CN110043610B - Bearing type speed reducer with high bearing capacity and capable of driving robot - Google Patents
Bearing type speed reducer with high bearing capacity and capable of driving robot Download PDFInfo
- Publication number
- CN110043610B CN110043610B CN201910373654.1A CN201910373654A CN110043610B CN 110043610 B CN110043610 B CN 110043610B CN 201910373654 A CN201910373654 A CN 201910373654A CN 110043610 B CN110043610 B CN 110043610B
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- bearing
- roller
- shell
- disc
- eccentric
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 7
- 239000010959 steel Substances 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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
- 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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- 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
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The invention relates to a bearing type speed reducer of a drivable robot with high bearing capacity, which comprises a shell component, a roller disc component and a center sleeve, wherein two ball tracks are arranged between the shell component and the roller disc component, one ball track is a spherical ball track, the other ball track is a cylindrical ball track, steel balls are densely arranged in the spherical ball track, cylindrical rollers are densely arranged in the cylindrical ball track, an eccentric step is arranged on the center sleeve, an eccentric bearing is arranged on the eccentric step, a transmission ring is arranged on the eccentric bearing, an inner gear ring is arranged in an inner cavity of the shell component, equal-division radial grooves are formed in the roller disc component, rollers are arranged in the equal-division radial grooves, and the transmission ring pushes the rollers to be meshed with the inner gear ring. The invention has higher bearing capacity, shorter axial dimension, smaller external dimension and simpler processing technique, obviously reduces processing cost, easily ensures manufacturing precision and meets the use requirement of the robot.
Description
Technical Field
The invention relates to the technical field of mechanical transmission devices, in particular to a bearing type speed reducer of a drivable robot with high bearing capacity, which is suitable for a robot joint.
Background
Currently known industrial robot reducers are in the field of RV reducers in japan, the european scovage spinea reducer and harmonic reducers. The two are based on precise cycloidal pinwheel transmission, and the RV reducer is added with one-stage planetary gear reduction on the basis; the spinea speed reducer is characterized in that a special conversion mechanism and a cross roller bearing are added on the basis of cycloidal pin gear transmission, and the special conversion mechanism and the cross roller bearing meet the requirement of a robot joint on compact structure, but have complex structure and high price. In addition, the flexible gear bearing capacity of the harmonic reducer is weak, so that the harmonic reducer is only suitable for driving the wrist of the robot and is not suitable for the large arm of the industrial robot.
Disclosure of Invention
The invention aims to overcome the defects, and provides the bearing type speed reducer capable of driving the robot, which has high bearing capacity, smaller outline dimension, simpler processing technology, obviously reduced processing cost, easy guarantee of manufacturing precision and satisfaction of the use requirement of the robot.
The purpose of the invention is realized in the following way:
the utility model provides a but bearing type speed reducer of bearing capacity high driving robot, includes shell subassembly, roller dish subassembly and center cover, be equipped with two places raceways between shell subassembly and the roller dish subassembly, one is the sphere raceway, and another is the face raceway, closely arrange the steel ball in the sphere raceway, closely arrange cylindrical roller in the face raceway, the center is sheathe in and is equipped with eccentric step, be equipped with eccentric bearing on the eccentric step, eccentric bearing is equipped with the drive ring, shell subassembly inner chamber is equipped with the ring gear, the ring gear is curve profile of tooth, be provided with the radial groove of halving in the roller dish subassembly, be equipped with the roller in the radial groove of halving, the drive ring promotes roller and ring gear meshing.
Preferably, the housing assembly comprises a housing front part, a housing middle part and a housing rear part, wherein the housing front part, the housing middle part and the housing rear part are connected through fasteners, the housing front part is connected with the servo motor, and the annular gear is arranged in the housing middle part.
Preferably, the roller disc assembly comprises a roller disc body, a connecting disc and a disc cover, wherein the eccentric bearing is arranged between the roller disc body and the disc cover, the equally-divided radial grooves are formed in the roller disc body, the roller disc body and the connecting disc are fixed through first screws, the roller disc body and the disc cover are fixed through second screws, and the second screws are located between two adjacent equally-divided radial grooves.
Preferably, the spherical roller path is provided with a spherical inner roller path and a spherical outer roller path, the spherical outer roller path is arranged on the inner side of the joint surface between the middle part of the shell and the rear part of the shell, and the spherical inner roller path is arranged on the periphery of the joint surface of the roller disc body and the connecting disc.
Preferably, the cylindrical roller is located between the middle part of the shell and the disc cover, and the cylindrical surface outer roller path is arranged at the middle part of the shell corresponding to the cylindrical roller.
Preferably, 2-3 rollers are provided in each of the bisecting radial grooves.
Preferably, the two sides of the eccentric step are respectively provided with a first bearing and a second bearing, the outer ring of the first bearing is simultaneously connected with the roller disc body and the connecting disc, and the outer ring of the second bearing is connected with the disc cover.
Preferably, the two ends of the center sleeve are provided with balance weights corresponding to the eccentric bearings.
Preferably, a first framework oil seal is arranged between the connecting disc and the rear part of the shell, and a second framework seal is arranged between the front part of the shell and the center sleeve.
The beneficial effects of the invention are as follows:
the invention has higher bearing capacity, shorter axial dimension, smaller external dimension and simpler processing technique, obviously reduces processing cost, easily ensures manufacturing precision and meets the use requirement of the robot.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Wherein: a housing assembly 1; an inner gear ring 1.1; a housing front 1.2; 1.3 parts of the shell; the rear part of the shell 1.4; a roller disc assembly 2; roller 2.1; 2.2 parts of connecting disc; a roller disc body 2.3; a tray cover 2.4; a center sleeve 3; eccentric step 3.1; a steel ball 4; a cylindrical roller 5; an eccentric bearing 6; a first screw 7; a first bearing 8; a second bearing 9; a balance weight 10; a first skeleton oil seal 11; a second skeletal seal 12; and a drive ring 13.
Detailed Description
Referring to fig. 1, the invention relates to a bearing type speed reducer of a drivable robot with high bearing capacity, which comprises a shell component 1, a roller disc component 2 and a center sleeve 3, wherein two raceways are arranged between the shell component 1 and the roller disc component 2, one raceway is a spherical raceway, the other raceway is a cylindrical raceway, steel balls 4 are densely arranged in the spherical raceway, cylindrical rollers 5 are densely arranged in the cylindrical raceway to form a bearing-like supporting structure, the axial size of the speed reducer is greatly shortened, and meanwhile, the roller disc component 2 can rotate in the shell component 1, so that the accurate positioning and flexible rotation of the roller disc component are ensured. The eccentric bearing is arranged on the eccentric step 3.1, the eccentric bearing 6 is arranged on the eccentric step 3.1, the driving ring 13 is arranged on the eccentric bearing 6, the inner cavity of the shell component 1 is provided with an inner gear ring 1.1, the inner gear ring 1.1 is in a curve tooth shape, an equally-divided radial groove is arranged in the roller disc component 2, a roller 2.1 is arranged in the equally-divided radial groove, and the driving ring 13 generates thrust to the roller to push the roller 2.1 to be meshed with the inner gear ring 1.1.
Due to a tooth difference, the roller disc assembly 2 and the shell assembly 1 generate relative motion, and when the shell assembly 1 is fixed, the roller disc assembly 2 outputs the rotary motion; when the roller-disc assembly 2 is fixed, the housing assembly 1 outputs this rotational movement.
The shell assembly 1 comprises a shell front part 1.2, a shell middle part 1.3 and a shell rear part 1.4, wherein positioning rabbets are arranged among the shell front part 1.2, the shell front part 1.2 is connected with a servo motor through a fastener, a motor shaft of the servo motor is inserted into an inner hole of a center sleeve 3, the center sleeve 3, an eccentric bearing 6 and a transmission ring 13 are driven to rotate together through key connection, and the inner gear ring 1.1 is arranged in the shell middle part 1.3.
The roller disc assembly 2 comprises a connecting disc 2.2, a roller disc body 2.3 and a disc cover 2.4, wherein an eccentric bearing 6 is arranged between the roller disc body 2.3 and the disc cover 2.4, equally-divided radial grooves are formed in the roller disc body 2.3, and 2-3 rollers 2.1 are arranged in each equally-divided radial groove. The connecting disc 2.2 and the roller disc body 2.3 are fixed through a first screw 7, and the roller disc body 2.3 and the disc cover 2.4 are fixed through a second screw, and the second screw is positioned between two adjacent equal-division radial grooves.
The spherical roller path is provided with a spherical inner roller path and a spherical outer roller path, the spherical outer roller path is arranged on the inner side of the joint surface of the middle part 1.3 of the shell and the rear part 1.4 of the shell, and the spherical inner roller path is arranged on the periphery of the joint surface of the connecting disc 2.2 and the roller disc body 2.3.
The cylindrical roller 5 is positioned between the middle part 1.3 of the shell and the disc cover 2.4, and the middle part 1.3 of the shell is provided with a cylindrical surface outer raceway corresponding to the cylindrical roller 5.
The two sides of the eccentric step 3.1 are respectively provided with a first bearing 8 and a second bearing 9, the outer ring of the first bearing 8 is simultaneously connected with the connecting disc 2.2 and the roller disc body 2.3, and the outer ring of the second bearing 9 is connected with the disc cover 2.4.
The two ends of the center sleeve 3 are provided with balance weights 10 corresponding to the eccentric bearings 6. The balance weight 10 enables the speed reducer to achieve complete dynamic balance during operation so as to eliminate vibration.
A first framework oil seal 11 is arranged between the connecting disc 2.2 and the rear part 1.4 of the shell, and a second framework seal 12 is arranged between the front part 1.2 of the shell and the center sleeve 3. The first skeleton seal 11 prevents sundries from entering the steel ball 4, and ensures flexible rotation of the steel ball 4. The second skeletal seal 12 ensures that debris does not enter the inner bearing, extending the service life of the bearing.
In addition to the above embodiments, the present invention also includes other embodiments, and all technical solutions that are formed by equivalent transformation or equivalent substitution should fall within the protection scope of the claims of the present invention.
Claims (5)
1. The utility model provides a but bearing formula speed reducer of bearing capacity high driven robot which characterized in that: the novel roller disc type inner gear ring comprises a shell assembly (1), a roller disc assembly (2) and a center sleeve (3), two raceways are arranged between the shell assembly (1) and the roller disc assembly (2), one raceway is a spherical raceway, the other raceway is a cylindrical raceway, steel balls (4) are densely arranged in the spherical raceway, cylindrical rollers (5) are densely arranged in the cylindrical raceway, an eccentric step (3.1) is arranged on the center sleeve (3), an eccentric bearing (6) is arranged on the eccentric step (3.1), a driving ring (13) is arranged on the eccentric bearing (6), an inner cavity of the shell assembly (1) is provided with an inner gear ring (1.1), the inner gear ring (1.1) is in a curve tooth shape, an equally-divided radial groove is formed in the roller disc assembly (2), rollers (2.1) are arranged in the equally-divided radial groove, and the driving ring (13) pushes the rollers (2.1) to be meshed with the inner gear ring (1.1).
The shell assembly (1) comprises a shell front part (1.2), a shell middle part (1.3) and a shell rear part (1.4), wherein the shell front part (1.2) is connected with a servo motor, and the inner gear ring (1.1) is arranged in the shell middle part (1.3);
the roller disc assembly (2) comprises a connecting disc (2.2), a roller disc body (2.3) and a disc cover (2.4), an eccentric bearing (6) is arranged between the roller disc body (2.3) and the disc cover (2.4), equal-division radial grooves are formed in the roller disc body (2.3), the connecting disc (2.2) and the roller disc body (2.3) are fixed through first screws (7), and the roller disc body (2.3) and the disc cover (2.4) are fixed through second screws, and the second screws are located between two adjacent equal-division radial grooves;
the spherical roller path is provided with a spherical inner roller path and a spherical outer roller path, the spherical outer roller path is arranged on the inner side of a joint surface between the middle part (1.3) of the shell and the rear part (1.4) of the shell, and the spherical inner roller path is arranged on the periphery of the joint surface between the connecting disc (2.2) and the roller disc body (2.3);
the cylindrical roller (5) is positioned between the middle part (1.3) of the shell and the disc cover (2.4), and the middle part (1.3) of the shell is provided with a cylindrical surface outer raceway corresponding to the cylindrical roller (5).
2. The high-bearing-capacity bearing type speed reducer for a drivable robot as set forth in claim 1, wherein: 2-3 rollers (2.1) are arranged in each halving radial groove.
3. The high-bearing-capacity bearing type speed reducer for a drivable robot as set forth in claim 1, wherein: the eccentric step (3.1) both sides are equipped with first bearing (8) and second bearing (9) respectively, the outer lane of first bearing (8) is connected with connection pad (2.2), roller dish body (2.3) simultaneously, second bearing (9) outer lane is connected with dish lid (2.4).
4. The high-bearing-capacity bearing type speed reducer for a drivable robot as set forth in claim 1, wherein: and the two ends of the center sleeve (3) are provided with balance weights (10) corresponding to the eccentric bearings (6).
5. The high-bearing-capacity bearing type speed reducer for a drivable robot as set forth in claim 1, wherein: a first framework oil seal (11) is arranged between the connecting disc (2.2) and the rear part (1.4) of the shell, and a second framework seal (12) is arranged between the front part (1.2) of the shell and the center sleeve (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373654.1A CN110043610B (en) | 2019-05-07 | 2019-05-07 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373654.1A CN110043610B (en) | 2019-05-07 | 2019-05-07 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110043610A CN110043610A (en) | 2019-07-23 |
| CN110043610B true CN110043610B (en) | 2023-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910373654.1A Active CN110043610B (en) | 2019-05-07 | 2019-05-07 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110043610B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE413518C (en) * | 1924-01-29 | 1925-05-12 | Max Buettner | Manual gearbox |
| CN87207321U (en) * | 1987-07-20 | 1988-05-11 | 严明 | Shifting roller decelerator |
| CN2086825U (en) * | 1990-12-28 | 1991-10-16 | 严明 | Speed reducer with displaced rollers |
| JPH06174017A (en) * | 1992-12-13 | 1994-06-21 | Harmonic Drive Syst Ind Co Ltd | Speed increasing/reducing device |
| KR20000002878A (en) * | 1998-06-24 | 2000-01-15 | 민덕기 | Cocentric typed roller pump |
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| CN104864040A (en) * | 2015-04-24 | 2015-08-26 | 江苏联合传动设备有限公司 | Speed reducer with planetary gears and cycloidal gear |
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| JP2015192539A (en) * | 2014-03-28 | 2015-11-02 | Ntn株式会社 | in-wheel motor drive device |
| CN108019471A (en) * | 2018-01-17 | 2018-05-11 | 合肥哈工联合精密传动有限公司 | Pin type list cycloidal reducer |
| CN108087498A (en) * | 2016-11-21 | 2018-05-29 | 陈仕贤 | A kind of multiple tooth while engagement active-tooth transmission |
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-
2019
- 2019-05-07 CN CN201910373654.1A patent/CN110043610B/en active Active
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|---|---|---|---|---|
| DE413518C (en) * | 1924-01-29 | 1925-05-12 | Max Buettner | Manual gearbox |
| CN87207321U (en) * | 1987-07-20 | 1988-05-11 | 严明 | Shifting roller decelerator |
| CN2086825U (en) * | 1990-12-28 | 1991-10-16 | 严明 | Speed reducer with displaced rollers |
| JPH06174017A (en) * | 1992-12-13 | 1994-06-21 | Harmonic Drive Syst Ind Co Ltd | Speed increasing/reducing device |
| KR20000002878A (en) * | 1998-06-24 | 2000-01-15 | 민덕기 | Cocentric typed roller pump |
| CN2400634Y (en) * | 1999-12-28 | 2000-10-11 | 严明 | Self-locating jointing shift roller speed reducer |
| CN2409378Y (en) * | 2000-02-19 | 2000-12-06 | 严明 | Pure rolling engaged shifting roll speed reducer |
| CN202833880U (en) * | 2012-09-20 | 2013-03-27 | 广州数控设备有限公司 | Reduction gear of hypocycloid planetary pin wheel |
| CN202914641U (en) * | 2012-10-19 | 2013-05-01 | 成都三泉科技有限公司 | Eccentric swing speed reducing device |
| JP2015192539A (en) * | 2014-03-28 | 2015-11-02 | Ntn株式会社 | in-wheel motor drive device |
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| CN108019471A (en) * | 2018-01-17 | 2018-05-11 | 合肥哈工联合精密传动有限公司 | Pin type list cycloidal reducer |
| CN108458058A (en) * | 2018-04-04 | 2018-08-28 | 海尚集团有限公司 | Vector cycloid speed changer |
| CN208331142U (en) * | 2018-05-18 | 2019-01-04 | 沈润生 | A kind of roller oscillating tooth retarder like a chain of pearls or a string of beads |
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| Publication number | Publication date |
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| CN110043610A (en) | 2019-07-23 |
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