CN112268101A - Precision speed reducer of industrial robot - Google Patents

Abstract

The invention discloses an industrial robot precision speed reducer which comprises a speed reducer mechanism whole body, wherein an output shaft structure rod is arranged at the middle position inside the speed reducer mechanism whole body close to the left side, the output shaft structure rod comprises a first-order output shaft, a second-order output shaft is connected to the right end surface of the first-order output shaft, a central clamping shaft is arranged on the right end surface of the second-order output shaft, and a third-order output shaft is fixedly arranged at the middle position of the right end surface of the central clamping shaft; the invention can realize simple replacement of the transmission structure through a simple disassembly mode, avoid the phenomenon that the internal transmission structure is locally corroded and clamped due to long-time placement, realize the simple and convenient convenience performance of the speed reducer in use and disassembly, prevent external water vapor from entering the inner side of the abdominal cavity, prevent the speed reducer from being used for a long time, prevent the phenomenon that the track supporting phenomenon is loosened in meshing transmission between gears, improve the precision meshing degree between teeth and prolong the service life.

Description

Precision speed reducer of industrial robot

Technical Field

The invention belongs to the field of industrial robots, and particularly relates to a precision speed reducer of an industrial robot.

Background

The reducer is an independent part consisting of gear transmission, worm transmission and gear and worm transmission enclosed in a rigid shell, and is commonly used as a speed reduction transmission device between a prime mover and a working machine. The motor has the functions of matching rotating speed and transmitting torque between a prime motor and a working machine or an actuating mechanism, and is widely applied to modern machinery; the speed reducer is generally used for low-speed and large-torque transmission equipment, and the purpose of reducing speed is achieved by meshing a motor, an internal combustion engine or other high-speed running power with a large gear on an output shaft through a gear with a small number of teeth on an input shaft of the speed reducer; the speed reducer is a mechanical transmission device in various fields of national economy, and the products related to the industry comprise various gear speed reducers, planetary gear speed reducers and worm speed reducers, and also comprise various special transmission devices, speed increasing devices, various composite transmission devices including flexible transmission devices and the like.

The reduction gear on the market can not mostly dismantle the process loaded down with trivial details, can't carry out local component to drive structure and change, can't be convenient take out meshing parts, places the local solid phenomenon of card that easily sends out to rust for a long time, can't accomplish along with the convenient function of dress and dismantlement, can not effectively prevent steam, and the accurate interlock degree between every tooth is relatively poor, influences equipment life, for this reason, we propose an industrial robot precision reduction gear.

Disclosure of Invention

The invention aims to provide a precision speed reducer for an industrial robot, and aims to solve the problems that most of speed reducers in the market proposed in the background technology cannot be disassembled in a complicated process, cannot replace local components of a transmission structure, cannot conveniently take out a meshing part, can easily generate a phenomenon of rusting, corrosion and clamping when placed locally for a long time, cannot conveniently assemble and disassemble at any time, cannot effectively prevent water vapor, has poor precision meshing degree between teeth and influences the service life of equipment.

In order to achieve the purpose, the invention provides the following technical scheme: an industrial robot precision speed reducer comprises a speed reducer mechanism whole body, wherein an output shaft structure rod is arranged at the position, close to the left side, in the middle of the interior of the speed reducer mechanism whole body, the output shaft structure rod comprises a first-order output shaft, a second-order output shaft is connected to the surface of the right end of the first-order output shaft, a central clamping shaft is arranged on the surface of the right end of the second-order output shaft, a third-order output shaft is fixedly arranged at the position, in the middle of the surface of the right end of the third-order output shaft, a tail end shaft is connected to the position, in the middle of the surface of the right end of the fourth-order output shaft, an input shaft structure rod is arranged at the position, close to the front side, in the middle of the interior of the speed reducer mechanism whole body, the input shaft structure rod, the double-shaft speed reducer is characterized in that a third-order shaft rod is connected to the surface of the right end of the second-order shaft rod, a plurality of groups of shaft rod rack teeth are uniformly and fixedly arranged on the outer surface of the second-order shaft rod, a pin shaft is fixedly arranged in the middle of the surface of the right end of the third-order shaft rod, an upper end cover is arranged on the upper side of the speed reducer mechanism as a whole, a bottom casing is arranged on the upper side of the speed reducer mechanism as a whole and corresponds to the upper end cover, a foot mounting plate is fixedly arranged on the outer surface of the bottom casing close to the lower side of the bottom casing, ridge beam;

the double-layer composite structure comprises an upper end cover, a bottom combined shell, a first clamping ring groove, a first matching groove, a second clamping ring groove, a protruding arch shell, a belly groove, an assembling groove, a first shaft retaining ring, a first bearing ring, a second bearing ring, a first shaft retaining ring and a second shaft retaining ring, wherein the two sides of the outer surface of the upper end cover are close to the front part, the two sides of the outer surface of the bottom combined shell are close to the front part, the inner side wall of the first clamping ring groove is close to the outer edge, the two sides of the outer surface of the bottom combined shell are close to the rear part, the two sides of the outer surface of the second matching groove are close to the outer edge, the middle position of the outer surface of the upper end cover is provided with the protruding arch shell, the middle position of the inner part of the bottom combined shell is provided with the belly groove, four corners of the upper end surface, the right side that just is located bearing one on the input shaft structure pole is provided with retaining ring pad one, the ladder groove has been seted up to retaining ring pad one's right-hand member surface intermediate position, the right side that just is located retaining ring pad one on the input shaft structure pole is provided with retaining ring pad two, the right side that just is located retaining ring pad two on the input shaft structure pole is provided with bearing two, the right side that just is located bearing two on the input shaft structure pole is provided with axle retaining ring two, the surface intermediate position of axle retaining ring two has set firmly axle retaining ring two, the surface mounting that just is located central authorities' card axle on the output shaft structure pole has ring axle that folds, the surface of ring axle that folds has evenly set firmly a plurality of groups of axle teeth.

As a further scheme of the invention: the whole speed reducer mechanism is composed of an upper end cover, a bottom closing shell and a foot mounting plate, the upper end cover is installed with a bottom closing shell bolt through matching of a plurality of groups of screws and nuts, a large circular groove is formed by the closing groove I and the closing groove II, and a small circular groove is formed by the upper half hole and the lower half hole.

As a further scheme of the invention: the screw corresponds the setting through upper end cover and end closure casing cooperation and equipment groove, and first half hole and the inside wall surface to closing groove one all seted up the inner ring draw-in groove near the marginal position, and output shaft structure pole is through second order output shaft, end shaft and to closing groove two cooperation and the installation of reduction gear mechanism bodily rotation, and input shaft structure pole is through half hole down, round pin axle and half hole cooperation and the installation of reduction gear mechanism bodily rotation down.

As a further scheme of the invention: the inner middle position of the upper end cover corresponds to the abdominal cavity groove and is provided with a thoracic cavity groove, the vertical height of the arch-shaped shell is larger than the radius of the ring-overlapping shaft, the input shaft structural rod is composed of an elliptical rod, a second-order shaft rod and a third-order shaft rod, a plurality of groups of bolt through holes are formed in the edge positions around the upper end surface of the bottom closing shell, and the bolt through holes correspond to the screw holes and the assembling grooves.

As a further scheme of the invention: the second shaft check ring is sleeved with the output shaft structural rod through the fourth-order output shaft, the second bearing is movably installed with the output shaft structural rod through the third-order output shaft, and the first shaft check ring is movably installed with the output shaft structural rod through the first-order output shaft.

As a further scheme of the invention: the first bearing is sleeved with the output shaft structural rod through the second-order output shaft, the ring-stacked shaft is fixedly clamped with the output shaft structural rod through the central clamping shaft, and the first shaft retainer ring, the first bearing, the ring-stacked shaft, the second bearing retainer ring and the output shaft structural rod jointly form an output gear structure.

As a further scheme of the invention: the first shaft retainer ring is sleeved with the input shaft structure rod through a first-order shaft rod, the first bearing is sleeved with the input shaft structure rod through a second-order shaft rod, the first retainer ring pad is movably installed with the input shaft structure rod through shaft rod rack teeth, the second retainer ring pad is movably installed with the input shaft structure rod through a third-order shaft rod, the second bearing is movably installed with the input shaft structure rod through a pin shaft, and the second shaft retainer ring is sleeved with the input shaft structure rod through a pin shaft.

As a further scheme of the invention: the output gear structure is fixedly clamped with the whole speed reducer mechanism through the matching of the first shaft retainer ring and the first butt-joint groove and the matching of the first shaft retainer ring and the second shaft retainer ring, and the output shaft structure rod is arranged in a rotating mode with the whole speed reducer mechanism through the matching of the output gear structure and the first shaft retainer ring.

As a further scheme of the invention: the input gear structure is matched with the upper half hole and the first shaft retaining ring and the first snap ring groove through the first shaft retaining ring, and is fixedly clamped with the integral speed reducer mechanism, the input shaft structure rod is matched with the integral speed reducer mechanism through the first input gear structure and the first shaft retaining ring, the ring-stacked shaft is matched with the third-order shaft rod through the output gear structure and the input gear structure and is meshed with the third-order shaft rod, shaft teeth are matched with shaft rod rack teeth, and the gear ratio of the ring-stacked shaft to the third-order shaft rod is 3: 1.

Compared with the prior art, the invention has the beneficial effects that:

1. through the arrangement of the output shaft structural rod and the ring-folding shaft, because the ring-folding shaft is sleeved on the central clamping shaft and fixedly clamped on the output shaft structural rod, and the outer surface of the output shaft structural rod is sequentially sleeved on the upper side of the central clamping shaft through the first shaft retainer ring, the first bearing, the second bearing and the second shaft retainer ring and then is meshed with the pin shaft on the input shaft structural rod, the output gear structure is installed inside the whole speed reducer mechanism in a linkage manner with the input gear structure, through the operation, because the ring-folding shaft is sleeved on the output shaft structural rod, after long-time use, local shaft teeth on the ring-folding shaft are worn, the simple replacement of the transmission structure can be realized through a simple dismounting manner, and when the output shaft is not used for a long time, the ring-folding shaft can be independently dismounted through a simple dismounting manner, so that the internal transmission structure is prevented from being placed for a long time, and the phenomenon of local corrosion and clamping is generated, so that the simple and convenient convenience performance of assembling and disassembling the speed reducer along with use is realized.

2. The first shaft check ring and the second shaft check ring are arranged and are fixedly clamped with the second snap ring groove or the first snap ring groove through the first shaft check ring, so that the output gear structure and the input gear structure are fixedly clamped and arranged on the integral inner side of the speed reducer mechanism, an output shaft structure rod and an input shaft structure rod can rotate around the center of the speed reducer mechanism on the integral inner side, on one hand, the movable rotation of the output shaft structure rod on the integral inner side of the speed reducer mechanism is realized through the first shaft check ring and the second shaft check ring which are arranged on the two sides of the output shaft structure rod, on the other hand, the airtight structure in the integral speed reducer mechanism is realized through the tight clamping of the first shaft check ring and the first surface check ring with the second snap ring, external water vapor is prevented from entering the inner side of the abdominal cavity, meanwhile, the risk of corrosion of the internal structural components due to contact with the water vapor is effectively reduced, and the normal operation, meanwhile, the integral positions of the output shaft structural rod and the input shaft structural rod on the inner side of the whole speed reducer mechanism are fixed, the tight engagement of the ring shaft and the shaft rod rack teeth between the output shaft structural rod and the input shaft structural rod is ensured, the phenomenon that the track supporting is loosened in the engagement transmission between the gears due to the long-time use of the speed reducer is prevented, the precision engagement degree between each tooth is improved, the normal operation of the speed reducer is realized, and the service life is prolonged.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view showing an open structure of the upper cap in the present invention.

Fig. 3 is a schematic view of the overall internal explosion structure of the speed reducer mechanism of the present invention.

Fig. 4 is a schematic structural view of an input shaft structural lever in the present invention.

Fig. 5 is a schematic view of the output shaft structural lever of the present invention.

Fig. 6 is an assembly structure view of the input shaft structural rod of the present invention.

Fig. 7 is an assembly structure diagram of the output shaft structure rod of the present invention.

In the figure 1, the reducer mechanism is integral; 2. an output shaft structural rod; 224. a first order output shaft; 225. a second order output shaft; 226. a central clamping shaft; 227. a third order output shaft; 228. a fourth order output shaft; 229. a tip shaft; 3. an input shaft structural rod; 318. an elliptical rod; 319. a first order shaft lever; 320. a second order shaft; 321. a third order shaft lever; 322. shaft lever rack teeth; 323. a pin shaft; 4. an upper end cover; 401. a bottom-closed shell; 402. a foot-mounted plate; 5. supporting a ridge beam; 6. a screw hole; 7. an upper half-hole; 701. a lower half hole; 702. a first snap ring groove; 8. a first matching groove; 801. a second matching groove; 802. a second snap ring groove; 9. a crowned dome shell; 16. an abdominal cavity trough; 17. an assembly groove; 30. a first shaft retainer ring; 31. a first baffle ring for the shaft; 32. a first bearing; 33. a first check ring pad; 34. a stepped groove; 35. a second check ring pad; 36. a second bearing; 37. a second shaft retainer ring; 371. a second baffle ring for the shaft; 39. a ring shaft is stacked; 40. and (4) shaft teeth.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-7, a precision speed reducer for an industrial robot includes a speed reducer mechanism body 1, an output shaft structural rod 2 is arranged at an inner middle position of the speed reducer mechanism body 1 near the left side, the output shaft structural rod 2 includes a first-order output shaft 224, a second-order output shaft 225 is connected to a right end surface of the first-order output shaft 224, a central clamping shaft 226 is arranged at a right end surface of the second-order output shaft 225, a third-order output shaft 227 is fixedly arranged at a right end surface middle position of the central clamping shaft 226, a fourth-order output shaft 228 is fixedly arranged at a right end surface middle position of the third-order output shaft 227, a tail end shaft 229 is connected to a right end surface middle position of the fourth-order output shaft 228, an input shaft structural rod 3 is arranged at an inner middle position of the speed reducer mechanism body 1 near the front side, the input shaft structural rod 3 includes an elliptical rod, the surface of the right end of the second-order shaft rod 320 is connected with a third-order shaft rod 321, a plurality of sets of shaft rod rack teeth 322 are uniformly and fixedly arranged on the outer surface of the second-order shaft rod 320, a pin shaft 323 is fixedly arranged in the middle of the surface of the right end of the third-order shaft rod 321, an upper end cover 4 is arranged on the upper side of the whole speed reducer mechanism 1, a bottom casing 401 is arranged on the upper side of the whole speed reducer mechanism 1 and corresponds to the upper end cover 4, a foot mounting plate 402 is fixedly arranged on the outer surface of the bottom casing 401 close to the lower side, ridge beam supports 5 are fixedly arranged on the edges of two sides of the outer surface;

as shown in fig. 2-7, two sides of the outer surface of the upper end cap 4 near the front are provided with an upper half hole 7, two sides of the outer surface of the bottom closing shell 401 near the front are provided with a lower half hole 701, the inner side wall of the lower half hole 701 near the outer edge is provided with a first snap ring groove 702, two sides of the outer surface of the upper end cap 4 near the rear are provided with a first mating groove 8, two sides of the outer surface of the bottom closing shell 401 near the rear are provided with a second mating groove 801, the inner side wall of the second mating groove 801 near the outer edge is provided with a second snap ring groove 802, the middle position of the outer surface of the upper end cap 4 is provided with a raised arch shell 9, the middle position of the inner part of the bottom closing shell 401 is provided with a bellmouth groove 16, four corners of the upper end surface of the bottom closing shell 401 are all penetrated by assembling grooves 17, the input shaft structural, the right side of the first shaft retainer 30 on the input shaft structural rod 3 is provided with a first bearing 32, the right side of the first bearing 32 on the input shaft structural rod 3 is provided with a first retainer ring pad 33, the middle position of the right end surface of the first retainer ring pad 33 is provided with a stepped groove 34, the right side of the first retainer ring pad 33 on the input shaft structural rod 3 is provided with a second retainer ring pad 35, the right side of the second retainer ring pad 35 on the input shaft structural rod 3 is provided with a second bearing 36, the right side of the second bearing 36 on the input shaft structural rod 3 is provided with a second shaft retainer ring 37, the middle position of the outer surface of the second shaft retainer ring 37 is fixedly provided with a second shaft retainer ring 371, the outer surface of the central clamping shaft 226 on the output shaft structural rod 2 is provided with a laminated ring shaft 39, and a plurality of sets of shaft teeth 40 are uniformly and fixedly arranged on the outer surface of the laminated ring.

The reducer mechanism whole body 1 is composed of an upper end cover 4, a bottom closing shell 401 and a foot mounting plate 402, the upper end cover 4 is installed with a bottom closing shell 401 through a plurality of groups of screws and nuts in a matched mode, a first butt-joint groove 8 and a second butt-joint groove 801 form a large circular groove, an upper half hole 7 and a lower half hole 701 form a small circular groove, the lower half hole 701 and the upper half hole 7 are matched together to clamp and fix a first shaft retainer ring 30 on the inner side of the small circular groove, the first butt-joint groove 8 and the second butt-joint groove 801 form a large circular groove, and the first shaft retainer ring 30 is also clamped and arranged in the large circular groove in a stable mode to avoid relative sliding.

The screw holes 6 are matched with the bottom closing shell 401 through the upper end cover 4 and are arranged corresponding to the assembling grooves 17, inner ring clamping grooves are formed in the positions, close to the edges, of the inner side wall surfaces of the upper half hole 7 and the closing groove I8, the output shaft structural rod 2 is matched with the reducer mechanism whole 1 through the second-order output shaft 225, the tail end shaft 229 and the closing groove II 801 to be rotatably installed, and the input shaft structural rod 3 is matched with.

The middle position in the upper end cover 4 corresponds to the abdominal cavity groove 16 and is provided with a thoracic cavity groove, the vertical height of the arch-shaped raised shell 9 is larger than the radius of the ring-overlapping shaft 39, the input shaft structural rod 3 is composed of an elliptical rod 318, a second-order shaft rod 320 and a third-order shaft rod 321, a plurality of groups of bolt through holes are formed in the edge position of the periphery of the upper end surface of the bottom combined shell 401, and the bolt through holes correspond to the screw holes 6 and the assembling groove 17.

The second shaft retainer ring 37 is sleeved with the output shaft structural rod 2 through the fourth-order output shaft 228, the second bearing 36 is movably installed with the output shaft structural rod 2 through the third-order output shaft 227, the first shaft retainer ring 30 is movably installed with the output shaft structural rod 2 through the first-order output shaft 224, and the first shaft retainer ring 30, the first bearing 32, the second bearing 36 and the second shaft retainer ring 37 are sequentially sleeved on the outer surface of the output shaft structural rod 2 and are then meshed with the pin 323 on the input shaft structural rod 3, so that the output gear structure is installed inside the whole speed reducer mechanism 1 in a linkage mode with the input gear structure.

The first bearing 32 is sleeved with the output shaft structural rod 2 through the second-order output shaft 225, the stacked ring shaft 39 is fixedly clamped with the output shaft structural rod 2 through the central clamping shaft 226, wherein the first shaft retainer 30, the first bearing 32, the stacked ring shaft 39, the second bearing 36, the second shaft retainer 37 and the output shaft structural rod 2 jointly form an output gear structure, the diameters of the first-order output shaft 224, the second-order output shaft 225 and the central clamping shaft 226 are sequentially increased, the assembly with each component is convenient, the radius of the elliptic rod 318 is smaller than that of the first-order shaft rod 319, the second-order shaft rod 320 fixedly clamps and installs the first bearing 32, the third-order shaft rod 321 is stably sleeved with the second retainer cushion 35, and the upper end cover 4 is matched with the bottom-combining shell 401.

The first shaft retainer 30 is sleeved with the input shaft structural rod 3 through a first-order shaft rod 319, the first bearing 32 is sleeved with the input shaft structural rod 3 through a second-order shaft rod 320, the first retainer cushion 33 is movably mounted with the input shaft structural rod 3 through shaft rod rack teeth 322, the second retainer cushion 35 is movably mounted with the input shaft structural rod 3 through a third-order shaft rod 321, the second bearing 36 is movably mounted with the input shaft structural rod 3 through a pin 323, and the second shaft retainer cushion 37 is sleeved with the input shaft structural rod 3 through a pin 323, wherein the first shaft retainer 30, the first bearing 32, the first retainer cushion 33, the second retainer cushion 35, the second bearing 36, the second shaft retainer cushion 37 and the input shaft structural rod 3 jointly form an input gear structure, the assembly groove 17 is matched with a screw to integrally mount the speed reducer on the operation platform, the first retainer cushion 33 and the second retainer cushion 35 are both matched with the second-order shaft rod 320 through a stepped groove 34 and fixedly clamped with the input shaft structural rod 3, the second shaft baffle ring 371 is tightly clamped and fixedly installed with the first snap ring groove 702, so that the effect of water vapor prevention is achieved.

The output gear structure is fixedly clamped with the speed reducer mechanism whole body 1 through the matching of the first shaft retainer ring 30 and the first butt-joint groove 8 and the first shaft retainer ring 31 and the second snap-ring groove 802, the output shaft structure rod 2 is rotatably arranged with the speed reducer mechanism whole body 1 through the matching of the output gear structure and the first shaft retainer ring 30, the first shaft retainer ring 30 and the second shaft retainer ring 37 are fixedly clamped and arranged with the second snap-ring groove 802 or the first snap-ring groove 702 through the first shaft retainer ring 31, the output gear structure and the input gear structure are fixedly clamped and arranged on the inner side of the speed reducer mechanism whole body 1, and the output shaft structure rod 2 and the input shaft structure rod 3 can rotate around the center of the output shaft structure rod and the input shaft structure rod in the speed reducer mechanism whole body 1.

Input gear structure is through axle with retaining ring one 30 and first half hole 7 and axle with retaining ring one 31 with the cooperation of the first 702 of snap ring groove with the solid installation of the whole card of reduction gear mechanism, and input shaft structure pole 3 through input gear structure and axle with retaining ring one 30 cooperation and the whole 1 rotatory setting of reduction gear mechanism, pile ring axle 39 sets up with third order axostylus axostyle 321 meshing through output gear structure and input gear structure cooperation, wherein axle tooth 40 mutually supports with axostylus axostyle rack tooth 322, and pile ring axle 39 is 3 with the gear ratio of third order axostylus axostyle 321: 1, the output gear structure is larger than the input gear structure by a plurality of times, and the purpose of reducing speed is achieved by meshing the input gear structure on the speed reducer with the output gear structure by using the power of a motor or other high-speed running power.

The working principle of the speed reducer is as follows: firstly, by arranging the output shaft structural rod 2 and the ring-superposed shaft 39, because the ring-superposed shaft 39 is sleeved on the central clamping shaft 226 and is fixedly clamped on the output shaft structural rod 2, and the outer surface of the output shaft structural rod 2 is sleeved on the upper side of the central clamping shaft by sequentially sleeving the first shaft retainer 30, the first bearing 32, the second bearing 36 and the second shaft retainer 37 and then is meshed with the pin shaft 323 on the input shaft structural rod 3, thereby realizing the linkage installation of the output gear structure and the input gear structure in the whole speed reducer mechanism 1, through the operation, because the ring-superposed shaft 39 is sleeved on the output shaft structural rod 2, after long-time use, partial shaft teeth 40 on the ring-superposed shaft 39 are worn, simple replacement of the transmission structure can be realized through a simple dismounting way, and when the speed reducer is not used for a long time, the simple dismounting way can be also used, the speed reducer is independently disassembled, so that the phenomenon that the internal transmission structure is locally corroded and clamped due to long-time placement is avoided, and the convenience and convenience of simple and convenient assembly and disassembly along with use of the speed reducer are realized; wherein, the first-order output shaft 224 is fixedly connected with the second-order output shaft 225, the third-order output shaft 227, the fourth-order output shaft 228 and the tail end shaft 229 into a unified whole, the diameters of the first-order output shaft 224, the second-order output shaft 225 and the central clamping shaft 226 are sequentially increased, the diameters of the first-order output shaft 224, the second-order output shaft 225 and the central clamping shaft 226 are convenient to be matched and assembled, the radius of the elliptic rod 318 is smaller than that of the first-order shaft rod 319, the second-order shaft rod 320 clamps and installs the first bearing 32, the third-order shaft rod 321 is fixedly sleeved with the second retainer ring 35, the upper end cover 4 is matched with the bottom closing shell 401, the two are installed with the installation platform bolt through the foot installation plate 402 and the screw, the ridge beam support 5 provides a stable support for the peripheral edge of the raised arch shell 9, the lower half hole 701 and the upper half hole 7 are matched together to clamp the first shaft retainer ring 30 inside the, the assembly groove 17 is matched with a screw to integrally mount the speed reducer on the operation platform, the first check ring pad 33 and the second check ring pad 35 are matched with the second-order shaft rod 320 through the stepped groove 34 and are integrally clamped and mounted with the input shaft structure rod 3, and the second shaft check ring 371 is tightly clamped and mounted with the first check ring groove 702 to achieve the effect of water vapor prevention; finally, a first shaft check ring 30 and a second shaft check ring 37 are arranged and are fixedly clamped with a second snap ring groove 802 or a first snap ring groove 702 through a first shaft check ring 31, and an output gear structure and an input gear structure are fixedly clamped and arranged on the inner side of the whole speed reducer mechanism 1, so that an output shaft structure rod 2 and an input shaft structure rod 3 can rotate around the center of the inside of the whole speed reducer mechanism 1, on one hand, the movable rotation of the output shaft structure rod 2 on the inner side of the whole speed reducer mechanism 1 is realized through the first shaft check ring 30 and the second shaft check ring 37 which are arranged on the two sides of the output shaft structure rod 2, on the other hand, the airtight structure inside the whole speed reducer mechanism 1 is realized through the tight clamping of the first shaft check ring 30 and the first surface check ring 31 with the second snap ring groove 802, the external water vapor is prevented from entering the inner side of the abdominal cavity groove 16, and the corrosion risk of internal structural components due to the contact with the water vapor is also, the normal operation of internal structure parts is ensured, the whole positions of the output shaft structure rod 2 and the input shaft structure rod 3 on the inner side of the speed reducer mechanism whole 1 are fixed and unchanged, the tight occlusion of the ring shaft 39 and the shaft rod rack teeth 322 between the output shaft structure rod and the input shaft structure rod is ensured, the speed reducer is prevented from being used for a long time, the phenomenon of loose rail supporting caused by meshing transmission between gears is avoided, the precision occlusion degree between each tooth is improved, the normal operation of the speed reducer is realized, and the service life is prolonged.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.

Claims (9)

1. A precision speed reducer of an industrial robot is characterized by comprising a speed reducer mechanism whole body (1), wherein an output shaft structure rod (2) is arranged at the middle position inside the speed reducer mechanism whole body (1) close to the left side, the output shaft structure rod (2) comprises a first-order output shaft (224), a second-order output shaft (225) is connected to the right end surface of the first-order output shaft (224), a central clamping shaft (226) is arranged on the right end surface of the second-order output shaft (225), a third-order output shaft (227) is fixedly arranged at the middle position on the right end surface of the central clamping shaft (226), a fourth-order output shaft (228) is fixedly arranged at the middle position on the right end surface of the third-order output shaft (227), a tail end shaft (229) is connected to the middle position on the right end surface of the fourth-order output shaft (228), and an input shaft structure rod (3, the input shaft structure rod (3) comprises an elliptical rod (318), a first-order shaft rod (319) is connected to the right end surface of the elliptical rod (318), a second-order shaft rod (320) is connected to the right end surface of the first-order shaft rod (319), a third-order shaft rod (321) is connected to the right end surface of the second-order shaft rod (320), a plurality of sets of shaft rod rack teeth (322) are uniformly and fixedly arranged on the outer surface of the second-order shaft rod (320), a pin shaft (323) is fixedly arranged in the middle of the right end surface of the third-order shaft rod (321), an upper end cover (4) is arranged on the upper side of the reducer mechanism whole body (1), a bottom shell (401) is arranged on the upper side of the reducer mechanism whole body (1) and corresponds to the upper end cover (4), a foot mounting plate (402) is fixedly arranged on the outer surface of the bottom shell (401) close to the lower side, both sides of the outer surface of the upper end cover (4) are provided with screw holes (6);

the outer surface both sides of upper end cover (4) are close to the front portion and have been seted up first half hole (7), the outer surface both sides of end closure casing (401) are close to the front portion and have been seted up second half hole (701), the inside wall of second half hole (701) is close to outward flange position and has been seted up snap ring groove one (702), the outer surface both sides of upper end cover (4) are close to the rear portion and have been seted up snap ring groove one (8), the outer surface both sides of end closure casing (401) are close to the rear portion and have been seted up snap ring groove two (801), the inside wall of snap ring groove two (801) is close to outward flange position and has been seted up snap ring groove two (802), the outer surface intermediate position of upper end cover (4) is provided with uplift arched shell (9), the inside intermediate position of end closure casing (401) has been seted up abdominal cavity groove (16), the upper end, the input shaft structure rod (3) is provided with a first shaft retainer ring (30), the outer surface middle position of the first shaft retainer ring (30) is fixedly provided with a first shaft retainer ring (31), the right side of the first shaft retainer ring (30) on the input shaft structure rod (3) is provided with a first bearing (32), the right side of the first bearing (32) on the input shaft structure rod (3) is provided with a first retainer ring pad (33), the right end surface middle position of the first retainer ring pad (33) is provided with a stepped groove (34), the right side of the first retainer ring pad (33) on the input shaft structure rod (3) is provided with a second retainer ring pad (35), the right side of the second retainer ring pad (35) on the input shaft structure rod (3) is provided with a second bearing (36), the right side of the second bearing (36) on the input shaft structure rod (3) is provided with a second shaft retainer ring (37), the outer surface intermediate position of the second shaft retainer ring (37) has set the second shaft retainer ring (371), the outer surface that is located the central clamping shaft (226) on the output shaft structural rod (2) has the ring folding shaft (39), the outer surface of the ring folding shaft (39) has evenly set a plurality of sets of shaft teeth (40).

2. The precision reducer of an industrial robot according to claim 1, characterized in that the reducer mechanism body (1) is respectively composed of an upper end cover (4), a bottom-closed shell (401) and a foot-mounted plate (402), the upper end cover (4) is installed with the bottom-closed shell (401) through a plurality of sets of screws and nuts in a bolt-on mode, the first butt-joint groove (8) and the second butt-joint groove (801) jointly form a large circular groove, and the upper half hole (7) and the lower half hole (701) jointly form a small circular groove.

3. The precision speed reducer of the industrial robot according to claim 1, wherein the screw hole (6) is matched with the assembly groove (17) through the upper end cover (4) and the bottom closing shell (401) and is correspondingly arranged, inner ring clamping grooves are respectively arranged on the inner side wall surfaces of the upper half hole (7) and the closing groove I (8) close to the edge positions, the output shaft structural rod (2) is matched with the speed reducer mechanism body (1) through the second-order output shaft (225), the end shaft (229) and the closing groove II (801) to be rotatably installed, and the input shaft structural rod (3) is matched with the speed reducer mechanism body (1) through the lower half hole (701), the pin shaft (323) and the lower half hole (701) to be rotatably installed.

4. The precision reducer of industrial robot according to claim 1, characterized in that the upper end cap (4) has a chest groove corresponding to the abdominal groove (16) at its middle position, the raised arch shell (9) has a vertical height greater than the radius of the ring-stacked shaft (39), the input shaft structural rod (3) is composed of an elliptical rod (318), a second-order shaft rod (320) and a third-order shaft rod (321), and the bottom casing (401) has a plurality of sets of bolt through holes at its peripheral edge position on its upper end surface, and corresponding to the screw hole (6) and the assembly groove (17).

5. The precision reducer of industrial robot according to claim 1, characterized in that the second shaft retainer (37) is sleeved with the output shaft structural rod (2) through a fourth-order output shaft (228), the second bearing (36) is movably mounted with the output shaft structural rod (2) through a third-order output shaft (227), and the first shaft retainer (30) is movably mounted with the output shaft structural rod (2) through a first-order output shaft (224).

6. The precision reducer of industrial robot according to claim 1, characterized in that the first bearing (32) is sleeved with the output shaft structural rod (2) through a second-order output shaft (225), the ring-stacked shaft (39) is clamped and installed with the output shaft structural rod (2) through a central clamping shaft (226), and the first shaft retainer ring (30), the first bearing (32), the ring-stacked shaft (39), the second bearing retainer ring (36), and the output shaft structural rod (2) together form an output gear structure.

7. The industrial robot precision reducer according to claim 1, wherein the first shaft retainer (30) is sleeved with the input shaft structural rod (3) through a first-order shaft rod (319), the first bearing (32) is sleeved with the input shaft structural rod (3) through a second-order shaft rod (320), the first retainer pad (33) is movably mounted with the input shaft structural rod (3) through shaft rod rack teeth (322), the second retainer pad (35) is movably mounted with the input shaft structural rod (3) through a third-order shaft rod (321), the second bearing (36) is movably mounted with the input shaft structural rod (3) through a pin shaft (323), and the second shaft retainer (37) is sleeved with the input shaft structural rod (3) through a pin shaft (323), wherein the first shaft retainer (30), the first bearing (32), the first retainer pad (33), the second retainer pad (35), the second bearing (36) and the third retainer pad (35), The second shaft retainer ring (37) and the input shaft structural rod (3) jointly form an input gear structure.

8. The precision reducer of industrial robot according to claim 1, characterized in that the output gear structure is fixedly clamped with the reducer mechanism body (1) through the cooperation of the first shaft retainer ring (30) with the first involutory groove (8) and the first shaft retainer ring (31) with the second snap ring groove (802), and the output shaft structure rod (2) is rotatably arranged with the reducer mechanism body (1) through the cooperation of the output gear structure and the first shaft retainer ring (30).

9. The precision reducer of industrial robot according to claim 1, characterized in that the input gear structure is fixedly clamped with the reducer mechanism whole body (1) through the matching of a first shaft retainer ring (30) and an upper half hole (7) and a first shaft retainer ring (31) and a first snap ring groove (702), the input shaft structure rod (3) is rotatably arranged with the reducer mechanism whole body (1) through the matching of the input gear structure and the first shaft retainer ring (30), the ring-stacked shaft (39) is meshed with the third-order shaft rod (321) through the matching of the output gear structure and the input gear structure, wherein the shaft teeth (40) are matched with the shaft rod rack teeth (322), and the gear ratio of the ring-stacked shaft (39) to the third-order shaft rod (321) is 3: 1.

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