CN206571908U - A kind of transmission decelerating device - Google Patents

Abstract

A transmission reduction device, comprising a worm assembly, a worm gear assembly and an output shaft arranged in a box body, the worm assembly is also provided with an input shaft. The axis of the worm gear assembly is parallel to the axial direction of the output shaft, and there are three worm gear assemblies evenly distributed along the circumference of the output shaft. The transmission deceleration device provided by the utility model has the advantages of compact structure, large transmission ratio, high precision, small friction and wear, easy to carry out industrial production and manufacturing, and at the same time, the price is low, and is suitable for precision heavy duty equipment with large transmission ratio requirements and volume limitations such as industrial robot joints. load transmission occasions.

Description

A transmission reduction device

technical field

The utility model belongs to the technical field of mechanical engineering and relates to a transmission device, in particular to a transmission reduction device suitable for industrial robots.

Background technique

The transmission reduction device is a key component of an industrial robot. It is mainly used to match the speed and transmit the torque between the drive mechanism and the actuator, so as to achieve the purpose of reducing the speed and increasing the torque. At present, in the field of industrial robot technology, the transmission reduction devices that are often used include worm gear reducers, harmonic reducers and planetary reducers. However, the structure of the worm gear reducer is heavy, the transmission efficiency is low, the precision is poor, and the input and output are not in the same axis, and the operation stability is poor; the core component of the harmonic reducer is periodically deformed during operation, and it is prone to fatigue damage , and the impact resistance and rigidity of the whole machine are poor, and the input speed is limited; although the planetary reducer has excellent overall performance and can meet the operation requirements of the equipment, it has very high requirements for the selection of raw materials for components, manufacturing technology and processing accuracy. The equipment is expensive.

Utility model content

The purpose of the utility model is to overcome the defects of the prior art, and provide a high-precision, large transmission ratio transmission reduction device, which has the characteristics of compact structure, small appearance, not easy to wear, strong bearing capacity, simple manufacturing process, and low price. , suitable for precision heavy loads and large transmission ratio occasions such as industrial robots.

In order to achieve the above object, the utility model adopts the following technical solutions:

A transmission reduction device, comprising a worm assembly, a worm gear assembly and an output shaft arranged in a box body, the worm assembly is also provided with an input shaft. The axis of the worm gear assembly is parallel to the axial direction of the output shaft, and there are three worm gear assemblies evenly distributed along the circumference of the output shaft.

Further, the worm gear assembly is provided with a rotary shaft along the axial direction, and the lower end and the upper end of the rotary shaft respectively extend from both ends of the worm gear assembly along the axial direction.

Further, the upper base of the box body is provided with three second upper bearings evenly distributed in the circumferential direction, so as to support and fix the upper ends of the rotating shafts of the three worm gear assemblies.

Further, a disk-shaped output shaft installation assembly is also provided, and the installation disk assembly is provided with three deep groove ball bearings evenly distributed in the circumferential direction, so as to support and fix the lower ends of the rotary shafts of the three worm gear assemblies.

The transmission reduction device provided by the utility model has the advantages of compact structure, large transmission ratio, high precision, small friction and wear, easy to carry out industrialized production and manufacturing, and at the same time, the price is low, and is suitable for joints of industrial robots with large transmission ratio requirements and volume limitations. Precision heavy-duty transmission occasions.

Description of drawings

Figure 1 is a sectional view of the overall structure of a transmission reduction device of the present invention;

Fig. 2 is a sectional view of another overall structure of a transmission deceleration device of the present invention;

Figure 3 is a schematic diagram of the overall structure of a transmission reduction device of the present invention;

Fig. 4 is a top view of a transmission reduction device of the present invention;

Fig. 5 is a cross-sectional view of a worm assembly of a transmission deceleration device of the present invention;

Fig. 6 is a cross-sectional view of a worm gear of a transmission reduction device of the present invention;

Fig. 7 is a sectional view of a box body of a transmission reduction device of the present invention;

Fig. 8 is a schematic diagram of the overall structure of a worm gear assembly of a transmission reduction device of the present invention;

Fig. 9 is a cross-sectional view of a worm gear assembly of a transmission reduction device of the present invention;

Fig. 10 is another cross-sectional view of a worm gear assembly of a transmission reduction device of the present invention;

Fig. 11 is a top view of a worm gear assembly of a transmission reduction device of the present invention;

Fig. 12 is a schematic diagram of the overall structure of a worm gear mounting body of a transmission reduction device of the present invention;

Fig. 13 is a schematic diagram of the overall structure of a turntable assembly of a transmission reduction device of the present invention;

Fig. 14 is a front view of a turntable assembly of a transmission reduction device of the present invention;

Fig. 15 is a schematic diagram of the overall structure of the output shaft mounting plate assembly of a transmission deceleration device of the present invention;

Fig. 16 is a schematic diagram of the overall structure of a chassis assembly of a transmission reduction device of the present invention;

Fig. 17 is a structural schematic diagram of an output shaft of a transmission reduction device of the present invention.

detailed description

The specific implementation of a transmission reduction device of the present utility model will be further described below in conjunction with the embodiments given in accompanying drawings 1 to 17 . A transmission reduction device of the present invention is not limited to the description of the following embodiments.

As shown in Figures 1 to 4, the utility model provides a transmission reduction device, including a worm assembly 1, a box body 2, a worm gear assembly 3, an output shaft 4, a turntable assembly 5, an output shaft installation assembly 6, and a chassis assembly 7 . The transmission and reduction device is approximately cylindrical as a whole, and the output shaft 4 and the input shaft 11 of the worm assembly 1 are vertically located above and below the transmission and reduction device, coincident with the axis of the transmission and reduction device.

As shown in FIGS. 5 to 6 , the worm assembly 1 includes an input shaft 11 , a lower casing 12 , a first bolt 3 , an upper casing 14 , and a first worm gear 15 . The lower casing 12 and the upper casing 14 are approximately hemispherical, and they are put together to form an approximately spherical spherical cavity 16 for accommodating the worm gear assembly 3; The worm base 17 is closed, and the input shaft 11 is arranged below the worm base 17 . The axes of the lower casing 12 , the upper casing 14 , the spherical cavity 16 , the worm screw base 17 and the input shaft 11 are coincident. The inner side of the lower housing 12 and the upper housing 14 is provided with a first worm gear 15 used in conjunction with the worm gear assembly 3 , and the first worm gear 15 is a helical gear. Preferably, the lower casing 12 and the upper casing 14 fix the first worm gear 15 inside the lower casing 12 and the upper casing 14 through a plurality of first bolts 13 . The advantage of this is that after the first worm tooth 15 is processed independently to obtain the tooth shape, the upper casing 14 and the lower casing 12 are fixed together with the first worm tooth 15 through the bolt hole 18 by means of the first bolt 13, which can overcome the The helical first worm gear 15 located in the spherical cavity 16 is difficult to process integrally, and at the same time, the machining accuracy of the first worm gear 15 is effectively improved.

As shown in Figure 7, the box body 2 is approximately cylindrical as a whole, consisting of a disc-shaped lower base 23, an upper base 26, and a cylindrical middle base 25, through which a plurality of second bolts 24 The connection is fixed. The lower base 23 is centered with a downwardly recessed round table, and the inside of the round table is provided with a first thrust bearing 21 for supporting the worm base 17 of the worm assembly 1; the center of the round table is also provided with a first angular contact ball bearing 22, Used to support the input shaft 11 of the worm assembly 1 . The upper base 26 is centered with a first upper bearing 27 for supporting the output shaft 4; the upper base 26 is also provided with three second upper bearings 28 evenly distributed in the circumferential direction for supporting three worm gear assemblies 3 The rotary shaft 36 upper ends. After the overall assembly of the device is completed, only the output shaft 4 and the input shaft 11 of the worm assembly 1 protrude vertically from the top and bottom of the box body 2 respectively, and other components are installed inside the box body 2 . By adopting a cylindrical box 2 and aligning the power input and output directions with the geometric axis direction of the device, as well as the design of coincident geometric axis with the center of gravity, the overall structure of the device is compact and small, and the operation is stable.

As shown in Figures 8 to 12, the worm gear assembly 3 is composed of an approximately hemispherical lower worm gear body 31 and an upper worm gear body 33 into an approximately spherical shape, and a disc-shaped The middle rotating body 32 is provided with a rotating shaft 36 along the axial direction, and the lower end and the upper end of the rotating shaft 36 respectively extend from the lower part and the upper part which are approximately spherical along the axial direction. The lower worm gear body 31 and the upper worm gear body 33 are respectively provided with a circular groove; specifically, the grooves of the lower worm gear body 31 are connected end to end by a spiral groove arranged on the outer surface and a guide groove arranged inside. Then, the groove is covered with spherical first worm gear teeth 34, and the first worm gear teeth 34 can circulate and reciprocate in the groove; the groove structure of the upper worm gear body 33 is similar to that of the lower worm gear body 31. As a specific implementation manner, the upper worm gear body 33 is connected to the middle rotating body 32 through the hexagon socket bolt 37 , and the middle rotating body 32 is connected to the lower worm gear body 31 through the fifth bolt 30 . As another specific implementation manner, the rotating shaft 36 may adopt an independent structure and be designed as a separate component; a split structure may also be adopted. When a split structure is adopted, the upper part of the rotary shaft 36 is installed above the upper worm gear body 33 through a plurality of third bolts 35, and the lower part of the rotary shaft 36 can adopt the same embodiment as the upper part, or can be integrally formed with the lower worm gear body 31 . The circumference of the middle rotating body 32 is evenly distributed with smooth grooves used in conjunction with the turntable assembly 5 . The lower worm gear body 31 and the upper worm gear body 33 are also provided with a worm gear tooth assembly 39, which is used to install the first worm gear teeth 34 in the grooves of the lower worm gear body 31 and the upper worm gear body 33 during assembly or maintenance in the factory. As shown in Figure 9, the lower worm gear body 31 is provided with a mounting groove used in conjunction with the worm gear body 39, and the mounting groove communicates with the groove of the lower worm gear body 31; when assembling, first pass through the mounting groove Install the first worm gear tooth 34 in the groove of the downward worm gear body 31, then insert the worm gear gear body 39 into the installation groove to realize the sealing of the groove, and finally utilize a plurality of fourth bolts 38 to realize the worm gear tooth body 39 and Fixing between the mounting grooves; the implementation of the upper worm gear body 33 is similar to this.

The utility model adopts three worm gear components 3 and the worm screw component 1 in a similar meshing mode with few teeth differences to realize a large transmission ratio output. The tooth surface of the first worm gear 15 is enveloped by a ball and adopts an internal meshing method. The first worm gear tooth 34 adopts the shape of a rotating sphere and reciprocates cyclically along the grooves of the lower worm gear body 31 and the upper worm gear body 33 The rolling meshing movement of the worm wheel and the worm is converted into rolling friction, thereby reducing the running resistance.

As shown in FIGS. 13 to 14 , the turntable assembly 5 is disc-shaped and consists of a circular lower turntable 51 and an upper turntable 53 . Between the lower turntable 51 and the upper turntable 53 there are second worm gear teeth 52 evenly arranged along the outer circumferential direction, and the second worm gear teeth 52 mesh with the grooves on the middle rotating body 32 of the worm gear assembly 3 to realize energy transmission. Preferably, the second worm gear tooth 52 is also a rotatable spherical structure. The middle part of the turntable assembly 5 is provided with a through hole for connecting and fixing the output shaft 4 . As a specific implementation manner, the lower turntable 51 and the upper turntable 53 are connected and fixed by a plurality of sixth bolts 54 .

As shown in FIG. 15 , the output shaft mounting assembly 6 is in the shape of a disk, and a cylindrical output mounting plate 61 protruding downward is centrally provided, as well as a second angular contact ball bearing 63 for mounting the output shaft 4 . The mounting disc assembly 6 is also provided with three deep groove ball bearings 62 evenly distributed in the circumferential direction for supporting the lower end of the rotary shaft 36 . The deep groove ball bearing 62 cooperates with the second upper bearing 28 of the upper base 26 of the casing 2 to realize the axial positioning of the worm gear assembly 3 . At the same time, three worm gear assemblies 3 and the worm screw assembly 1 are used to mesh and work, which can effectively eliminate the tooth backlash and the resulting dynamic balance problem, thereby ensuring the smooth operation of the device.

As shown in FIG. 16 , the chassis assembly 7 is disc-shaped, including a disc-shaped chassis 71 and a second thrust bearing 73 arranged in the middle of the chassis 71 . The second thrust bearing 73 is used to support the output mounting plate 61 . The chassis assembly 7 is fixed on the worm base 17 of the worm assembly 1 by seventh bolts 72 .

As shown in Fig. 17 and Fig. 1, the output shaft 4 is a variable-diameter cylinder, which is respectively connected to the first upper bearing 27 on the base 26 of the box body 2, the through hole in the middle of the turntable assembly 5, and the output shaft from top to bottom. Install the second angular contact ball bearing 63 on the assembly 6 . As a specific implementation, the output shaft 4 can be connected and fixed with the turntable assembly 5 through a key. Preferably, both the output shaft 4 and the input shaft 11 can be set as a hollow structure, on the one hand, it is convenient to lay wires, and on the other hand, the overall structure of the device can be made more compact and reasonable.

The assembly method of a transmission reduction device provided by the utility model is shown in Fig. 1 and Fig. 2 . The worm assembly 1 is installed and positioned on the lower base 23 of the box body 2 through the first angular contact ball bearing 22 and the first thrust bearing 21, and the chassis assembly 7 is fixed on the bottom of the worm assembly 1 through the seventh bolt 72. On the worm base 17, the output shaft installation assembly 6 is installed on the chassis 71 through the second thrust bearing 73. There are three worm gear assemblies 3 in total, and the lower end is connected with the output shaft installation plate 61 through a deep groove ball bearing 62. The worm gear assembly 3. The upper end is connected to the upper base 26 through the second upper bearing 28, the worm gear assembly 3 forms a meshing relationship with the worm assembly 1, and the lower end of the output shaft 4 is installed on the output shaft mounting plate 61 through the second angular contact ball bearing 63, The upper end of the output shaft 4 is mounted on the upper base 26 through the second upper bearing 28 , and the turntable assembly 5 forms a meshing relationship with the middle rotating body 32 .

The working principle and process of a transmission reduction device provided by the utility model are as follows: after the worm assembly 1 installed and positioned on the lower base 23 through the first thrust bearing 21 and the first angular contact ball bearing 22 obtains power input, the worm assembly The first worm gear 15 of 1 meshes with the first worm gear 34 of the worm gear assembly 3 and drives the three worm gear assemblies 3 to rotate to realize the first stage deceleration; The upper turntable assembly 5 engages and drives the output shaft 4 to rotate to realize the second stage of deceleration. Through two-stage deceleration, the large transmission ratio, high torque, low friction loss and high-precision operation of the transmission deceleration device are finally realized.

The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be assumed that the specific implementation of the utility model is only limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, without departing from the concept of the utility model, some simple deduction or substitutions can also be made, which should be regarded as belonging to the protection scope of the utility model.

Claims (4)

1. a kind of transmission decelerating device, including worm component, Worm-gear assembly and the output shaft being arranged in casing, the worm screw group Input shaft is additionally provided with part, it is characterised in that：The axis of the Worm-gear assembly is parallel with the axis direction of output shaft, Worm-gear assembly Provided with 3, circumferentially it is uniformly distributed along output shaft.

2. a kind of transmission decelerating device according to claim 1, it is characterised in that：The Worm-gear assembly is set in the axial direction There is gyroaxis, the lower end and upper end of gyroaxis extend out from the two ends of Worm-gear assembly in the axial direction respectively.

3. a kind of transmission decelerating device according to claim 2, it is characterised in that：The casing top base was provided with for 3 week To equally distributed second upper bearing (metal), realize that the support to 3 Worm-gear assembly gyroaxis upper ends is fixed.

4. a kind of transmission decelerating device according to claim 2, it is characterised in that：Discoidal output shaft is additionally provided with to install Component, the mounting disc component is realized under 3 Worm-gear assembly gyroaxises provided with 3 equally distributed deep groove ball bearings of circumference The support at end is fixed.