CN112923046A - Speed reducer assembly - Google Patents
Speed reducer assembly Download PDFInfo
- Publication number
- CN112923046A CN112923046A CN202110338239.XA CN202110338239A CN112923046A CN 112923046 A CN112923046 A CN 112923046A CN 202110338239 A CN202110338239 A CN 202110338239A CN 112923046 A CN112923046 A CN 112923046A
- Authority
- CN
- China
- Prior art keywords
- planet carrier
- bearing
- pin shaft
- upper cover
- sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 74
- 239000003292 glue Substances 0.000 claims abstract description 7
- 238000002347 injection Methods 0.000 claims abstract description 6
- 239000007924 injection Substances 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims description 39
- 238000003825 pressing Methods 0.000 claims description 22
- 230000002093 peripheral effect Effects 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 8
- 230000010354 integration Effects 0.000 abstract description 4
- 238000003754 machining Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 10
- 239000000306 component Substances 0.000 description 8
- 238000007789 sealing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000004907 gland Anatomy 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/10—Braking arrangements
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a speed reducer assembly which comprises a bearing eccentric sleeve fixedly arranged on a power input shaft, wherein N eccentric mounting positions with different phase angles are arranged on the periphery of the bearing eccentric sleeve, the phase angle between every two adjacent eccentric mounting positions is 360 degrees/N, and N is more than or equal to 2; each eccentric mounting position is respectively and rotatably provided with a transmission gear, and the periphery of each transmission gear is meshed with a fixed gear ring; the planet carrier comprises a planet carrier upper cover and a planet carrier lower cover which are coaxially matched, and an anti-loosening fixing device for fixing all transmission gears is connected between the planet carrier upper cover and the planet carrier lower cover. The anti-loosening fixing device is used for integrally mounting the planet carrier upper cover, the transmission gear and the planet carrier lower cover; the anti-loosening bolt is connected with the pin shaft in a glue injection mode and used for eliminating assembly errors between the anti-loosening bolt and the pin shaft and reducing machining precision; the invention also has the advantages of light weight, compact structure, high integration level, low rotating speed, high torque, high reliability and the like.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a speed reducer assembly for a mechanical arm joint.
Background
With the rapid development of industrial automation technology, robots are increasingly gaining attention as important industrial automation equipment, and the application of robots is increasingly widespread. The robot technology mainly concentrates the latest research results of various technologies such as mechanical engineering, automatic control, artificial intelligence and the like, embodies the latest achievement of photoelectric integration, and is one of the fields with the most active scientific and technical development in the present day. The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots at present, plays an extremely important role in production and life, and in practical application, a plurality of industrial process links need the mechanical arm to carry out assembling and extracting operations. The mechanical arm can receive instructions and accurately position to a certain point on a three-dimensional (or two-dimensional) space to perform operation, and the labor efficiency can be greatly improved.
The mechanical arm joint is a core component of the mechanical arm, and the overall structure, the load capacity and the sensing capacity of the joint directly influence the overall operation level of the mechanical arm. At present, a motor, a speed reducer, an encoder, a brake and a driver are commonly adopted for a common mechanical arm joint to carry out a transmission mechanism connected in series.
The speed reducer is used as a key structure of the mechanical arm joint and converts high-speed low torque output by the motor into low-speed high torque for driving the joint. At present, the speed reducer for the mechanical arm joint on the domestic market generally has the problems of heavy weight, low load capacity, large volume, low integration level and the like, and further improvement of the performance of the mechanical arm is limited.
Disclosure of Invention
The invention aims to provide a speed reducer assembly which is light in weight, compact in structure, high in integration level, low in rotating speed, high in torque and high in reliability.
In order to solve the technical problems, the technical scheme of the invention is as follows: the reducer assembly comprises a bearing eccentric sleeve fixedly mounted on a power input shaft, wherein N eccentric mounting positions with different phase angles are arranged on the periphery of the bearing eccentric sleeve, the phase angle between every two adjacent eccentric mounting positions is 360 DEG/N, and N is more than or equal to 2;
each eccentric mounting position is respectively rotatably provided with a transmission gear, and the periphery of each transmission gear is meshed with a fixed gear ring; the transmission gear fixing device comprises a transmission gear and is characterized by further comprising an upper planet carrier cover and a lower planet carrier cover which are coaxially matched, wherein an anti-loosening fixing device for fixing all the transmission gears is connected between the upper planet carrier cover and the lower planet carrier cover.
As a preferred technical scheme, the anti-loosening fixing device comprises anti-loosening bolts for fixing the planet carrier upper cover, the planet carrier lower cover and all the transmission gears in a threaded manner, and the anti-loosening bolts penetrate through all the transmission gears from the planet carrier upper cover and are fixedly connected with the planet carrier lower cover in a threaded manner; a pin shaft sleeve and a pin shaft are arranged between the transmission gear and the anti-loosening bolt, the periphery of the pin shaft sleeve is arranged on all the transmission gears in a tangent fit mode, and the pin shaft is arranged in the pin shaft sleeve in a sliding mode.
As an optimal technical scheme, the anti-loosening bolt is connected with the pin shaft through glue injection.
As a preferred technical scheme, the pin shaft sleeve comprises at least two branch sleeve bodies which are sequentially butted, the number of the branch sleeve bodies corresponds to that of the transmission gears, the periphery of each branch sleeve body is respectively matched with the corresponding transmission gear in a tangent mode, and the pin shaft sleeve is arranged outside all the branch sleeve bodies.
As a preferred technical scheme, the mechanical arm joint comprises a joint shell, wherein a motor assembly and a speed reducer assembly are installed in the joint shell, and a motor output shaft of the motor assembly is used as a power input shaft of the speed reducer assembly.
As a preferable technical scheme, the peripheries of the planet carrier upper cover and the planet carrier lower cover are respectively installed on the joint shell through periphery installation bearings, and the periphery of the fixed gear ring is fixed on the joint shell; the joint casing with be provided with between the reduction gear subassembly and be used for with reduction gear subassembly locking installation is in joint casing is last compresses tightly ring gear retaining member, compress tightly ring gear retaining member suit and be in outside the planet carrier upper cover.
According to the preferable technical scheme, the outer periphery of the pressing gear ring locking piece is in threaded connection with the inside of the joint shell, and the inner end face of the pressing gear ring locking piece is pressed against the outer periphery of the planet carrier upper cover to form a bearing end face.
As a preferable technical scheme, a sliding shaft sleeve is slidably mounted on a matching surface between the pressing gear ring locking member and the planet carrier upper cover.
Preferably, the inner peripheries of the upper planet carrier cover and the lower planet carrier cover are respectively mounted on the power input shaft through inner periphery mounting bearings, and the outer end surface of the inner periphery mounting bearing of the lower planet carrier cover is provided with an axial positioning device.
As a preferable technical solution, the axial positioning device includes a combined lock nut mounted on the output shaft of the motor, and the combined lock nut is pressed against an inner circumference mounting bearing end surface of the lower cover of the planet carrier.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
(1) the anti-loosening fixing device is used for integrally mounting the planet carrier upper cover, the transmission gear and the planet carrier lower cover; the anti-loosening bolt is connected with the pin shaft in an adhesive injection mode and used for eliminating assembly errors between the anti-loosening bolt and the pin shaft and reducing machining precision;
(2) the pressing gear ring locking part is connected to the joint shell in a threaded connection mode and tightly pressed on the outer ring of the second peripheral installation bearing, and the pressing gear ring locking part is connected in a threaded connection mode, so that the pressing gear ring locking part is gradually screwed in and tightly pressed on the second peripheral installation bearing during installation, a gap between the pressing gear ring locking part and the second peripheral installation bearing can be avoided due to the threaded screwing mode, installation is convenient, and installation accuracy of the second peripheral installation bearing can be effectively guaranteed;
(3) the axial positioning device, the anti-loosening fixing device and the same-shell fixing device are matched for use, so that the coaxial same-shell mounting effect of the speed reducer assembly and the motor assembly is realized, the structure is compact, the operation is reliable, the fault rate is low, connecting pieces can be saved, the output torque of the mechanical arm during shutdown can be effectively improved, and the mechanical arm has the characteristics of small size, light weight and the like.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention;
FIG. 2 is a schematic diagram of another angle configuration of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a retarder assembly according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a retarder assembly according to another embodiment of the invention;
in the figure:
1-a joint shell; 11-motor output shaft; 12-a reducer output shaft; 2-a motor assembly; 21-a stator; 22-a rotor; 3-a retarder assembly; 31-bearing eccentric sleeve; 32-a drive gear; 33-fixing the gear ring; 34-planet carrier upper cover; 35-lower cover of planet carrier; 36-a lockbolt; 37-pin bosses; 38-a pin shaft; 39-a first peripheral mounting bearing; 310-a second peripheral mounting bearing; 311-pressing the toothed ring locking member; 312-a first inner circumference mount bearing; 313-a second inner circumference mount bearing; 314-a positioning nut; 315-lock nut; 316-sliding sleeve; 4-a brake assembly; 5-an encoder component; 6-driving the assembly.
Detailed Description
The invention is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
The first embodiment is as follows:
as shown in fig. 1 and 2, the mechanical arm joint includes a joint housing 1, the joint housing 1 is used as a mounting carrier of the mechanical arm joint, and is formed by fastening a main housing and a side end cap, and the main housing and the side end cap can be connected by threads or fixed by screws. A motor assembly 2, a speed reducer assembly 3, a brake assembly 4, an encoder assembly 5 and a driving assembly 6 are arranged in the joint shell 1, and all the assemblies are arranged in the joint shell 1 to form an integrated joint structure; a shell mounting seat for connecting the joint of the mechanical arm to the mechanical arm is arranged on the joint shell 1, and the shell mounting seat is a mounting flange; the surface of the joint shell 1 is provided with a wire passing hole for passing a power supply, the wire passing hole is arranged in the mounting flange, and the joint shell can be conveniently connected with other mechanical arms and avoids leakage of the wire passing hole.
In this embodiment, a motor assembly 2 is installed in the joint housing 1, an output end of the motor assembly 2 is fixed with a motor output shaft 11 with a hollow interior, the motor assembly 2 is a frameless torque motor, the motor assembly 2 includes a stator 21 and a rotor 22 that are mutually matched, an outer periphery of the stator 21 of the motor assembly 2 is fixed in the joint housing 1 in an interference fit manner, and an inner periphery of the rotor 22 of the motor assembly 2 is fixed on the motor output shaft 11 in an interference fit manner; the motor output shaft 11 adopts a hollow structure and can be used for installing a joint wire passing shaft or a power line; a speed reducer assembly 3 is mounted on one side of the motor output shaft 11, a joint wire passing shaft 12 is fixed to the output end of the speed reducer assembly 3, the joint wire passing shaft 12 is coaxially sleeved in the motor output shaft 11, in the embodiment, one end of the joint wire passing shaft 12 is coaxially sleeved in the motor output shaft 11 and used for facilitating the speed measurement of the speed reducer output end by the encoder assembly 5, and the joint wire passing shaft 12 is also of an internal hollow structure and can be used for passing through a power line; an encoder assembly 5 is installed between the other side of the motor output shaft 11 and the joint threading shaft 12, a brake assembly 4 is installed between the encoder assembly 5 and the motor assembly 2 on the motor output shaft 11, and a driving assembly 6 is installed on one side, opposite to the brake assembly 4, of the encoder assembly 5. In this embodiment, because encoder component 5 with brake assembly 4 all needs to be controlled through the power, consequently for the compactness of making things convenient for circuit arrangement and structure, will encoder component 5, brake assembly 4 set up with one side and be close to drive assembly 6 reaches compact structure's effect, improves the articulated integrated level of arm. During installation, firstly, the motor assembly 2 is installed in the joint shell 1, then the reducer assembly 3 is installed in the joint shell 1 from one side, the brake assembly 4, the encoder assembly 5 and the driving assembly 6 are sequentially installed in the joint shell 1 from the other side, and then the side end cover is fixedly installed.
Referring to fig. 3, the reducer assembly 3 includes a bearing eccentric sleeve 31 fixedly mounted on the motor output shaft 11, the periphery of the bearing eccentric sleeve 31 is provided with at least two eccentric mounting positions with different phase angles, each eccentric mounting position is respectively rotatably mounted with a transmission gear 32, the peripheries of all the transmission gears 32 are engaged with a fixed gear ring 33, and the periphery of the fixed gear ring 33 is fixedly mounted in the joint housing 1 in an interference fit manner; the inner ring of the bearing eccentric sleeve 31 is fixed on the motor output shaft 11 in an interference fit mode, N eccentric mounting positions with different phase angles are arranged on the periphery of the bearing eccentric sleeve 31, the phase angle between every two adjacent eccentric mounting positions is 360 degrees/N, N is larger than or equal to 2, the number of the eccentric mounting positions is at least two, and can be two, three, four or more, when two eccentric mounting positions are arranged, the phase angle between every two eccentric mounting positions is 180 degrees, and when three eccentric mounting positions are arranged, the phase angle between every two eccentric mounting positions is 120 degrees. In the present embodiment, two eccentric mounting positions and two transmission gears 32 are provided as an example for description, referring to fig. 3, the radial phase angle between the two transmission gears 32 is 180 °, and the two transmission gears 32 are matched to realize stable transmission of the speed reducer.
In this embodiment, referring to fig. 3, the bearing eccentric sleeve 31 is an integrally formed structure, the outer periphery of the bearing eccentric sleeve is provided with two eccentric mounting positions, the outer peripheries of the two eccentric mounting positions are respectively provided with an arc-shaped channel for mounting a bearing ball, the inner peripheries of the two transmission gears 32 are respectively mounted in a matching manner with the bearing eccentric sleeve 31 through the bearing ball, here, the bearing eccentric sleeve 31 serves as a mounting bearing for the transmission gears 32, and the outer periphery of the transmission gears 32 is provided with meshing teeth in matching manner with the fixed gear ring 33 to realize meshing transmission with the fixed gear ring 33; the bearing eccentric sleeve 31, the two transmission gears 32 and the fixed gear ring 33 are matched to form a planetary gear set, and the planetary gear set is used for transmitting the high rotating speed and the low torque of the motor output shaft 11 to a joint output shaft at a certain speed ratio, so that the joint output shaft is in low rotating speed and high torque.
Two coaxial complex planet carrier upper cover 34 and planet carrier lower cover 35 are installed respectively to the outer terminal surface in both sides of drive gear 32, planet carrier upper cover 34 sets up and is keeping away from motor element 2 and being close to joint casing 1's tip one side, planet carrier upper cover 34 with be connected with between the planet carrier lower cover 35 with two locking fixing device including drive gear 32 is fixed, planet carrier upper cover 34 is as the output shaft of reduction gear subassembly, is the articulated mounting flange of arm simultaneously for install next grade arm, the rotational speed that planet carrier upper cover 34 was exported with the rotational speed that the joint crossed spool 12 was exported is the same, the moment of torsion that planet carrier upper cover 34 exported equals the moment of torsion that the arm joint was exported.
The anti-loosening fixing device comprises an anti-loosening bolt 36 for fixing the planet carrier upper cover 34, the planet carrier lower cover 35 and the two transmission gears 32 in a threaded manner, the anti-loosening bolt 36 is an inner hexagonal cylindrical screw, and the anti-loosening bolt 36 penetrates through the two transmission gears 32 from the planet carrier upper cover 34 and is fixedly connected with the planet carrier lower cover 35 in a threaded manner; a pin shaft sleeve 37 and a pin shaft 38 are arranged between the transmission gear 32 and the check bolt 36, the peripheries of the pin shaft sleeves 37 are installed on the two transmission gears 32 in a tangent fit manner, in the embodiment, the pin shaft sleeve 37 is of an integrally formed structure, that is, one part of the periphery of the pin shaft sleeve 37 is matched with one transmission gear 32, the other part of the periphery of the pin shaft sleeve 37 is matched with the other transmission gear 32, the pin shaft 38 is installed in the pin shaft sleeve 37 in a sliding manner, the check bolt 36 is sleeved in the pin shaft 38, and the check bolt is in clearance fit with the pin shaft; the pin shaft sleeve 37 is located on the periphery of the pin shaft 38, and is engaged with the two transmission gears tangentially to position the two transmission gears 32, and the two transmission gears 32 ensure the stable matching between the anti-loose bolt 36 and the two transmission gears 32 through the pin shaft sleeve 37 and the pin shaft 38, that is, the planet carrier upper cover 34 and the planet carrier lower cover 35 are fixedly connected. In the prior art, the pin shaft 38 is not provided, but only the pin shaft sleeve 37 is provided, so that the anti-loose bolt 36 and the transmission gear 32 are connected in a sleeved manner, a gap at the joint of the two is large, the connection effect between the two transmission gears 32 or the transmission gear 32 and the lower cover 35 and the upper cover 34 of the planet carrier is poor, and the torque transmission efficiency is low.
In order to further solve the above problems, the locking bolt 36 is connected with the pin shaft 38 by injecting glue, before the locking bolt 36 is installed, the pin shaft 38 is injected with glue, and then the locking bolt 36 passes through the pin shaft 38 to fix the locking bolt 36 with the planet carrier upper cover 34 and the planet carrier lower cover 35, and the glue injection connection mode is adopted, so that on one hand, the locking bolt 36 can be used for eliminating the assembly error between the locking bolt 36 and the pin shaft 38 and reducing the processing precision; on the other hand, the planet carrier upper cover 34 and the planet carrier lower cover 35 form a stable fixed connection effect, so that the rigidity effect is good, and the torque transmission efficiency is high; in addition, after the glue injection connection is adopted, the anti-loose bolt 36 is fixedly connected with the pin shaft 38, and the pin shaft 38 is in sliding connection with the pin shaft sleeve 37, so that when the two transmission gears 32 rotate, the pin shaft 38 can slide relative to the pin shaft sleeve 37, the pin shaft sleeve 37 has the same effect as a sliding bearing, and the stable and efficient transmission of torque to the pin shaft can be ensured.
The peripheries of the planet carrier upper cover 34 and the planet carrier lower cover 35 are respectively installed on the joint shell 1 through peripheral installation bearings, and a same-shell fixing device is arranged between the planet carrier upper cover 34 and the joint shell 1; with shell fixing device including the suit the outer ring gear retaining member 311 that compresses tightly of planet carrier upper cover 34, compress tightly ring gear retaining member 311 as will reduction gear assembly is in with shell locking connection the last locking bolt of joint housing.
The outer periphery of the pressing ring gear locking piece 311 is in threaded connection with the joint housing 1, and the inner end face of the pressing ring gear locking piece 311 is pressed against the outer periphery mounting bearing end face of the planet carrier upper cover 34. The outer circumference installation bearing includes a first outer circumference installation bearing 39 and a second outer circumference installation bearing 310, the first outer circumference installation bearing 39 is installed on the planet carrier lower cover 35, the second outer circumference installation bearing 310 is installed on the planet carrier upper cover 34, referring to fig. 1 and fig. 2, the outer ring of the first outer circumference installation bearing 39 is axially positioned by the step provided in the joint housing 1, the inner ring of the first outer circumference installation bearing 39 is axially positioned by the step provided on the planet carrier upper cover 34, and the two transmission gears 32 and the planet carrier upper cover 34 are fixed on the planet carrier lower cover 35 by the anti-loosening fixing device, the inner ring of the second outer circumference installation bearing 310 is axially positioned by the step provided on the planet carrier upper cover 34, and the outer ring of the second outer circumference installation bearing 310 is positioned by the pressing locking piece 311, through the cooperation that compresses tightly ring gear retaining member 311 and each step has been realized the reduction gear subassembly with axial positioning between the joint casing 1, and then will planet carrier upper cover 34, fixed ring gear 33, two drive gear 32, planet carrier lower cover 35 body coupling have formed "with the shell" installation effect with the motor in the joint casing 1, guarantee the reliability of installation, the fault rate is low.
The pressing gear ring locking piece 311 is connected to the joint housing 1 in a threaded connection manner and is pressed against the outer ring of the second peripheral mounting bearing 310, and the pressing gear ring locking piece 311 is connected in a threaded connection manner, so that the pressing gear ring locking piece 311 is gradually screwed in and pressed against the second peripheral mounting bearing 310 during mounting, and a gap between the pressing gear ring locking piece 311 and the second peripheral mounting bearing 310 can be avoided in a threaded screwing manner, so that the mounting is convenient, and the mounting accuracy of the second peripheral mounting bearing 310 can be effectively guaranteed; although the gland structure is adopted in the prior art, the connection is mainly carried out in a fixing mode of screws and the like, for example, in order to ensure no gap exists between the bearing and the gland structure, the installation precision of the gland structure is required to be high, the manufacturing cost is high, and the installation precision of the bearing cannot be ensured.
The two outer periphery mounting bearings are angular contact bearings, a deep groove ball bearing or a cross roller bearing is mainly adopted in the prior art, wherein the deep groove ball bearing cannot bear axial load, and the cost of the cross roller bearing is high.
And a sealing ring is arranged on the matching surface between the pressing gear ring locking piece 311 and the planet carrier upper cover 34 and used for improving the sealing effect.
In this embodiment, at least three through holes and three anti-loose bolts 36 corresponding to the three through holes are correspondingly arranged on the planet carrier upper cover 34, the planet carrier lower cover 35 and the two transmission gears 32.
The inner peripheries of the planet carrier upper cover 34 and the planet carrier lower cover 35 are respectively installed on the motor output shaft 11 through inner periphery installation bearings, and an axial positioning device is arranged between the planet carrier lower cover 35 and the motor output shaft 11; the axial positioning device comprises a combined locking nut arranged on the motor output shaft 11, and the combined locking nut is tightly pressed on the end surface of the inner circumference installation bearing of the planet carrier lower cover 35. The combined locking nut comprises a positioning nut 314 and a locking nut 315, and is matched with an inner ring for positioning the end surface of the mounting bearing and used for realizing axial positioning with the motor output shaft 11; the inner circumference installation bearing comprises a first inner circumference installation bearing 312 and a second inner circumference installation bearing 313, the first inner circumference installation bearing 312 is installed on the lower cover 35 of the planet carrier, the second inner circumference installation bearing 313 is installed on the upper cover 34 of the planet carrier, the outer ring of the first inner circumference installation bearing 312 is axially positioned through a step arranged on the lower cover 35 of the planet carrier, and the inner ring of the first inner circumference installation bearing 312 is positioned through the axial positioning device; the outer race of the second inner peripheral mount bearing 313 is axially positioned by a step provided on the carrier upper cover 34, and the inner race of the second inner peripheral mount bearing 313 is axially positioned by a step provided on the motor output shaft 11.
Through the above analysis, the pin shaft 38 is equal to the nut structure of the lower cover 35, the transmission gear 32 and the upper cover 34 of the planet carrier, so that the lower cover 35, the transmission gear 32 and the upper cover 34 of the planet carrier form a stable reducer whole; and the pressing ring gear lock 311 may be equivalent to the bolt structure of the speed reducer assembly mounted on the joint housing 1; therefore, the axial positioning device, the anti-loosening fixing device and the same-shell fixing device are matched for use, the coaxial same-shell mounting effect between the speed reducer assembly 3 and the motor assembly 2 is achieved, the structure is compact, the operation is reliable, the fault rate is low, connecting pieces can be saved, and the output torque of a mechanical arm joint can be effectively improved.
The operating principle of the speed reducer assembly 3 is as follows:
when the motor component 2 normally operates and the brake component 4 is in a non-braking state, the motor output shaft 11 is used as a power input shaft of the speed reducer component 3, the power input shaft is provided with a bearing eccentric sleeve 31 with a phase relation of 180 degrees, power is input through the motor output shaft 11 and is transmitted to the bearing eccentric sleeve 31, the bearing eccentric sleeve 31 pushes the transmission gear 32 to do circular motion by taking a deviated circle center as a center, the transmission gear 32 is meshed with the fixed gear ring 33, the power is transmitted to the planet carrier upper cover 34 through the pin shaft sleeve 37 and the pin shaft 38 due to the fixation of the fixed gear ring 33, the planet carrier upper cover 34 is used as a power output end, and the power is finally connected with the outside through the planet carrier upper cover 34 to increase the torque of the speed reducer;
during installation, firstly, the motor component 2 is installed in the joint housing 1, then the two transmission gears 32, the fixed gear ring 33, the planet carrier lower cover 35, the axial positioning device and the matched bearing are all installed on the motor output shaft 11, then the end part of the motor output shaft 11 is fixed on the rotor 22 of the motor component 2, then the planet carrier upper cover 34 and the corresponding bearing are installed on the motor output shaft 11, and finally the anti-loose bolt 36 and the pressing gear ring locking piece 311 are fixed.
Example two:
the second embodiment differs from the other embodiments in that: the structure of the bearing eccentric sleeve is different, and other structures are the same.
In the first embodiment, the bearing eccentric sleeve is of an integral structure, referring to fig. 3, that is, two transmission gears are installed on the outer periphery of one bearing eccentric sleeve through two bearing balls, in the present embodiment, the bearing eccentric sleeve includes N eccentric bearings sequentially installed on the power input and output shaft, N is greater than or equal to 2, a phase angle between adjacent eccentric bearings is 360 °/N, an eccentric installation position is formed on the outer periphery of each eccentric bearing, referring to fig. 4, the reducer assembly is provided with three eccentric bearings, a phase angle between the three eccentric bearings is 120 °, and each eccentric bearing is installed with one transmission gear, that is, the number of the transmission gears corresponds to the number of the eccentric bearings one by one.
Example three:
the third embodiment differs from the other embodiments in that: the pin bosses 37 are different in structure and the other structures are the same.
In the first embodiment, the pin shaft sleeve is an integrally formed structure, referring to fig. 3, because the phase angles of the two transmission gears are different, that is, the two transmission gears are stressed in different directions when moving, so that the pin shaft sleeve has tangential torques, which cause larger friction between the transmission gears and the pin shaft sleeve, and the torque transmission efficiency is reduced, in order to solve the problem, the pin shaft sleeve is arranged into a sectional structure, referring to fig. 4, in the first embodiment, the pin shaft sleeve comprises at least two sequentially butted sub-sleeve bodies, the number of the sub-sleeve bodies corresponds to the number of the transmission gears, the periphery of each sub-sleeve body is respectively matched on the corresponding transmission gear in a tangential manner, the pin shaft sleeve is arranged outside all the sub-sleeve bodies, in the first embodiment, the sectional structure is adopted to replace an integral structure, and the torsion of each transmission gear on the pin shaft sleeve can be reduced, the torque transmission efficiency is improved.
Example four:
example four differs from the other examples in that: a sliding shaft sleeve 316 is additionally arranged, and other structures are the same.
For the ability that further improvement output bore radial load compress tightly ring gear retaining member with mating surface department slidable mounting between the planet carrier upper cover has slip axle sleeve 316, see fig. 4, slip axle sleeve 316 is the oiliness axle sleeve, install in the interior periphery of oiliness axle sleeve the planet carrier upper cover, install in the periphery of oiliness axle sleeve compress tightly the interior periphery of ring gear retaining member, the oiliness bearing sets up and is used for bearing in both mating surfaces the dynamic load of planet carrier upper cover, especially radial load improves the torque output efficiency and the stability of planet carrier upper cover. The oil-containing shaft sleeve belongs to the prior art and is not described in detail herein.
The pressing ring gear locking piece 311 and the matching surface between the planet carrier upper cover 34 are provided with sealing rings, and the sealing rings are arranged on the outer side of the sliding bearing and used for improving the sealing effect.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. Reduction gear subassembly, its characterized in that: the eccentric bearing comprises a bearing eccentric sleeve fixedly arranged on a power input shaft, wherein N eccentric mounting positions with different phase angles are arranged on the periphery of the bearing eccentric sleeve, the phase angle between every two adjacent eccentric mounting positions is 360 DEG/N, and N is more than or equal to 2;
each eccentric mounting position is respectively rotatably provided with a transmission gear, and the periphery of each transmission gear is meshed with a fixed gear ring; the transmission gear fixing device comprises a transmission gear and is characterized by further comprising an upper planet carrier cover and a lower planet carrier cover which are coaxially matched, wherein an anti-loosening fixing device for fixing all the transmission gears is connected between the upper planet carrier cover and the lower planet carrier cover.
2. The retarder assembly of claim 1, wherein: the anti-loosening fixing device comprises anti-loosening bolts for fixing the planet carrier upper cover, the planet carrier lower cover and all the transmission gears in a threaded manner, and the anti-loosening bolts penetrate through all the transmission gears from the planet carrier upper cover and are fixedly connected with the planet carrier lower cover in a threaded manner; a pin shaft sleeve and a pin shaft are arranged between the transmission gear and the anti-loosening bolt, the periphery of the pin shaft sleeve is arranged on all the transmission gears in a tangent fit mode, and the pin shaft is arranged in the pin shaft sleeve in a sliding mode.
3. The retarder assembly of claim 2, wherein: and the anti-loosening bolt is connected with the pin shaft through glue injection.
4. The retarder assembly of claim 2, wherein: the pin shaft sleeve comprises at least two sleeve separating bodies which are sequentially butted, the number of the sleeve separating bodies corresponds to that of the transmission gears, the periphery of each sleeve separating body is respectively matched with the corresponding transmission gear in a tangent mode, and the pin shaft sleeves are sleeved outside the sleeve separating bodies.
5. Arm joint, including the joint casing, install motor element, its characterized in that in the joint casing: the speed reducer assembly of any one of claims 1-4, further comprising a motor output shaft of the motor assembly as a power input shaft of the speed reducer assembly.
6. The robotic arm joint of claim 5, wherein: the peripheries of the planet carrier upper cover and the planet carrier lower cover are respectively installed on the joint shell through peripheral installation bearings, and the periphery of the fixed gear ring is fixed on the joint shell; the joint casing with be provided with between the reduction gear subassembly and be used for with reduction gear subassembly locking installation is in joint casing is last compresses tightly ring gear retaining member, compress tightly ring gear retaining member suit and be in outside the planet carrier upper cover.
7. The robotic arm joint of claim 6, wherein: the outer periphery of the pressing gear ring locking piece is in threaded connection with the inside of the joint shell, and the inner end face of the pressing gear ring locking piece is pressed against the outer periphery of the planet carrier upper cover to form a bearing end face.
8. The robotic arm joint of claim 6, wherein: and a sliding shaft sleeve is slidably arranged on a matching surface between the pressing gear ring locking piece and the planet carrier upper cover.
9. The robotic arm joint of claim 5, wherein: the inner peripheries of the planet carrier upper cover and the planet carrier lower cover are respectively installed on the power input shaft through inner periphery installation bearings, and the outer end face of the inner periphery installation bearing of the planet carrier lower cover is provided with an axial positioning device.
10. The robotic arm joint of claim 9, wherein: the axial positioning device comprises a combined locking nut arranged on the output shaft of the motor, and the combined locking nut is tightly pressed on the end surface of the inner circumference mounting bearing of the lower cover of the planet carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110338239.XA CN112923046A (en) | 2021-03-30 | 2021-03-30 | Speed reducer assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110338239.XA CN112923046A (en) | 2021-03-30 | 2021-03-30 | Speed reducer assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112923046A true CN112923046A (en) | 2021-06-08 |
Family
ID=76176502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110338239.XA Withdrawn CN112923046A (en) | 2021-03-30 | 2021-03-30 | Speed reducer assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112923046A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114607761A (en) * | 2022-03-25 | 2022-06-10 | 六环传动（西安）科技有限公司 | Planetary gear reducer with input and output at same side and hollow structure |
-
2021
- 2021-03-30 CN CN202110338239.XA patent/CN112923046A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114607761A (en) * | 2022-03-25 | 2022-06-10 | 六环传动（西安）科技有限公司 | Planetary gear reducer with input and output at same side and hollow structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110185748B (en) | Integrated robot joint structure | |
| CN216923101U (en) | Hollow harmonic speed reducer and robot joint | |
| CN112917508A (en) | Mechanical arm joint | |
| CN105840742A (en) | Rolling push-rod oscillating tooth robot joint speed reducer | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN113635341A (en) | End transmission structure of industrial robot wrist transmission structure | |
| CN112923046A (en) | Speed reducer assembly | |
| CN113894838A (en) | A flat harmonic deceleration modular drive joint | |
| CN214946313U (en) | Speed reducer assembly and mechanical arm joint | |
| CN216577935U (en) | Robot joint | |
| CN214924563U (en) | Mechanical arm joint | |
| CN114069955B (en) | Carry on compact power pack of harmonic speed reducer ware | |
| CN214924559U (en) | Torque module | |
| CN109139812A (en) | A kind of New-type cycloidal planetary reducer | |
| CN215980646U (en) | Elastic eccentric speed reducer | |
| CN112096797A (en) | Double-stage reduction power device with small tooth difference reduction and planetary reduction | |
| CN112917507A (en) | Torque module | |
| CN215968841U (en) | Integrated outer rotor mechanical arm joint | |
| CN100566082C (en) | High-performance electromechanical drive mechanism | |
| CN215202053U (en) | End transmission structure of industrial robot wrist transmission structure | |
| CN216343711U (en) | A robot joint deceleration mechanism based on planetary gear train | |
| CN212338044U (en) | A movable pin type cycloid reducer | |
| CN222852105U (en) | Electric actuator | |
| CN117103321A (en) | A robot joint with a gear brake | |
| CN223424551U (en) | Few tooth difference reduction gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210608 |
|
| WW01 | Invention patent application withdrawn after publication |