CN207750456U - One kind thickens joint of robot drive mechanism - Google Patents

Abstract

The utility model is related to joint deceleration fields, specifically one kind thickens joint of robot drive mechanism, it include shell, Double gear-ring, planet carrier is fixed on shell by crossed roller bearing, and planet is double planetary gears that thicken of no sun gear, and input terminal is that a pair can change the gear of speed ratio or spiral bevel gear is fixed on the shell by deep groove ball bearing, sun gear is removed and is used for cable penetration and reference axis for hollow shaft, line type objects pass through.The utility model is using no sun wheel drive, and simple and reliable for structure, controllable sideshake is driven, high rigidity, and reduction ratio range is big.

Description

One kind thickens joint of robot drive mechanism

Technical field

The utility model is related to joint deceleration field, specifically one kind thickens joint of robot drive mechanism.

Background technology

The prior art generally uses sun wheel drive, and existing retarder includes mainly cycloidal-pin wheel gear-box, common row The reduction ratio range of star gear-box, worm and gear gear-box and harmonic wave gear-box, ordinary single-stage and double pinions case is smaller, Worm and gear gearbox speed reduction is bigger, but the low application range of input speed is limited, and application is it is crucial that cycloidal pin at present It takes turns reduction box to drive for bent axle, transmission accuracy is higher, and mechanism is complicated, and processing technology requires high；Harmonic reduction case is face contact Multi-tooth meshing, it is Reed-type cup type ring, engagement position and output section palpus flexible deformation, structure shock resistance that close structure, which still exports, Sex-intergrade, therefore the requirement with the development of new technology and application to gear-box and joint constantly improves.

Invention content

Utility model aims to solve the above problem, the utility model is driven using planet carrier, provides a kind of knot Structure compact and reasonable, power density are high, the joint of robot drive mechanism that thickens of high rigidity and low backhaul difference, must for Double gear-ring There are two degree of freedom, therefore can be there are two rotating speed is exported, so the rotating speed of one gear ring of setting is zero, then rotating speed is by another tooth Circle output, the structure reduction ratio range is big, and modularized design easy to implement.

To achieve the above object, design one kind thickens joint of robot drive mechanism, passes through double planet gear drives that thicken Double planetary ring gears that thicken, including first order transmission chain, planet carrier, planet pin, double planetary gears that thicken, first thicken gear ring, Two thicken gear ring, casing assembly and output shaft, and the drive mechanism is no sun gear drive mechanism, and first order transmission chain is defeated Enter end, first gear ring that thickens is connected with exporting axis as output end, and the gear in first order transmission chain is engaged with planet carrier, planet carrier It is equipped with planet pin, planet carrier and planet pin to connect with double planetary gears that thicken, planet carrier drives planet pin to rotate along center, together When driving double thicken planetary gear rotation and revolution, double planetary gears that thicken engage first gear ring and second that thickens and thicken tooth respectively Circle, second gear ring that thickens are fixed on casing assembly, and the first thicken gear ring and output shaft passes through interference either fixed pin or spiral shell It tethers and is connected on output shaft.

The array centered on joint of robot drive mechanism that thickens is arranged.

Double planetary gears that thicken, planet carrier, planet pin, first thicken gear ring and second thicken gear ring constitute planetary system group Component, is arranged symmetrically centered on double planetary gears that thicken or non-central isogonism arrangement, meets Gear Planet Transmission law.

First thickens gear ring and output shaft connects and composes output mechanism, and passes through high rigidity crossed cylindrical roller bearing and support On person's shell.

Double planetary gears that thicken are the helical angle that continuous variation and consecutive variations occur along the thickness of teeth directional direction gear And pressure angle.

Planet pin in planet carrier can be parallel or angled relationship with transmission center.

First thicken gear ring and planet carrier constitutes fixed Combination structure and can be relatively rotated by bearing and planet carrier.

Sun gear is removed for no sun wheel construction and is used for cable penetration and correlation for hollow shaft by double planetary gears that thicken Axis, line type objects pass through.

Planet carrier is fixed on shell by crossed roller bearing, and crossed roller bearing uses sealing structure, and the left and right sides can It is separated with use grease or fat fat separates.

First order transmission chain speed ratio be i1, first thicken gear ring and second thicken gear ring the number of teeth be respectively z2, z4；It is double The planetary number of teeth that thickens is z1, z3, then overall ratio is i1*z1*z4/ (z1*z4-z2*z3).

Second gear ring that thickens is fixed on casing assembly, rotary speed zero.Double planetary gear linkages that thicken is opposite rotations Rotary speed is zero, can be by spline, and non-circular structure relative axial movement is with the sideshake for the gear ring that controls and thicken.

The utility model compared with the existing technology, the advantage is that：The prior art generally uses sun wheel drive, and this reality It is driven using planet carrier with novel, for Double gear-ring must there are two degree of freedom, therefore can be there are two rotating speed is exported, so setting The rotating speed of one gear ring is zero, then rotating speed is exported by another gear ring, using concatenated Gear Planet Transmission to obtain required mould Block designs reduction ratio, is driven by the first order and changes speed ratio to meet the different speed ratios requirement of same model, Gear Planet Transmission can be with Obtain higher power density；Beveloid gear may be implemented smaller hysterisis error and meet the requirement without sideshake, can also be real The output torque that bigger is obtained in present limited space, compared to roller cycloid and harmonic drive with more balance and stability Transmission, higher movement transmitting accuracy, relatively reliable technique, excellent gear surface heat treatment process provide reliable and stable Service life.

[description of the drawings]

Fig. 1 is the joint of robot drive mechanism schematic diagram that thickens in the utility model.

Fig. 2 is planetary system sub-assembly schematic diagram in thickeing joint of robot drive mechanism in the utility model.

In figure：It thickeing gear ring 1. casing assembly, 2. first, 3. pairs of planetary gears that thicken, 4. second thicken gear ring, and 5. First grade transmission chain, 6. driving mechanisms, 7. output shafts, 8. planet carriers, 9. planet pins, 10. bearings.

[specific implementation mode]

The utility model is described in further detail below, it should be understood that specific embodiment described herein is only used to It explains the utility model, is not used to limit the utility model.

Referring to Fig. 1, the utility model driving gear for robot joints case that thickens discloses first order drive chain case body case Component 1, first thickens gear ring 2, and second thickens gear ring 4, double planetary gears 3 that thicken, first order transmission chain 5, and driving mechanism 6 is defeated Shaft 7, planet carrier 8, planet pin 9, bearing 10.

Referring to Fig. 1, the first order transmission chain 5 is input terminal, and the first thicken gear ring 2 and output shaft 7 is connected as output end, Gear in first order transmission chain 5 is engaged with planet carrier 8, and planet carrier 8 is equipped with planet pin 9, planet carrier 8 and planet pin 9 with it is double The planetary gear 3 that thickens connects, and planet carrier 8 drives planet pin 9 to be rotated along center, at the same drive it is double thicken 3 rotation of planetary gear and Revolution, double planetary gears 3 that thicken engage first gear ring 2 and second that thickens and thicken gear ring 4 respectively, and second gear ring 4 that thickens is fixed on On casing assembly 1, the first thicken gear ring 2 and output shaft 7 either fixed pin or is bolted to output shaft 7 by interference.

Referring to Fig. 1-2, array is arranged centered on the joint of robot drive mechanism that thickens, and passes through double planet gear drives that thicken Double planetary ring gears that thicken.

Referring to Fig. 2, double planetary gears 3 that thicken, planet carrier 8, planet pin 9, first gear ring 2 and second that thickens thicken gear ring 4 Planetary system sub-assembly is constituted, is arranged symmetrically centered on double planetary gears that thicken or non-central isogonism is arranged, meet Gear Planet Transmission Law.

Referring to Fig. 1-2, first thickens tooth 2 and output shaft 7 connects and composes output mechanism, and is rolled by high rigidity crossing cylinder On sub- bearing supporter shell, double planetary gears that thicken are the continuous variation of thickness generation and continuous change along teeth directional direction gear The helical angle and pressure angle of change, planet pin in planet carrier can be parallel or angled relationship with transmission center, and first becomes Thick gear ring 2 and planet carrier 8 constitute fixed Combination structure and can be relatively rotated by bearing 10 and planet carrier 8, double rows that thicken Star gear is no sun wheel construction, and sun gear is removed and is passed through for cable penetration and reference axis, line type objects for hollow shaft, row Carrier 8 is fixed on shell by crossed roller bearing 10, and crossed roller bearing uses sealing structure, and oil may be used in the left and right sides Fat separates or fat fat separates.

First order transmission chain speed ratio be i1, first thicken gear ring and second thicken gear ring the number of teeth be respectively z2, z4；It is double The planetary number of teeth that thickens is z1, z3, then overall ratio is i1*z1*z4/ (z1*z4-z2*z3).

Embodiment one：

Driving mechanism 6 drives first order transmission chain 5, and the gear driving planet carrier 8 in transmission chain rotates, planet carrier 8 It drives planet pin 9 to be rotated along center, while driving double thicken 3 rotation of planetary gear and revolution；The gear ring 2 that thickens is fixed outside the enclosure Above shell component 1, rotating speed 0rpm.

First thickens gear ring under the driving of planetary gear, thickens gear ring and output shaft passes through interference or fixation due to first It sells or is bolted on output shaft 9, to there is an output rotating speed, double planetary gears 2 and first that thicken thicken gear ring, double changes Ensure that gap and the backhaul difference of output are minimum under the left and right of thick planetary gear 3, first order transmission speed ratio is i1, the tooth for the gear ring that thickens Number is respectively z2, z4；Double planetary numbers of teeth that thicken are z1, z3, then overall ratio is i1*z1*z4/ (z1*z4-z2*z3).

The tooth form of beveloid gear must be along the continuously guidable variation of teeth directional direction thickness direction, per a pair of meshed gears Respectively meet gear engagement principle of forming involute.

The prior art generally uses sun wheel drive, and the utility model is driven using planet carrier, must for Double gear-ring There are two degree of freedom, therefore can be there are two rotating speed is exported, so the rotating speed of one gear ring of setting is zero, then rotating speed is by another tooth Circle output.

Claims (10)

1. The joint of robot drive mechanism 1. one kind thickens, including first order transmission chain, planet carrier, planet pin, double planet teeth that thicken Wheel, first thicken gear ring, second thicken gear ring, casing assembly and output shaft, it is characterised in that the drive mechanism is without too Sun wheel drive mechanism, first order transmission chain are input terminal, and first gear ring that thickens is connected with exporting axis as output end, first order transmission Gear in chain is engaged with planet carrier, and planet carrier is equipped with planet pin, planet carrier and planet pin and is connect with double planetary gears that thicken, Planet carrier drives planet pin to be rotated along center, while driving double thicken planetary gear rotation and revolution, double planetary gears point that thicken Not Nie He first gear ring and second that thickens thicken gear ring, second gear ring that thickens is fixed on casing assembly, first thicken gear ring and Output shaft either fixed pin or is bolted to output shaft by interference.
2. The joint of robot drive mechanism 2. one kind as described in claim 1 thickens, it is characterised in that the joint of robot that thickens passes Array is arranged centered on dynamic structure.
3. The joint of robot drive mechanism 3. one kind as described in claim 1 thickens, it is characterised in that double planetary gears that thicken, row Carrier, planet pin, first thicken gear ring and second gear ring that thickens constitutes planetary system sub-assembly, centered on double planetary gears that thicken It is arranged symmetrically or non-central isogonism is arranged, meet Gear Planet Transmission law.
4. The joint of robot drive mechanism 4. one kind as described in claim 1 thickens, it is characterised in that first thickens gear ring and defeated Shaft connects and composes output mechanism, and by high rigidity crossed cylindrical roller bearing supporter's shell, double planetary gears that thicken For the helical angle and pressure angle of continuous variation and consecutive variations occur along the thickness of teeth directional direction gear.
5. The joint of robot drive mechanism 5. one kind as described in claim 1 thickens, it is characterised in that the planet pin in planet carrier Can be parallel or angled relationship with transmission center.
6. The joint of robot drive mechanism 6. one kind as described in claim 1 thickens, it is characterised in that first thickens gear ring and row Carrier constitutes fixed Combination structure and can be relatively rotated by bearing and planet carrier.
7. The joint of robot drive mechanism 7. one kind as described in claim 1 thickens, it is characterised in that double planetary gears that thicken are Without sun wheel construction, sun gear is removed and is passed through for cable penetration and reference axis, line type objects for hollow shaft.
8. The joint of robot drive mechanism 8. one kind as described in claim 1 thickens, it is characterised in that planet carrier is rolled by intersecting Sub- bearing is fixed on shell, and crossed roller bearing uses sealing structure, and grease may be used separately for the left and right sides or fat fat divides It opens.
9. The joint of robot drive mechanism 9. one kind as described in claim 1 thickens, it is characterised in that first order transmission chain speed ratio For i1, first thicken gear ring and second thicken gear ring the number of teeth be respectively z2, z4；Double planetary numbers of teeth that thicken are z1, Z3, then overall ratio is i1*z1*z4/ (z1*z4-z2*z3).
10. The joint of robot drive mechanism 10. one kind as described in claim 1 thickens, it is characterised in that second gear ring that thickens is fixed On casing assembly, rotary speed zero, double planetary gears linkages that thicken be relative rotational are zero, can by spline, Non-circular structure relative axial movement is with the sideshake for the gear ring that controls and thicken.