-08-01 佛山华数机器人有限公司 A kind of high rigidity six-joint robot
CN107097213A (en) * 2017-05-19 2017-08-29 沃奇（北京）智能科技有限公司 Robot lower limb

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