CN204878549U - Simple and easy industrial robot reduction gear - Google Patents
Simple and easy industrial robot reduction gear Download PDFInfo
- Publication number
- CN204878549U CN204878549U CN201520683085.8U CN201520683085U CN204878549U CN 204878549 U CN204878549 U CN 204878549U CN 201520683085 U CN201520683085 U CN 201520683085U CN 204878549 U CN204878549 U CN 204878549U
- Authority
- CN
- China
- Prior art keywords
- bent axle
- gear
- ring gear
- gear ring
- bearing
- 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
Links
Landscapes
- Retarders (AREA)
Abstract
The utility model provides a simple and easy industrial robot reduction gear, which comprises a fixed base, the motor is installed in the fixing base outside, output shaft on the motor passes the fixing base inboard and is connected with the bent axle, install on the fixing base through the bearing the inner of bent axle, install the dual gea who has inside and outside double gear on the bent axle, dual gea passes through the bearing and installs the outer end at the bent axle, fixed mounting has the ring gear of deciding on the fixing base, it has the gland to decide the ring gear external fixation, movable mounting has the ring gear between ring gear and the gland deciding, the interior outside of moving the ring gear is equipped with annular ball groove respectively, the ball is installed to the ball inslot, the last interior external gear of dual gea respectively with decide the ring gear, move ring gear transmission coordination. The axle center of the outer section part of bent axle be eccentric structure, and the outer section part at the bent axle is installed to its middle (center) bearing, and dual gea installs on this bearing, and the bent axle drives dual gea eccentric rotation, thus dual gea with decide the ring gear fluctuation and move the ring gear rotation.
Description
Technical field
The utility model relates to retarder technical field, particularly relates to a kind of simple and easy industrial robot retarder.
Background technique
At present, at present, Robot industry chain is divided into substantially the integrated and downstream application of upstream key components and parts, middle reaches machine system.From the angle of industrial chain, upstream key components and parts and external gap larger.In all kernel components, speed reducer is the most key.Industrial robot cost structure is roughly as follows: body 22%, servo-system 25%, retarder 38%, control system 10% and other 5%.The domestic 6 shaft industrial robot costs of simple fractionation (overall cost 250,000 yuan), can find out that retarder and actuating motor two costs are close to 130,000 yuan, mainly based on import, will decline to a great extent once complete production domesticization cost.The reducer of industrial robot mainly contains 3 classes, is RV retarder, harmonic speed reducer, planet-cycloid reducer respectively.Wherein, RV retarder is applicable in heavy duty robot, due to present stage industrial joint robot demand still based on heavy duty, therefore RV retarder occupies most of demand.The hard defects of accurate retarding machine Chinese robot development especially.In speed reducer field, international suppliers mainly contains Na Botesike and Harmonic two.On accurate retarding machine on industrial machine person joint, the global market share of Na Botesike Nabtesco product reaches 60%, especially in/workhorse people on, its RV speed reducer market share is up to 90%.
According to industry personage introduction, a large Zoomlion purchase price of precision speed reduction device four is 30,000 yuan to 50,000 yuan, sell the domestic client be on speaking terms about 70,000 yuan, the normal client about 120,000 yuan that relation is general, more than expensive one times of the cost Zoomlion of interior-capital-enterprise's buying accurate retarding machine, profit difference therebetween has much as seen.RV speed reducer in the world Jin You a handful of countries can be produced, and in " 12 " period, national " 863 " plan is listed in the technical bottleneck that emphasis is captured.The tackling key problem in several years of domestic top university and scientific research institution also only has paper, does not have material object.Due to RV cycloid reducer and harmonic speed reducer, these two kinds of retarders are with the obvious advantage, so industrial robot is with these two kinds of retarders substantially, but these two kinds of retarder machining accuracies are high. and the gear pair rotation that the footpath sub-retarder of difference of setting forth in patent of invention CN103982600A differs from subrack due to footpath is friction driving, precision is difficult to ensure.To change the difficulty of current industrial robot retarder processing based on this present invention, precision also easily reaches simultaneously.Make that China's industrial robot core component realizes bend to overtake other vehicles.
Model utility content
The utility model will solve above-mentioned prior art Problems existing, provides a kind of simple and easy industrial robot retarder, and structure is simple, and reduction speed ratio scope is large, and transmission resistance is little.
The utility model solves the technological scheme that its technical problem adopts: this simple and easy industrial robot retarder, comprise fixed base, outside fixed base, motor is installed, output shaft on motor is through being connected with bent axle inside fixed base, the inner of bent axle is arranged on fixed base by bearing, bent axle is provided with the duplicate gear with inside and outside Double-gear, duplicate gear is arranged on the outer end of bent axle by bearing, fixed base is installed with and determines gear ring, determine gear ring extenal fixation and have gland, determining between gear ring and gland, to be movably installed with dynamic gear ring, the interior outside of dynamic gear ring is respectively equipped with annular ball grooves, in ball grooves, ball is installed, internal-external gear on duplicate gear respectively with determine gear ring, dynamic gear ring transmission coordinates.The axle center of the outer section part of bent axle is eccentric structure, and its middle (center) bearing is arranged on the outer section part of bent axle, and duplicate gear is installed on the bearing, and bent axle drives duplicate gear eccentric rotary, therefore duplicate gear with determine gear ring and fluctuate and drive and move ring gear against rotation.
In order to perfect further, determine gear ring, dynamic gear ring is identical with the modulus of duplicate gear.Avoid duplicate gear like this and determine gear ring, dynamic gear ring rubs in transmission process, therefore reduction transmission resistance.
The effect that the utility model is useful is: the utility model structure is the compactest, reduction speed ratio scope is large, it is all same modulus straight gear, rub little, transmission efficiency is high, adopts the rolling of bearing and ball to replace fricting movement, comprehensive RV retarder and harmonic wave speed reducer, eliminate numerous planet wheel on RV retarder, and bent axle becomes and only needs one, eliminates on harmonic speed reducer material and the high flexbile gear of required precision.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Description of reference numerals: fixed base 1, motor 2, bent axle 3, bearing 4, duplicate gear 5, wedge locating block 5-1, determines gear ring 6, gland 7, dynamic gear ring 8, ball grooves 8-1, V-type locating slot 8-2, ball 9.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail:
With reference to accompanying drawing: simple and easy industrial robot retarder in the present embodiment, comprise fixed base 1, motor 2 is installed outside fixed base 1, output shaft on motor 2 is through being connected with bent axle 3 inside fixed base 1, the inner of bent axle 3 is arranged on fixed base 1 by bearing 4, bent axle 3 is provided with the duplicate gear 5 with inside and outside Double-gear, duplicate gear 5 is arranged on the outer end of bent axle 3 by bearing 4, fixed base 1 is installed with and determines gear ring 6, determine gear ring 6 extenal fixation and have gland 7, determining between gear ring 6 and gland 7, to be movably installed with dynamic gear ring 8, the interior outside of dynamic gear ring 8 is respectively equipped with annular ball grooves 8-1, ball 9 is installed in ball grooves 8-1, internal-external gear on duplicate gear 5 respectively with determine gear ring 6, dynamic gear ring 8 transmission coordinates.Wherein determine gear ring 6, dynamic gear ring 8 is identical with the modulus of duplicate gear 5.
Although the utility model has illustrated by reference to preferred embodiment and has described, those skilled in the art should understand, and in the scope of claims, can do the various change in form and details.
Claims (2)
1. a simple and easy industrial robot retarder, comprise fixed base (1), fixed base (1) outside is provided with motor (2), it is characterized in that: the output shaft on described motor (2) passes fixed base (1) inner side and is connected with bent axle (3), the inner of bent axle (3) is arranged on fixed base (1) by bearing (4), bent axle (3) is provided with the duplicate gear (5) with inside and outside Double-gear, duplicate gear (5) is arranged on the outer end of bent axle (3) by bearing, described fixed base (1) is installed with and determines gear ring (6), determine gear ring (6) extenal fixation and have gland (7), determining to be movably installed with dynamic gear ring (8) between gear ring (6) and gland (7), the interior outside of dynamic gear ring (8) is respectively equipped with annular ball grooves (8-1), ball (9) is installed in ball grooves (8-1), internal-external gear on described duplicate gear (5) respectively with determine gear ring (6), dynamic gear ring (8) transmission coordinates.
2. simple and easy industrial robot retarder according to claim 1, is characterized in that: describedly determine gear ring (6), dynamic gear ring (8) is identical with the modulus of duplicate gear (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520683085.8U CN204878549U (en) | 2015-09-06 | 2015-09-06 | Simple and easy industrial robot reduction gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520683085.8U CN204878549U (en) | 2015-09-06 | 2015-09-06 | Simple and easy industrial robot reduction gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204878549U true CN204878549U (en) | 2015-12-16 |
Family
ID=54822924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520683085.8U Expired - Fee Related CN204878549U (en) | 2015-09-06 | 2015-09-06 | Simple and easy industrial robot reduction gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204878549U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105546053A (en) * | 2016-01-26 | 2016-05-04 | 刘青建 | Engine transmission |
| CN118182850A (en) * | 2024-05-16 | 2024-06-14 | 长春通视光电技术股份有限公司 | Large-window photoelectric pod and control method thereof |
-
2015
- 2015-09-06 CN CN201520683085.8U patent/CN204878549U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105546053A (en) * | 2016-01-26 | 2016-05-04 | 刘青建 | Engine transmission |
| CN118182850A (en) * | 2024-05-16 | 2024-06-14 | 长春通视光电技术股份有限公司 | Large-window photoelectric pod and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105269589B (en) | A kind of spacing mechanical arm modularization driving joint | |
| CN204878549U (en) | Simple and easy industrial robot reduction gear | |
| CN204852270U (en) | Novel industrial robot reduction gear | |
| CN204985552U (en) | Industrial robot reduction gear | |
| CN206563060U (en) | A kind of elliptic roller track movable tooth drive mechanism | |
| CN101832365A (en) | Industrial robot single-stage cycloidal reducer | |
| CN205173395U (en) | Zero clearance circular arc swing mechanism based on lathe | |
| CN108119615A (en) | Novel industrial robot retarder | |
| CN208034427U (en) | High-accuracy transmission system for continous way curved surface polishing machine | |
| CN108943008A (en) | A kind of hand-adjusting type robot variation rigidity joint | |
| CN105855908A (en) | Workbench turning device for milling machine | |
| CN205764273U (en) | The two-sided tapping machine of bell housing porous | |
| CN205834746U (en) | A kind of work table rotation device for milling machine | |
| CN203600070U (en) | Main shaft device provided with revolution mechanism and autorotation mechanism | |
| CN203526978U (en) | Variable-angle bearing platform driven by two screws | |
| CN106078729A (en) | Joint structure and robot with same | |
| CN206563071U (en) | A kind of Perpendicular Transmission | |
| CN202741504U (en) | Processing device of cylindrical shell of filter | |
| CN206455451U (en) | A kind of AC puts five spindle nose parabolic conical worm screws and parabola worm gear drive mechanism | |
| CN108723138A (en) | A kind of adjustable bending machine | |
| CN205704222U (en) | Three-shaft linkage formula precision positioning spray robot | |
| CN205629977U (en) | Work revolving stage rotation mechanism | |
| CN205949907U (en) | Device of sphere in boring of teaching usefulness | |
| CN206066153U (en) | Across the cylinder fixed seat of abrasive belt grinding machine | |
| CN208390718U (en) | A kind of mold applied on corner crimping machine folds up device automatically |
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: 20151216 Termination date: 20160906 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |