CN206816755U - A kind of transmission decelerating device - Google Patents
A kind of transmission decelerating device Download PDFInfo
- Publication number
- CN206816755U CN206816755U CN201621466119.9U CN201621466119U CN206816755U CN 206816755 U CN206816755 U CN 206816755U CN 201621466119 U CN201621466119 U CN 201621466119U CN 206816755 U CN206816755 U CN 206816755U
- Authority
- CN
- China
- Prior art keywords
- wheel body
- worm
- worm wheel
- decelerating device
- transmission decelerating
- 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
- Gear Transmission (AREA)
Abstract
A kind of transmission decelerating device, including worm component, Worm-gear assembly and the output shaft being arranged in casing, input shaft is additionally provided with the worm component.The Worm-gear assembly global approximation is spherical, is combined by the lower worm wheel body and upper worm wheel body of near hemispherical；Discoidal middle revolving body is provided between lower worm wheel body and upper worm wheel body, is extended out in the axial direction from the top of the bottom of lower worm wheel body and upper worm wheel body respectively provided with gyroaxis, the lower end and upper end of gyroaxis in the axial direction.Transmission decelerating device provided by the utility model, it is compact-sized, gearratio is big, precision is high, fretting wear is small, it is easy to carry out industrialized production manufacture, at the same it is cheap, and the precise heavy-load for having big speed ratio requirement and volumetric constraint suitable for industrial robot joint etc. is driven occasion.
Description
Technical field
The utility model belongs to mechanical engineering technical field, is related to a kind of transmission device, more particularly to a kind of to be applied to work
The transmission decelerating device of industry robot.
Background technology
Transmission decelerating device is the critical component of industrial robot, is used primarily between drive mechanism and executing agency and carries out
Match rotating speed and transmit torque, so as to realize the purpose for reducing rotating speed and increasing torque.At present in Industrial Robot Technology field,
Include worm-gear speed reducer, harmonic wave speed reducing machine and planetary reducer etc. through commonly used transmission decelerating device.However, worm gear snail
Bar speed reducer structure is heavy, and transmission efficiency is low, and precision is poor, and input is not coaxial with exporting, and operation stability is poor；Harmonic reduction
The core component flexbile gear of machine produces cyclic deformation in operation, easily occurs fatigue damage, and the impact resistance of complete machine and just
Property is poor, and input speed is limited；Although planetary reducer overall performance is excellent, equipment operation demand is disclosure satisfy that, to portion
The requirement of the selection of part raw material, manufacturing process and machining accuracy etc. is very high, causes equipment price expensive.
Utility model content
A kind of the defects of the purpose of this utility model is to overcome prior art, there is provided the transmission of high accuracy, big speed ratio
Deceleration device, have it is compact-sized, outward appearance is compact, not easy to wear, bearing capacity is strong, manufacturing process is simple, cheap
The features such as, suitable for the occasion of the precise heavy-loads such as industrial robot, big speed ratio.
To achieve the above object, the utility model employs following technical scheme：
A kind of transmission decelerating device, including worm component, Worm-gear assembly and the output shaft being arranged in casing, the worm screw
Input shaft is additionally provided with component.The Worm-gear assembly global approximation is spherical, lower worm wheel body and upper worm wheel body by near hemispherical
Combine；Discoidal middle revolving body is provided between lower worm wheel body and upper worm wheel body, in the axial direction provided with gyroaxis, revolution
The lower end and upper end of axle extend out from the top of the bottom of lower worm wheel body and upper worm wheel body in the axial direction respectively.
Further, the lower worm wheel body is each provided with the groove of a circulation, the full spheroidal of groove lining with upper worm wheel body
The first worm-gear toothing.
Further, the groove is respectively by being arranged on the spiral grooves of upper worm wheel body or lower worm gear external surface and being arranged on
Internal guiding groove is end to end, forms enclosed construction.
Further, first worm-gear toothing is spherical or almost spherical, can be embedded in the trench and circulate in the trench
Move back and forth.
Further, the middle revolving body 3 is evenly distributed in the smooth groove being used cooperatively with rotary disc assembly.
Preferably, the gyroaxis is split-type structural, and the both ends of gyroaxis are fastened on the upper of worm wheel body respectively
The lower section of square and lower worm wheel body.
Preferably, the gyroaxis is split-type structural, the both ends of the gyroaxis top with upper worm wheel body and lower snail respectively
It is integrally formed below wheel body.
Preferably, the gyroaxis is monolithic construction, and the upper worm wheel body, middle revolving body and lower worm wheel body are from top to bottom
It is fixed on successively on gyroaxis.
A kind of transmission decelerating device provided by the utility model, it is compact-sized, gearratio is big, precision is high, fretting wear is small,
Be easy to carry out industrialized production manufacture, it is while cheap, suitable for industrial robot joint etc. have big speed ratio requirement and
The precise heavy-load transmission occasion of volumetric constraint.
Brief description of the drawings
Fig. 1 is a kind of overall structure profile of transmission decelerating device of the utility model；
Fig. 2 is a kind of another overall structure sectional view of transmission decelerating device of the utility model；
Fig. 3 is a kind of overall structure diagram of transmission decelerating device of the utility model；
Fig. 4 is a kind of top view of transmission decelerating device of the utility model；
Fig. 5 is a kind of cut-away view of the worm component of transmission decelerating device of the utility model；
Fig. 6 is a kind of cut-away view of the worm tooth of transmission decelerating device of the utility model；
Fig. 7 is a kind of cut-away view of the casing of transmission decelerating device of the utility model；
Fig. 8 is a kind of overall structure diagram of the Worm-gear assembly of transmission decelerating device of the utility model；
Fig. 9 is a kind of cut-away view of the Worm-gear assembly of transmission decelerating device of the utility model；
Figure 10 is a kind of another sectional view of the Worm-gear assembly of transmission decelerating device of the utility model；
Figure 11 is a kind of top view of the Worm-gear assembly of transmission decelerating device of the utility model；
Figure 12 is a kind of overall structure diagram of the worm-gear toothing fixing body of transmission decelerating device of the utility model；
Figure 13 is a kind of overall structure diagram of the rotary disc assembly of transmission decelerating device of the utility model；
Figure 14 is a kind of front view of the rotary disc assembly of transmission decelerating device of the utility model；
Figure 15 is a kind of overall structure diagram of the output shaft mounting disc component of transmission decelerating device of the utility model；
Figure 16 is a kind of overall structure diagram of the chassis assembly of transmission decelerating device of the utility model；
Figure 17 is a kind of structural representation of the output shaft of transmission decelerating device of the utility model.
Embodiment
The embodiment provided below in conjunction with accompanying drawing 1 to 17, further illustrate a kind of transmission decelerating device of the utility model
Embodiment.A kind of transmission decelerating device of the utility model is not limited to the following description.
As shown in Figures 1 to 4, the utility model provides a kind of transmission decelerating device, including worm component 1, casing 2,
Worm-gear assembly 3, output shaft 4, rotary disc assembly 5, output shaft mounting assembly 6, chassis assembly 7.The transmission decelerating device is integrally near
Like cylinder, the input shaft 11 of output shaft 4 and worm component 1 is vertically positioned above and below transmission decelerating device, with transmission
The axis of deceleration device overlaps.
As shown in Figure 5 to Figure 6, the worm component 1 include input shaft 11, lower house 12, the first bolt 3, upper shell 14,
First worm tooth 15.The lower house 12 and upper shell 14 are near hemispherical, stitched together, are formed and accommodate Worm-gear assembly
The spherical hollow space 16 of 3 almost spherical；The upper opening of the spherical hollow space 16, bottom pass through the discoidal envelope of worm screw base 17
Close, the lower section of worm screw base 17 is provided with input shaft 11.The lower house 12, upper shell 14, spherical hollow space 16, worm screw base 17 and defeated
The axis for entering axle 11 overlaps.The inner side of lower house 12 and upper shell 14 is provided with the first worm tooth being used cooperatively with Worm-gear assembly 3
15, first worm tooth 15 is helical tooth.Preferably, lower house 12 and upper shell 14 by multiple first bolts 13 by first
Worm tooth 15 is fixed on lower house 12 and the inner side of upper shell 14.Advantage of doing this is that separately machined by the first worm tooth 15
After obtaining tooth form, then by the first bolt 13 upper shell 14 and lower house 12 are combined with the first worm tooth 15 by bolt hole 18
It is fixed, spiral helicine first worm tooth 15 can be overcome to be located at spherical hollow space 16 and be integrally formed the big problem of difficulty of processing, simultaneously
Effectively improve the machining accuracy of the first worm tooth 15.
As shown in fig. 7, the casing 2 generally near cylindrical, by discoidal bottom base 23, top base 26, and
Columnar middle pedestal 25 forms, and is connected by multiple second bolts 24.The bottom base 23 between two parties be provided with to it is recessed go out
Round platform, the first thrust bearing 21 is provided with inside round platform, for supporting the worm screw base 17 of worm component 1；Round platform is also set between two parties
There is the first angular contact ball bearing 22, for supporting the input shaft 11 of worm component 1.The top base 26 is provided between two parties to be used to support
First upper bearing (metal) 27 of output shaft 4；Equally distributed second upper bearing (metal) 28 of 3 circumferences is additionally provided with top base 26, for supporting 3
The upper end of gyroaxis 36 of individual Worm-gear assembly 3.After the completion of device overall package, the input shaft 11 of only output shaft 4 and worm component 1 divides
Do not extended perpendicularly out above and below casing 2, miscellaneous part is installed in the inside of casing 2.By using the case of cylinder
Body 2, and power inputted, outbound course overlaps with the geometry axis direction of device, and geometry axle center is overlapped with center of gravity
Design, it is compact to be advantageous to device compact overall structure, operates steadily.
As shown in Fig. 8 to Figure 12, the Worm-gear assembly 3 is combined by the lower worm wheel body 31 and upper worm wheel body 33 of near hemispherical
Into almost spherical, discoidal middle revolving body 32 is provided between lower worm wheel body 31 and upper worm wheel body 33, is provided with back in the axial direction
Rotating shaft 36, the lower end and upper end of gyroaxis 36 extend out from the bottom of almost spherical and top in the axial direction respectively.It is described
Lower worm wheel body 31 is each provided with the groove of a circulation with upper worm wheel body 33；Specifically, the groove of the lower worm wheel body 31 is by setting
Put outer surface spiral grooves and be arranged on inside guiding groove it is end to end and forms, groove lining expires the of spheroidal
One worm-gear toothing 34, the first worm-gear toothing 34 can iterative motions in the trench；The groove structure of the upper worm wheel body 33 and lower snail
Wheel body 31 is similar.As a kind of specific embodiment, upper worm wheel body 33 is connected by hexagon socket head cap screw 37 with middle revolving body 32,
Middle revolving body 32 is connected by the 5th bolt 30 with lower worm wheel body 31.As another specific embodiment, gyroaxis 36 can
Using absolute construction, a single part is designed to；Also split-type structural can be used.During using split-type structural, revolution
The top of axle 36 is arranged on the top of upper worm wheel body 33 by multiple 3rd bolts 35, the bottom of gyroaxis 36 can both use with it is upper
Portion's identical embodiment, it can also be integrally formed with lower worm wheel body 31.Middle revolving body 32 is evenly distributed in matches somebody with somebody with rotary disc assembly 5
Close the smooth groove used.Worm-gear toothing dress body 39 is additionally provided with the lower worm wheel body 31 and upper worm wheel body 33, for plant produced
During assembled or maintenance, first worm-gear toothing 34 is installed in the groove of downward worm wheel body 31 and upper worm wheel body 33；Embodiment is such as
Shown in Fig. 9, lower worm wheel body 31 is provided with the mounting groove being used cooperatively with worm-gear toothing dress body 39, the mounting groove and lower worm wheel body 31
Groove UNICOM；When assembled, first by installing the first worm-gear toothing 34 in the groove of the downward worm wheel body 31 of mounting groove, then again will
Worm-gear toothing dress body 39 is inserted in mounting groove to realize the closing of groove, finally realizes that worm-gear toothing fills body using multiple 4th bolts 38
Fixation between 39 and mounting groove；The embodiment of upper worm wheel body 33 is similar.
The utility model uses 3 Worm-gear assemblies 3 to realize big pass using similar few teeth difference engagement system with worm component 1
Dynamic ratio output.The flank of tooth of first worm tooth 15 is formed by ball envelope, and uses internal messing mode, and the first worm-gear toothing 34 uses
Spinning ball shape and the reciprocal rolling gear motion for making to circulate along the groove of lower worm wheel body 31 and upper worm wheel body 33, so that will
Sliding friction between worm gear and worm screw is changed into rolling friction, so as to reduce running resistance.
As shown in Figure 13 to Figure 14, the rotary disc assembly 5 is disc, by 53 groups of the lower rotary table 51 and top rotary table of circle
Into.Be uniformly provided with the second worm-gear toothing 52 along cylindrical circumferential direction between lower rotary table 51 and top rotary table 53, second worm-gear toothing 52 with
Engagement on the middle revolving body 32 of Worm-gear assembly 3, realizes power transfer.Preferably, second worm-gear toothing 52 is also for can
With the spherical structure of rotation.The middle part of rotary disc assembly 5 is provided with through hole, for the output shaft 4 that is connected.As a kind of specific real
Mode, lower rotary table 51 and top rotary table 53 is applied to be connected by the realization of multiple 6th bolts 54.
As shown in figure 15, the output shaft mounting assembly 6 is disc, between two parties provided with downwardly projecting cylindrical output
Mounting disc 61, and for installing the second angular contact ball bearing 63 of output shaft 4.It is equal that 3 circumferences are additionally provided with mounting disc component 6
The deep groove ball bearing 62 of even distribution, for supporting the lower end of gyroaxis 36.The deep groove ball bearing 62 and the top base 26 of casing 2
Second upper bearing (metal) 28 coordinates, and realizes the axially position of Worm-gear assembly 3.Engaged simultaneously using 3 Worm-gear assemblies 3 with worm component 1
The mode of work, backlash and thus derivative dynamic equilibrium problems can be effectively eliminated, so that it is guaranteed that device even running.
As shown in figure 16, the chassis assembly 7 is disc, including discoid chassis 71 and is arranged on the middle part of chassis 71
The second thrust bearing 73.Second thrust bearing 73 is used to support output mounting disc 61.The chassis assembly 7 passes through the 7th
Bolt 72 is fixed on the worm screw base 17 of worm component 1.
As shown in Figure 17 and Fig. 1, the output shaft 4 is variable diameters cylinder, connects the pedestal 26 of casing 2 respectively from top to bottom
On the first upper bearing (metal) 27, the through hole at the middle part of rotary disc assembly 5, the second angular contact ball bearing 63 in output shaft mounting assembly 6.Make
For a kind of specific embodiment, the output shaft 4 can be connected by key and rotary disc assembly 5.Preferably, the output shaft
4 and input shaft 11 may be configured as hollow structure, be on the one hand easy to lay electric wire, on the other hand can also make device overall structure
It is compacter, reasonable.
A kind of erection method of transmission decelerating device provided by the utility model, as depicted in figs. 1 and 2.The worm screw group
Part 1 is mounted and positioned on the bottom base 23 of casing 2 by the first angular contact ball bearing 22 and the first thrust bearing 21, the bottom
Disk component 7 is fastened on the worm screw base 17 of worm component 1 by the 7th bolt 72, and the output shaft mounting assembly 6 is logical
The second thrust bearing 73 is crossed on the chassis 71, Worm-gear assembly 3 is provided with altogether 3, lower end by deep groove ball bearing 62 with it is defeated
Shaft mounting disc 61 is connected, and the upper end of Worm-gear assembly 3 is connected by the second upper bearing (metal) 28 with top base 26, Worm-gear assembly 3 and worm screw
Component 1 forms meshing relation, and the lower end of the output shaft 4 is arranged on output shaft mounting disc 61 by the second angular contact ball bearing 63
On, the upper end of output shaft 4 is arranged on top base 26 by the second upper bearing (metal) 28, and rotary disc assembly 5 is formed with middle revolving body 32 and nibbled
Conjunction relation.
The operation principle and process of a kind of transmission decelerating device provided by the utility model are as follows：Pass through the first thrust bearing
21 and first angular contact ball bearing 22 be mounted and positioned in after worm component 1 on bottom base 23 obtains power input, worm screw group
First worm tooth 15 of part 1 engages with the first worm-gear toothing 34 of Worm-gear assembly 3 and drives three Worm-gear assemblies 3 to rotate, and realizes
Primary speed-down；The groove of the middle revolving body 32 of Worm-gear assembly 3 is engaged and driven defeated with the rotary disc assembly 5 on output shaft 4
Shaft 4 rotates, and realizes that the second level is slowed down.By double reduction, finally realize the big speed ratio of transmission decelerating device, high torque,
Low friction loss, high accuracy operation.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (8)
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 Worm-gear assembly global approximation is spherical, by near hemispherical lower worm wheel body and
Upper worm wheel body combines；Discoidal middle revolving body is provided between lower worm wheel body and upper worm wheel body, is provided with back in the axial direction
Rotating shaft, the lower end and upper end of gyroaxis are extended from the top of the bottom of lower worm wheel body and upper worm wheel body in the axial direction respectively
Come.
A kind of 2. transmission decelerating device according to claim 1, it is characterised in that：The lower worm wheel body and upper worm wheel body are each
From the groove provided with a circulation, the first worm-gear toothing of the full spheroidal of groove lining.
A kind of 3. transmission decelerating device according to claim 2, it is characterised in that：The groove is respectively by being arranged on upper snail
The spiral grooves of wheel body or lower worm gear external surface and the guiding groove for being arranged on inside are end to end, form enclosed construction.
A kind of 4. transmission decelerating device according to claim 3, it is characterised in that：First worm-gear toothing is spherical or near
It is seemingly spherical, it can be embedded in the trench and do iterative motion in the trench.
A kind of 5. transmission decelerating device according to any claim in Claims 1-4, it is characterised in that：In described
Revolving body 3 is evenly distributed in the smooth groove being used cooperatively with rotary disc assembly.
A kind of 6. transmission decelerating device according to any claim in Claims 1-4, it is characterised in that：Described time
Rotating shaft is split-type structural, and the both ends of gyroaxis are fastened on the top of worm wheel body and the lower section of lower worm wheel body respectively.
A kind of 7. transmission decelerating device according to any claim in Claims 1-4, it is characterised in that：Described time
Rotating shaft is split-type structural, and the both ends of gyroaxis below the top of upper worm wheel body and lower worm wheel body respectively with being integrally formed.
A kind of 8. transmission decelerating device according to any claim in Claims 1-4, it is characterised in that：Described time
Rotating shaft is monolithic construction, and the upper worm wheel body, middle revolving body and lower worm wheel body are from top to bottom fixed on gyroaxis successively
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621466119.9U CN206816755U (en) | 2016-12-29 | 2016-12-29 | A kind of transmission decelerating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621466119.9U CN206816755U (en) | 2016-12-29 | 2016-12-29 | A kind of transmission decelerating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206816755U true CN206816755U (en) | 2017-12-29 |
Family
ID=60749994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621466119.9U Expired - Fee Related CN206816755U (en) | 2016-12-29 | 2016-12-29 | A kind of transmission decelerating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206816755U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259900A (en) * | 2019-06-20 | 2019-09-20 | 成都中良川工科技有限公司 | A kind of slewing equipment for transmission, the drive apparatus including it and drive method |
-
2016
- 2016-12-29 CN CN201621466119.9U patent/CN206816755U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259900A (en) * | 2019-06-20 | 2019-09-20 | 成都中良川工科技有限公司 | A kind of slewing equipment for transmission, the drive apparatus including it and drive method |
| CN110259900B (en) * | 2019-06-20 | 2021-04-06 | 成都中良川工科技有限公司 | Slewing device for transmission, transmission equipment comprising slewing device and transmission method |
| CN113090726A (en) * | 2019-06-20 | 2021-07-09 | 成都中良川工科技有限公司 | Low-loss rotating device |
| CN113090725A (en) * | 2019-06-20 | 2021-07-09 | 成都中良川工科技有限公司 | Rotary transmission device and transmission method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106499775A (en) | A kind of transmission decelerating device | |
| CN104565217B (en) | Cycloidal-pin gear speed reducer and robot | |
| US10948048B2 (en) | Thickness-variable transmission structure for robot joint | |
| CN106015468A (en) | RV speed reducer with crossed roller bearings | |
| CN111022608B (en) | Two-stage sine hammer-shaped roller oscillating tooth speed reducer | |
| CN207750454U (en) | Combined type cycloid planetary speed reducer | |
| CN106499774B (en) | A kind of transmission decelerating device | |
| CN206092829U (en) | Two side doublestage inner gearing bi -arc bevel gear nutation reduction gears | |
| CN206419433U (en) | A kind of transmission decelerating device | |
| CN108019470A (en) | Combined type cycloid planetary speed reducer | |
| CN110195767A (en) | A kind of closed hypocycloid movable teeth reducer | |
| CN206816755U (en) | A kind of transmission decelerating device | |
| CN206929330U (en) | A kind of transmission decelerating device | |
| CN206929280U (en) | A kind of transmission decelerating device | |
| CN206708350U (en) | A kind of transmission decelerating device | |
| CN206419434U (en) | A kind of transmission decelerating device | |
| CN206571908U (en) | A kind of transmission decelerating device | |
| CN109578540A (en) | A kind of straight-tooth planetary gear ball Combined speed reducer | |
| CN104565216A (en) | Cycloidal pin wheel speed reducer and robot | |
| CN206458785U (en) | A kind of variable paddle speed reducer | |
| CN108533681A (en) | The plano-convex of parallel axes Inside gear drive engages pure rolling gear mechanism | |
| CN211423283U (en) | Rotary harmonic gear reducer | |
| CN204904273U (en) | Roller envelope inner gearing worm and wormwheel transmission | |
| CN101749372A (en) | Spiral movable labor-saving speed reducer | |
| CN206364652U (en) | A kind of mechanical swing arm with boosting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171229 Termination date: 20181229 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |