CN203453396U - Speed reducer for palletizing robot - Google Patents
Speed reducer for palletizing robot Download PDFInfo
- Publication number
- CN203453396U CN203453396U CN201320483799.5U CN201320483799U CN203453396U CN 203453396 U CN203453396 U CN 203453396U CN 201320483799 U CN201320483799 U CN 201320483799U CN 203453396 U CN203453396 U CN 203453396U
- Authority
- CN
- China
- Prior art keywords
- oscillating tooth
- shock wave
- gear
- speed reducer
- diphase
- 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.)
- Expired - Fee Related
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Abstract
The utility model provides a speed reducer for a palletizing robot. A full-rolling composite oscillating tooth transmission structure is adopted. A planetary transmission structure is adopted by a first level and an oscillating tooth transmission structure is adopted by a second level. The speed reducer for the palletizing robot is composed of an oscillating tooth frame 1, a small end cap, a diphase shock wave machine, a gear shaft, a planetary gear, a gear shaft board, a hinge pin, a large end cap, an input shaft, an oscillating tooth frame 2, a flexible bearing, an oscillating tooth sleeve, a center wheel and a box body. The input shaft of the planetary transmission structure, the planetary gear and the like are installed in the diphase shock wave machine, inner teeth are arranged in the diphase shock wave machine, so that the axial dimension of the speed reducer is reduced. The diphase shock wave machine and the bearing are installed in the oscillating tooth frame 1, the flexible gear is arranged on the diphase shock wave machine in a sleeved mode, so that the purpose of pure rolling is achieved. The diphase shock wave machine pushes the oscillating tooth sleeve to rotate around the profile of the center wheel, the hinge pin in the oscillating tooth sleeve is installed in a radial groove of the oscillating tooth frame 1 and a radial groove of the oscillating tooth frame 2, and the oscillating tooth sleeve and the hinge pin drive the oscillating tooth frame 1 and the oscillating tooth frame 2 to rotate in the reversed direction according to the set transmission ratio. According to the speed reducer for the palletizing robot, full-rolling oscillating tooth transmission serves as a foundation, planetary transmission is adopted by the first level, the starting inertia is small, the second level oscillating transmission is conducted by a two-tooth-difference oscillating tooth transmission speed reducing mechanism, the diphase shock wave machine is of an oval shape, operation is stable, and the speed reducer for the palletizing robot has the advantages of being large in torsion rigidity, large in transmission ratio, high in torsion density, high in motion accuracy, high in transmission efficiency, strong in impact resistance and the like.
Description
Technical field
The utility model relates to Robot Palletizer field of components, is specifically related to Robot Palletizer speed reducer.
Background technique
Robot Palletizer is widely used in the fields such as oil, chemical industry, food processing, logistics.External Robot Palletizer, under high-speed overload operating mode, stops accurate precision and reaches 0.5～1mm, and domestic do not have this type of technical order at present.Articulated robot stop accurate precision, Robot Palletizer hi-Fix technology, motion and accumulation gap except basic machine, large each revolute joint of forearm, will directly affect and stop accurate precision index, conventionally depend on large speed ratio, high pulling torque, gapless R/V speed reducer and guarantee.Japan a company produces R/V speed reducer without competition, expensive, directly affects the cost of production of domestic high-precision Robot Palletizer.
Model utility content
The utility model Robot Palletizer speed reducer, adopts compound Oscillating Tooth Gear Reducer slowing-down structure, realizes large speed ratio, high pulling torque, gapless speed reducer, monopolizes product outside subrogate country, reduces the cost of production of hi-Fix technology Robot Palletizer.
To achieve these goals, the utility model Robot Palletizer by the technological scheme of speed reducer is: movable teeth rack 1, small end cover, Double-phase shock wave device, gear shaft, planetary pinion, gear axillare, bearing pin, large end cap, input shaft, movable teeth rack 2, flexible bearing, oscillating tooth cover, central gear, casing, consist of.
Input shaft is arranged in shock wave device together with planetary pinion, gear on input shaft and planetary pinion engagement, internal gear engagement in planetary pinion and shock wave device, gear shaft is fixedly mounted on gear axillare, planetary pinion is arranged on gear shaft, shock wave device is arranged in movable teeth rack 1 together with bearing, and flexible bearing is sleeved on shock wave device.
Oscillating tooth cover one side contacts with flexible bearing, the flank profil engagement of another side and central gear, and on oscillating tooth cover suit bearing pin, bearing pin one end is arranged in the radial groove of movable teeth rack 1, and the other end is arranged in the radial groove of movable teeth rack 2.
Robot Palletizer be take Full-rolling movable teeth drive as basis with speed reducer, and the first order adopts Gear Planet Transmission, starts inertia little, and Gear Planet Transmission is included in Double-phase shock wave device, has reduced axial dimension.
Robot Palletizer has with speed reducer that torsional stiffness is large, velocity ratio is large, torque density is high, kinematic accuracy is high, transmission efficiency is high, do the series of advantages such as impact strength is strong.
Accompanying drawing explanation
Accompanying drawing is the utility model structural representation.
Embodiment
The utility model Robot Palletizer speed reducer, as shown in drawings: by movable teeth rack 1 (1), small end cover (2), Double-phase shock wave device (3), gear shaft (4), planetary pinion (5), gear axillare (6), bearing pin (7), large end cap (8), input shaft (9), movable teeth rack 2 (10), flexible bearing (11), oscillating tooth cover (12), central gear (13), casing (14), formed.
Input shaft (9) and planetary pinion (5) are arranged in Double-phase shock wave device (3) together, gear on input shaft (9) and planetary pinion (5) engagement, planetary pinion (5) meshes with the internal gear in shock wave device, gear shaft (4) is fixedly mounted on gear axillare (6), gear (5) is arranged on gear shaft (4), Double-phase shock wave device (3) is arranged in movable teeth rack 1 (1) together with bearing, and flexible bearing (11) is sleeved on Double-phase shock wave device (3).
Oscillating tooth cover (12) one side contacts with flexible bearing (11), the flank profil engagement of another side and central gear (13), oscillating tooth cover (12) is sleeved on bearing pin (7), bearing pin (7) one end is arranged in the radial groove of movable teeth rack 1 (1), and the other end is arranged in (10) radial groove of movable teeth rack 2.
Movable teeth rack 2 (10) is arranged on input shaft (9), central gear (13) is fixedly mounted on casing (14), movable teeth rack 1 is arranged on casing together with bearing, and it is upper that small end cover is fixedly mounted on casing (14), and large end cap is fixedly mounted on casing (14).
Teeth-adjustable reducer is two tooth difference speed reducing mechanisms, the profile ovalize of Double-phase shock wave device (3).
Claims (2)
1. Robot Palletizer speed reducer, comprise planet oscillating tooth Composite Transmission speed reducer, it is characterized in that: by movable teeth rack 1, small end cover, Double-phase shock wave device, gear shaft, planetary pinion, gear axillare, bearing pin, large end cap, input shaft, movable teeth rack 2, flexible bearing, oscillating tooth cover, central gear, casing, formed;
Input shaft is arranged in shock wave device together with planetary pinion, gear on input shaft and planetary pinion engagement, internal gear engagement in planetary pinion and shock wave device, gear shaft is fixedly mounted on gear axillare, planetary pinion is arranged on gear shaft, shock wave device is arranged in movable teeth rack 1 together with bearing, and flexible bearing is sleeved on shock wave device;
Oscillating tooth cover one side contacts with flexible bearing, the flank profil engagement of another side and central gear, and on oscillating tooth cover suit bearing pin, bearing pin one end is arranged in the radial groove of movable teeth rack 1, and the other end is arranged in the radial groove of movable teeth rack 2;
Movable teeth rack 2 is arranged on input shaft, and central gear is fixedly mounted on casing, and movable teeth rack 1 is arranged on casing together with bearing, and small end cover is fixedly mounted on casing, and large end cap is fixedly mounted on casing.
2. Robot Palletizer speed reducer according to claim 1, is characterized in that: teeth-adjustable reducer is two tooth difference speed reducing mechanisms Double-phase shock wave device (3) profile ovalize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320483799.5U CN203453396U (en) | 2013-08-06 | 2013-08-06 | Speed reducer for palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320483799.5U CN203453396U (en) | 2013-08-06 | 2013-08-06 | Speed reducer for palletizing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203453396U true CN203453396U (en) | 2014-02-26 |
Family
ID=50133271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320483799.5U Expired - Fee Related CN203453396U (en) | 2013-08-06 | 2013-08-06 | Speed reducer for palletizing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203453396U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110242708A (en) * | 2019-05-12 | 2019-09-17 | 天津大学 | Secondary seal formula eccentric disc swing movable teeth reducer |
-
2013
- 2013-08-06 CN CN201320483799.5U patent/CN203453396U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110242708A (en) * | 2019-05-12 | 2019-09-17 | 天津大学 | Secondary seal formula eccentric disc swing movable teeth reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140226 Termination date: 20140806 |
|
| EXPY | Termination of patent right or utility model |