CN208686917U - Novel flexible offset-type gear robot retarder - Google Patents
Novel flexible offset-type gear robot retarder Download PDFInfo
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- CN208686917U CN208686917U CN201820870267.XU CN201820870267U CN208686917U CN 208686917 U CN208686917 U CN 208686917U CN 201820870267 U CN201820870267 U CN 201820870267U CN 208686917 U CN208686917 U CN 208686917U
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- wheel housing
- pin wheel
- retarder
- gear
- involute gear
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- 239000000463 material Substances 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 238000005253 cladding Methods 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000004048 modification Effects 0.000 claims description 3
- 238000012986 modification Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 24
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 6
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000011900 installation process Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- Retarders (AREA)
Abstract
The purpose of the utility model is to provide a kind of a kind of devices that the error that can be generated to manufacture, installation and the course of work compensates, and reduce return difference, while the error caused by the factors such as abrasion compensates.I.e. a kind of novel flexible offset-type gear robot retarder.The retarder increases total number of teeth in engagement, improves transmission accuracy.Flexible pin wheel housing becomes oval under the action of outer involute gear, i.e., stretches along outer involute gear centerline direction to elongated, vertical direction narrows, and is become narrow gradually by center along major diameter direction, most short at major diameter both ends.So when pin wheel housing does not deform can not meshed gears, deform in pin wheel housing and can engage after narrowing, to increase the total number of teeth in engagement of retarder, improve transmission accuracy.
Description
Technical field
The utility model relates to retarder fields to select the lesser material of coefficient of elasticity by increasing the eccentricity of crank axle
The structure of pin wheel housing is designed as the modes such as reticular structure and compensates the return difference generated in RV retarder turning course and transporting by material
The abrasion equal error generated during row.
Background technique
RV retarder is widely used in due to the features such as compact-sized, reduction ratio are big and good rigidity with industrial machine artificial generation
It is a kind of high-accuracy speed reduction gearing in the Mechanical & Electrical Transmission of table.RV retarder is actually to be driven by an involute planetary
A kind of double reduction transmission mechanism that mechanism and a cycloidal-pin wheel planetary gearing mechanism combination are constituted, the output shaft of RV retarder
For slow-speed shaft, output mechanism (i.e. planet carrier) mounted in three pairs of crank axle spring bearings thereon by pushing, in Cycloidal Wheel
Rotation vector is passed out with the speed ratio of 1:1.The driving error generated in entire transmission process can be reflected directly in output shaft
On, therefore the transmission accuracy of cycloidal-pin wheel is the key factor for determining RV retarder precision.
Transmission is mainly improved by the correction of the flank shape of cycloid gear for the performance for improving RV retarder transmission system at present
Precision, theoretically, the transmission between the cycloidal-pin wheel flank profil and the pinwheel gear teeth of master gear belong to tight mesh, still
Since manufacture, installation equal error can not be compensated, problems can be generated in transmission process；Therefore, add both at home and abroad in Cycloidal Wheel
The error generated in manufacture and installation process is compensated by this method of correction of the flank shape during work, guarantees reasonable radial backlash,
But this, which will lead to, can generate return difference in transmission process, seriously affect transmission accuracy.Foreign countries have successfully solved tooth form at present and have repaired
The technical problems such as shape, accuracy of manufacture control, process parameter optimizing and technical indicator pre-control, it is external using this series technique as guarantor
Close core technology, to its theoretical and experimental study, we can not be used for reference, and seriously restrict the development of China's RV retarder, domestic machine
Retarder import in device people it is in the majority.
Utility model content
The purpose of the utility model is to provide a kind of errors that can be generated to manufacture, installation and the course of work to compensate
A kind of device, reduce return difference, while compensating the error caused by factors such as abrasion.
To realize the utility model aim and the technical solution adopted is that a kind of such, novel flexible offset-type gear mechanism
Device people's retarder forms RV retarder by the prime and a rear class of planet-gear speed reducer.
It is characterized by: in the rear class assembling structure, by the cycloidal planetary gear speed reducer rear class of existing RV retarder
Pin wheel housing replaces with flexible pin wheel housing, Cycloidal Wheel replaces with involute gear, crank axle eccentricity increases.
The inner ring of the flexibility pin wheel housing has the flange of circular ring shape.The annular flange is provided with several mesh, forms needle
The ring mesh structure of tooth shell inner ring.The reticular structure has elasticity.The annular flange is towards flexible needle tooth shell center
On circumference, there is interior involute gear teeth.
The involute gear has the outer involute gear teeth engaged with interior involute gear teeth.
The crank axle eccentricity increases, so that the installation of interior involute gear teeth and outer involute gear teeth exists
Interference squeezes the flexible pin wheel housing, so that it becomes oval.
Further, the flexible pin wheel housing is made of composite material, can be divided into two layers inside and outside.The internal layer includes circular ring shape
Flange portion.
Further, the inner layer material is selected from 20CrMnTi 30CrMnSi material.The cladding material is selected from 65Mn
Spring steel.
Further, the involute gear is displacement involute gear, the variation range of modification coefficient be -0.2mm~+
0.5mm。
Further, the crank axle eccentricity increases relative to the eccentricity of the standard crank axle in RV retarder, increases
Range is 0.05m--0.2mm, is flexibly chosen according to retarder specification,
Further, the crank axle eccentricity is L1.The eccentricity of standard crank axle in RV retarder is L2.
The novel flexible offset-type gear robot retarder is not made to change in involute planet gear running part, therefore
It is not described, the working principle and the course of work of the compensation return difference of novel flexible offset-type gear robot retarder are as follows
It is described:
The working principle of the compensation return difference of novel flexible offset-type gear robot retarder is as follows: firstly, the difference of structure
The different difference for determining novel flexible Compensating Robot retarder Yu tradition RV retarder, novel flexible Intensity Compensation for Robots slow down
The crank axle eccentricity of device increases 0.1mm, and by the cooperation with flexible pin wheel housing, during installation, pin wheel housing generates deformation, by justifying
Shape becomes ellipse, and at this time since pin wheel housing produces deformation, therefore pin wheel housing has elastic force during retarder operation,
The intersection direction of plane and the outer involute gear flank of tooth that two outer involute gear center lines of pin wheel housing engagement are constituted is needle
The direction of major diameter, the as direction of elastic force after tooth hull shape becomes；Secondly as the side of two sections of eccentric shaft portion bias of crank axle
To symmetrical along axle center, at 180 ° of angle, two outer involute gears and crank axle axle center are in approximately the same plane, retarder
The major diameter of pin wheel housing can also move, direction of rotation and crank axle with the movement of two outer involute gears during the motion
Direction of rotation it is identical, elastic force can be rotated with the rotation of pin wheel housing major diameter, guarantee elastic force always with the direction of major diameter
It is identical, therefore pin wheel housing major diameter direction is always with the presence of to two outer involute gear pressure.
The novel flexible offset-type gear robot retarder course of work is as described below: RV speed reducer first passes around the first order
Transmission, i.e. involute planet gear are driven, and the axis where sun gear is as input shaft, and the axis where planetary gear is as output shaft
(i.e. crank axle)；It is driven into the second level, input shaft at this time is crank axle, in the eccentric part of crank axle, passes through rolling
Bearing installs outer involute gear, and when crank axle is continuously moved along a direction, outer involute gear is always for pin wheel housing
There are certain pressures, are constant, novel flexible offset-type gear robot at this time on the length ideal of pin wheel housing major diameter at this time
The transmission accuracy of retarder and the transmission accuracy of traditional RV retarder are identical；When needing deflecting, general RV retarder
Return difference can be generated, influences transmission accuracy, and be in and do not contacted with pin wheel housing in generation this time interval hypocycloid wheel of return difference
State；And there is elastic forces for the pin wheel housing of novel flexible offset-type gear robot retarder, and when generating return difference, needle tooth
The major diameter of shell can become smaller under the action of elastic force, and compensation generates this section of gap of return difference, to improve transmission accuracy.It is novel
The design main purpose of flexible compensation type gear robot retarder is to solve the problems, such as that robot retarder generates return difference, and right
Manufacturing and fixing error compensates.In addition, pin wheel housing is become flexible pin wheel housing, also have the advantage that
1, increase total number of teeth in engagement, improve transmission accuracy.Flexible pin wheel housing becomes oval under the action of outer involute gear,
It stretches along outer involute gear centerline direction to elongated, vertical direction narrows, and by center along major diameter direction
It becomes narrow gradually, it is most short at major diameter both ends.So when pin wheel housing does not deform can not meshed gears, pin wheel housing deform
And can be engaged after narrowing, to increase the total number of teeth in engagement of retarder, improve transmission accuracy.
2, reduce noise.Ordinary robot's retarder component is rigid element, and noise can be generated when colliding, novel
The pin wheel housing of flexible compensation humanoid robot retarder is flexible member, it is possible to play the role of buffering and absorbing, to subtract
Small noise.
Having the technical effect that for the utility model is unquestionable:
1) using flexible pin wheel housing, the return difference etc. generated under the action of pin wheel housing elastic force, during compensation campaign is mentioned
High transmission accuracy；
2) radial error occurred in manufacture and installation process can be effectively compensated, the deformation of pin wheel housing is one continuous
Process error can be compensated when there is radial error in manufacture and installation process, reduce disqualification rate；
3) increase total number of teeth in engagement, improve transmission accuracy；
4) absorbing is buffered, noise is reduced.
Detailed description of the invention
Fig. 1 is flexible compensation humanoid robot retarder general assembly drawing；
Fig. 2 is flexible pin wheel housing figure；
Fig. 3 is outer involute gear figure；
Fig. 4 is crank shaft structure figure.
In figure:
Fig. 1: flexible pin wheel housing 101, rigid disk 102, planetary gear 103, crank axle 104, outer involute gear 105 are defeated
Placing 106；
Fig. 2: pin wheel housing reticular structure 201, interior involute gear teeth 202；
Fig. 3: outer involute gear teeth 301, crank axis hole 302 export disk hole 303；
Fig. 4: spline 401, eccentric shaft a402, eccentric shaft b403.
Specific embodiment
Below with reference to embodiment, the utility model is described in further detail, but should not be construed the above-mentioned master of the utility model
Topic range is only limitted to following embodiments.It is common according to this field in the case where not departing from the above-mentioned technical idea of the utility model
Technological know-how and customary means make various replacements and change, should all include within the protection scope of the present utility model.
A kind of novel flexible offset-type gear robot retarder, after the prime of planet-gear speed reducer and one
Grade composition RV retarder.
It is characterized by: in the rear class assembling structure, by the cycloidal planetary gear speed reducer rear class of existing RV retarder
Pin wheel housing replaces with flexible pin wheel housing, Cycloidal Wheel replaces with involute gear, crank axle eccentricity increases.
The inner ring of the flexibility pin wheel housing has the flange 201 of circular ring shape.The annular flange 201 is provided with several mesh,
Form the ring mesh structure of pin wheel housing inner ring.The reticular structure has elasticity.The annular flange 201 is towards flexible needle tooth
On the circumference at shell center, there is interior involute gear teeth 202.In embodiment, the flexibility pin wheel housing is made of composite material,
It can be divided into two layers inside and outside.The internal layer includes 201 part of flange of circular ring shape, is gear transmission section, i.e. conventional needle wheel part
To conjugate involute gear replacement, modification coefficient range -0.2mm~+0.5mm.Inner layer material be selected from 20CrMnTi or
30CrMnSi material, is processed as internal gear.The outer layer is flexible portion.Cladding material is selected from 65Mn spring steel, guarantees material
The coefficient of elasticity of material is smaller, while being processed as reticular structure in outer layer, to reduce the coefficient of elasticity of material, increases fatigue life.
The involute gear has the outer involute gear teeth 301 engaged with interior involute gear teeth 202.It is described
Involute gear is displacement Profile Shift Coefficient of Involute Gear range -0.2mm~+0.5mm.
The crank axle eccentricity increases, so that the peace of interior involute gear teeth 202 and outer involute gear teeth 301
There is interference in dress, the flexible pin wheel housing is squeezed, so that it becomes oval.In embodiment, the crank axle eccentricity relative to
The eccentricity of standard crank axle in RV retarder increases, and increase range is 0.05m~0.2mm, flexible according to retarder specification
It chooses.
It is RV retarder general assembly drawing referring to Fig. 1, Fig. 1, novel flexible Intensity Compensation for Robots retarder is when the first order is driven
Identical as traditional RV retarder, wherein planetary gear 103 is the output par, c of first order transmission, and importation does not make table in figure
Show；Planetary gear is while the output par, c being driven as the first order, and the importation as second level transmission, planet tooth
Wheel 103 is connected by spline 401 with crank axle 104, and power passes to crank axle 104 by planetary gear 103, and crank axle passes through
Tapered roller bearing is connect with rigid disk 102, output panel 106, as the support section of crank axle 104, rigid disk 102 and output
Disk 106 is bolted to connection, and as shown in Figure 1, rigid disk 102 and output panel 106 are located at two outer involute gears
Two sides；Referring to Fig. 3, by the output disk hole 303 in outer involute gear 105, make rigid disk 102 and output panel 106 can be with
It is connected, rigid disk 102 is connect by angular contact ball bearing with flexible pin wheel housing 101 with output panel 106, and flexible pin wheel housing 101 is
It can be used as the support section of rigid disk 102 and output panel 106, (two outer involute gears are phases to two outer involute gears 105
Mutually symmetrical motion process is identical, 180 ° of carrier phase shift degree) crank axle 104 is separately mounted to by roller bearing
Eccentric position, referring to Fig. 3, crank axis hole 302 is outer involute gear 105 and 104 connecting hole of crank axle；Crank axle 104 revolves
Two outer involute gears 105 are driven to revolve around the center line of flexible pin wheel housing by eccentric effect when turning, it is at this moment soft
Property pin wheel housing 101 in internal gear and two outer involute gears 105 be intermeshed, since pin wheel housing is fixed part, institute
With, for outer involute gear 105 around center line rotation, 104 axle center of crank axle and outer 105 center of involute gear be not conllinear,
So the drive lower crank axis 104 in outer involute gear 105 makes rotating motion around 101 center line of pin wheel housing, in crank axle 104
Drive under, the rigid disk 102 and output panel 106 being connected by tapered roller bearing with crank axle are rotated around center line
Movement, while output panel 106 is used as power delivery section output power.Referring to fig. 2, flexible pin wheel housing 101 passes through reticular structure
201 and the material of flexible pin wheel housing 101 determine that flexible pin wheel housing 101 has preferable elasticity, referring to fig. 4, crank axle 104
In eccentric shaft a402 and eccentric shaft b403 eccentricity compared with standard design increase 0.1mm, due to outer involute gear 105 distinguish
It is mounted on this two parts, so the chain reaction generated is that the outer involute gear 105 track diameter that revolves becomes larger, and flexible needle tooth
The internal diameter of shell 101 will generate interference when constant leads to the failure of installation, so, flexible pin wheel housing 10 is round by deformation
Become ellipse and solves the problems, such as this, under the action of elasticity, interior involute gear teeth 202 and outer involute gear teeth
Always there is pressure between 301, when generating return difference, i.e., interior involute gear teeth 202 is produced with outer involute gear teeth 301
Gap has been given birth to, so as to cause driving error, at this point, flexible pin wheel housing 101 makes elliptical major diameter shorten under the action of elastic force, from
And make the presence of pressure between interior involute gear teeth 202 and outer involute gear teeth 301 again, it is missed to compensate for revolution
Difference.
Claims (5)
1. a kind of novel flexible offset-type gear robot retarder, by the prime and a rear class of a planet-gear speed reducer
Form RV retarder；
It is characterized by: in the rear class assembling structure, by the needle tooth of the cycloidal planetary gear speed reducer rear class of existing RV retarder
Shell replaces with flexible pin wheel housing, Cycloidal Wheel replaces with involute gear, crank axle eccentricity increases；
The inner ring of the flexibility pin wheel housing has annular flange (201)；The annular flange (201) is provided with several mesh, is formed
The ring mesh structure of pin wheel housing inner ring；The reticular structure has elasticity；The annular flange (201) is towards flexible pin wheel housing
On the circumference at center, have interior involute gear teeth (202)；
The involute gear has the outer involute gear teeth (301) engaged with interior involute gear teeth (202)；
The crank axle eccentricity increases, so that the peace of interior involute gear teeth (202) and outer involute gear teeth (301)
There is interference in dress, the flexible pin wheel housing is squeezed, so that it becomes oval.
2. a kind of novel flexible offset-type gear robot retarder according to claim 1, it is characterised in that: described soft
Property pin wheel housing be made of composite material, can be divided into inside and outside two layers；The internal layer includes flange (201) part of circular ring shape.
3. a kind of novel flexible offset-type gear robot retarder according to claim 2, it is characterised in that: in described
Layer material is selected from 20CrMnTi or 30CrMnSi；The cladding material is selected from 65Mn spring steel.
4. a kind of novel flexible offset-type gear robot retarder according to claim 1, it is characterised in that: it is described gradually
Involute gear is displacement involute gear；The variation range of modification coefficient is -0.2mm~+0.5mm.
5. a kind of novel flexible offset-type gear robot retarder according to claim 1, it is characterised in that: the song
Arbor eccentricity increases 0.1mm relative to the eccentricity of the standard crank axle in RV retarder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820870267.XU CN208686917U (en) | 2018-06-06 | 2018-06-06 | Novel flexible offset-type gear robot retarder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820870267.XU CN208686917U (en) | 2018-06-06 | 2018-06-06 | Novel flexible offset-type gear robot retarder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208686917U true CN208686917U (en) | 2019-04-02 |
Family
ID=65877957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820870267.XU Withdrawn - After Issue CN208686917U (en) | 2018-06-06 | 2018-06-06 | Novel flexible offset-type gear robot retarder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208686917U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679190A (en) * | 2018-06-06 | 2018-10-19 | 重庆大学 | Novel flexible offset-type gear robot retarder |
| CN113404841A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Flexible gear structure of harmonic speed reducer |
-
2018
- 2018-06-06 CN CN201820870267.XU patent/CN208686917U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108679190A (en) * | 2018-06-06 | 2018-10-19 | 重庆大学 | Novel flexible offset-type gear robot retarder |
| CN108679190B (en) * | 2018-06-06 | 2024-05-24 | 重庆大学 | Novel flexible compensation type gear robot speed reducer |
| CN113404841A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Flexible gear structure of harmonic speed reducer |
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Granted publication date: 20190402 Effective date of abandoning: 20240524 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190402 Effective date of abandoning: 20240524 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |