CN205423735U - Big moment of torsion hydraulic pressure reduction gear of zero clearance - Google Patents
Big moment of torsion hydraulic pressure reduction gear of zero clearance Download PDFInfo
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- CN205423735U CN205423735U CN201521055536.XU CN201521055536U CN205423735U CN 205423735 U CN205423735 U CN 205423735U CN 201521055536 U CN201521055536 U CN 201521055536U CN 205423735 U CN205423735 U CN 205423735U
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- rotary encoder
- boss
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Abstract
The utility model relates to a big moment of torsion hydraulic pressure reduction gear of zero clearance for robot joint reduction gear technical field. What solve is: technical content, required precision height in the current robot mechanical reduction gear technique, the moment of torsion is little, there is the transmission clearance, fixed class of technical problem of drive ratio. Big moment of torsion hydraulic pressure reduction gear of zero clearance includes stator, rotor, bearing cap and rotary encoder installation lid etc, have fan -shaped boss on the rotor periphery, the one end and the rotary encoder of rotor are connected. The stator has fan -shaped boss, and the outer periphery of stator has two business turn over oilholes. The rotor combines to form two relatively independent sealed chambeies with the stator, and these two sealed chambeies respectively link to each other with oil pipe through the business turn over oilhole. Through two seal chamber volume change output speed, seal chamber volume change speed control output speed speed, it changes the rotor rotation direction to swap the business turn over oilhole. Rotary encoder is used for detection rotor angle displacement, angular speed.
Description
Technical field
This utility model relates to robot joint speed reducer technical field, especially a kind of gapless high-torque hydraulic decelerator.
Background technology
Robot building industry is to weigh an important indicator of a national manufacturing industry level of aggregation, and especially robot decelerator, its technology content, required precision are higher.Current existing robot decelerator dominant form is based on the machine driving such as harmonic wave, planetary gear, this proposes very high request to manufacturing industry level, a lot of decelerator manufacturing enterprises feel frustrated, the most existing robot decelerator accomplishes that high pulling torque also has certain difficulty, existing decelerator weak point gear ratio is fixed, also have mechanical reduction inevitably to have drive gap, affect decelerator transmission accuracy.
Utility model content
The technical problems to be solved in the utility model is: in order to solve technology content in existing robotic's gearing speed-reducer technology, required precision height；Moment of torsion is little；There is drive gap；The technical problems such as gear ratio is fixing.A kind of Novel reducer solution is provided.
This utility model solves its technical problem and be the technical scheme is that a kind of New-type no-interval high-torque hydraulic decelerator, for speed change gear at robot rotary articulation.
It is characterized in that: include that lid installed by rotor, stator, bearing cap and rotary encoder.
Described rotor is cylinder table stage structure, and rotor big footpath periphery is machined with fan-shaped boss, and two sector intersecting lenses of rotor sector boss overlap with rotor axis, and described rotor is machined with support duplex bearing rotation installation end；One end of described rotor is connected with rotary encoder；Described rotor boss sharp edge round-corner transition, fan-shaped raised head face sharp edge round-corner transition, big footpath periphery sharp edge round-corner transition.
Described stator is hollow recess disc structure, and stator inner peripheral surface is machined with fan-shaped boss, and two sector intersecting lenses of fan-shaped boss overlap with axis stator；Described stator outer circumference surface and edge are positioned at along the plane of symmetry position of fan-shaped two sectors of boss and have two equal-sized turnover oilholes；Two described equal-sized turnover oil-hole locations are along stator height center face symmetric arrays；The fan-shaped face being connected of one and turnover oilhole is respectively opened on two sectors of described stator；Described stator is made up of two semi-circular structure；Described stator inner peripheral surface sharp edge round-corner transition, sharp edge round-corner transition inside aperture, stator raised head face sharp edge round-corner transition.
Described bearing cap is disc structure, and it is machined with support duplex bearing rotation installing hole；Described bearing cap is machined with the first positioning spigot installed with stator.
Lid installed by described rotary encoder is disc structure, and it is machined with the second positioning spigot installed with stator.
In the rotating cavity being arranged on stator of described rotor；Described rotor sector boss, rotor big footpath periphery, rotor sector boss both ends of the surface, stator sector boss, stator inner peripheral surface are combined two relatively independent annular seal spaces of formation with the plane at stator sector boss both ends of the surface place, and the two annular seal space is respectively connected with turnover oil pipe by two equal-sized turnover oilholes on stator outer circumference surface.
Rotor sector boss periphery diameter is slightly less than stator inner peripheral surface diameter by the application；Stator sector boss inner headed face diameter is slightly larger than rotor big footpath periphery diameter；The face size of rotor sector boss is slightly less than the planar end size at stator sector boss both ends of the surface place；When being possible to prevent rotor to rotate stuck, so convenient sealing ring is installed, also can preferably play hydraulic retarder performance.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings this utility model is further illustrated.
Fig. 1 is a kind of gapless high-torque hydraulic decelerator schematic perspective view；
Fig. 2 is that a kind of gapless high-torque hydraulic decelerator seals cavity schematic perspective view；
Fig. 3 is rotor schematic perspective view；
Fig. 4 is rotor plane schematic diagram；
Fig. 5 is Fig. 4 rotor end-face schematic diagram；
Fig. 6 is stator schematic perspective view one；
Fig. 7 is stator floor map；
Fig. 8 is Fig. 7 stator generalized section；
Fig. 9 is Fig. 7 stator schematic top plan view；
Figure 10 is stator schematic perspective view two；
Figure 11 is Fig. 7 stator plane graph close-up schematic view；
Figure 12 is bearing cap floor map；
Figure 13 is Figure 12 bearing cap generalized section；
Figure 14 is that lid floor map installed by rotary encoder；
Figure 15 is that lid generalized section installed by Figure 14 rotary encoder.
nullIn figure: 1. rotor，2. stator，3. lid installed by rotary encoder，4. bearing cap，5. rotary encoder，6. dual-gripper bearing，7. first seal cavity，8. second seal cavity，9. rotor bearing installation end，10. rotor sector boss，11. rotor sectors，12. rotor sector boss peripheries，13. rotor sector raised head faces，14. rotary encoder rotors connect end，15. rotor big footpath peripheries，16. rotor axis，17. rotor boss fillets，18. rotor sector raised head face fillets，19. rotor big footpath periphery fillets，20. stator outer circumference surfaces，21. stator inner peripheral surfaces，22. stator sectors，23. stator sector boss，24. stator sector boss inner headed faces，The plane at 25. stator sector boss both ends of the surface places，26. fan-shaped faces，27. turnover oilholes，28. axis stators，29. stator height center faces，30. stator inner peripheral surface fillets，Fillet inside 31. stator apertures，32. salient stator you fillets，33. bearing mounting holes，34. first positioning spigots，35. second positioning spigots，36. stator groove.
Detailed description of the invention
Presently in connection with explanation accompanying drawing, this utility model is described in further detail.These accompanying drawings are the schematic diagram of simplification, and essential structure of the present utility model is described the most in a schematic way, and therefore it only shows the composition relevant with this utility model.
Fig. 1 one gapless high-torque hydraulic decelerator essential structure, installs lid 3, rotary encoder 5, dual-gripper bearing 6 etc. constitute including rotor 1, stator 2, bearing cap 4, rotary encoder.
Described gapless high-torque hydraulic decelerator operating principle: to form two relatively independent annular seal space 7,8 oil-feeds fuel-displaced to being combined with the plane 25 at stator sector boss both ends of the surface place by rotor sector boss 10, rotor big footpath periphery 15, rotor sector boss both ends of the surface 13, stator sector boss 23, stator inner peripheral surface 21 by turnover oilhole 27.By two independent sealed cavity 7,8 pressure differential output torques；By two independent sealed cavity 7,8 change in volume output speeds；Two independent sealed cavity 7,8 change in volume speeds control output speed speed；Rotor 1 rotation direction is changed by exchanging turnover oilhole 27.The rotary encoder 5 being connected with rotor 1 is used for detecting rotor angular displacement, angular velocity.
Claims (6)
1. a gapless high-torque hydraulic decelerator, it is characterised in that: include that rotor (1), stator (2), bearing cap (4), rotary encoder (5), dual-gripper bearing (6) and rotary encoder are installed lid (3) and constituted；
Described rotor (1) is cylinder table stage structure, fan-shaped boss (10) it is machined with on rotor big footpath periphery (15), two sector (11) intersecting lenses of rotor sector boss (10) overlap with rotor axis (16), and described rotor (1) is machined with support duplex bearing (6) rotation installation end (9)；One end (14) of described rotor (1) is connected with rotary encoder (5)；Described rotor boss sharp edge fillet (17) transition, fan-shaped raised head face sharp edge fillet (18) transition, periphery sharp edge fillet (19) transition of big footpath；
Described stator (2) is hollow recess (36) disc structure, being machined with fan-shaped boss (23) on stator inner peripheral surface (21), two sector (22) intersecting lenses of fan-shaped boss overlap with axis stator (28)；Described stator outer circumference surface (20) and edge are positioned at along the plane of symmetry position of fan-shaped two sectors (22) of boss and have two equal-sized turnover oilholes (27)；Two described equal-sized turnover oilhole (27) positions are along stator height center face (29) symmetric arrays；The fan-shaped face (26) being connected of one and turnover oilhole is respectively opened on two sectors (22) of described stator；Described stator (2) is made up of two semi-circular structure；Described stator inner peripheral surface sharp edge fillet (30) transition, sharp edge fillet (31) transition inside aperture, stator raised head face sharp edge fillet (32) transition；
Described bearing cap (4) is disc structure, and it is machined with support duplex bearing rotation installing hole (33)；Described bearing cap (4) is machined with the first positioning spigot (34) installed with stator；
Lid (3) installed by described rotary encoder is disc structure, and it is machined with the second positioning spigot (35) installed with stator.
Gapless high-torque hydraulic decelerator the most according to claim 1, it is characterised in that: the rotary encoder rotor of rotor (1) connects end (14) and is connected with rotary encoder (5).
Gapless high-torque hydraulic decelerator the most according to claim 1, it is characterised in that: by the turnover oilhole (27) on stator (2) outer circumference surface (20), to being combined by rotor sector boss (10), rotor big footpath periphery (15), rotor sector boss both ends of the surface (13), stator sector boss (23), stator inner peripheral surface (21) and the plane (25) at stator sector boss both ends of the surface place, to form two relatively independent annular seal spaces (7,8) oil-feed fuel-displaced.
Gapless high-torque hydraulic decelerator the most according to claim 1, it is characterised in that: stator (2) is hollow recess (36) disc structure, is made up of two semi-circular structure.
Gapless high-torque hydraulic decelerator the most according to claim 1, it is characterised in that: bearing cap (4) is disc structure, and it is machined with the first positioning spigot (34) installed with stator.
Gapless high-torque hydraulic decelerator the most according to claim 1, it is characterised in that: the second positioning spigot (35) that lid (3) is machined with on it and stator is installed installed by rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521055536.XU CN205423735U (en) | 2015-12-11 | 2015-12-11 | Big moment of torsion hydraulic pressure reduction gear of zero clearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521055536.XU CN205423735U (en) | 2015-12-11 | 2015-12-11 | Big moment of torsion hydraulic pressure reduction gear of zero clearance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205423735U true CN205423735U (en) | 2016-08-03 |
Family
ID=56538326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521055536.XU Expired - Fee Related CN205423735U (en) | 2015-12-11 | 2015-12-11 | Big moment of torsion hydraulic pressure reduction gear of zero clearance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205423735U (en) |
-
2015
- 2015-12-11 CN CN201521055536.XU patent/CN205423735U/en not_active Expired - Fee Related
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20171211 |