CN208778635U - Firm gear, retarder and robot - Google Patents
Firm gear, retarder and robot Download PDFInfo
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- CN208778635U CN208778635U CN201821536040.8U CN201821536040U CN208778635U CN 208778635 U CN208778635 U CN 208778635U CN 201821536040 U CN201821536040 U CN 201821536040U CN 208778635 U CN208778635 U CN 208778635U
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- firm gear
- gear
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Abstract
The utility model provides a kind of firm gear, retarder and robot, robot includes the retarder being arranged between the first component and second component, retarder includes firm gear, flexbile gear and harmonic oscillator, firm gear includes firm gear ontology and contacts portion, firm gear ontology is located at the periphery in the portion that contacts, the portion of contacting surrounds flexbile gear and places position, and the portion of contacting is equipped with interior gear teeth group；Firm gear ontology is made of the first metal material, and the portion of contacting is made of the second metal material, is contacted between portion and firm gear ontology using mixing casting integrated molding；First metal material is light metal alloy material, and the relative density of the second metal material is greater than the relative density of the first metal material.Firm gear ontology accounts for that volume is larger, and the quality for reducing firm gear is maximized using light metal alloy material, and contacting part using the steel that relative density is greater than light metal alloy material can guarantee strength and stiffness；Firm gear ontology and contact between portion be integrally formed to guarantee integral strength.
Description
Technical field
The utility model relates to retarding device technical fields, and in particular to a kind of firm gear, retarder and apply the retarder
Robot.
Background technique
Harmonic gear reducer be it is a kind of by firm gear, flexbile gear and make flexbile gear occur radial deformation wave producer form, it is humorous
Wave gear reduction unit has many advantages, such as that high-precision, high-bearing capacity, transmission ratio are big, and small in size, light-weight, is widely used in electricity
The industries such as son, space flight and aviation, robot, lathe.
With the requirement of robot more and more high speed, lightweight has become the emphasis of robot of lower generation development, because gently
Quantization is to reduce the necessary means of machinery inertial, not only power output can be made lower, can also reach the requirement of high acceleration and deceleration.
Existing harmonic gear reducer the problem is that, traditional firm gear integrally uses cast steel or cast iron materials to cast
It forms, and in cup type harmonic gear reducer, the biggish firm gear of volume more occupies the main by weight of retarder entirety, to be humorous
Wave gear reduction unit has biggish weight, is unable to satisfy lightweight requirements.
Utility model content
The first of the utility model is designed to provide a kind of proof strength, rigidity and light-weighted firm gear.
The second of the utility model is designed to provide a kind of proof strength, rigidity and light-weighted retarder.
The third of the utility model is designed to provide a kind of robot with light-weighted retarder.
The firm gear of the offer of the first mesh of the utility model includes firm gear ontology and contacts portion, and firm gear ontology, which is located at, to abut
The periphery of auxiliary section, the portion of contacting surround flexbile gear and place position, and the radially inner side for contacting portion, which is provided with towards flexbile gear, to be placed
The interior gear teeth group of position；Firm gear ontology is made of the first metal material, and the portion of contacting is made of the second metal material, is abutted
It is integrally formed between auxiliary section and firm gear ontology；First metal material be light metal alloy material, the second metal material it is opposite
Density is greater than the relative density of the first metal material.
By above scheme as it can be seen that firm gear ontology is larger for installing, connecting and accounting for volume, therefore use light metal alloy material
Such as aluminium alloy, magnesium alloy maximization reduce the quality of firm gear, contact part using relative density and are greater than light metal alloy material
The steel of material can guarantee strength and stiffness；Firm gear ontology and contacting uses the casting integrated molding of mixing to reduce dress between portion
With error and guarantee integral strength.
Further embodiment is that the first metal material is aluminum alloy materials, magnesium alloy materials or magnesium-aluminium alloy material.
Another further embodiment is that the first metal material is aluminium lithium alloy material.
Another further embodiment is that the first metal material is magnesium lithium alloy material.
Therefore the light metals such as aluminium, magnesium and its alloy have excellent physical and chemical properties, meet installation, connection
Mechanical requirements under the premise of make firm gear lightweight.
Further embodiment is that the second metal material is cast steel material.
Another further embodiment is that the second metal material is cast iron materials.
Therefore the portion of contacting cooperates for being driven, therefore uses cast steel material or cast iron materials with proof strength
And rigidity.
Further embodiment is that the radially inner side of firm gear ontology is provided with inner peripheral surface, contacts portion along firm gear ontology diameter
It is raised in outside inner peripheral surface to firm gear ontology axis direction.
Therefore there is more stable mechanical state from the portion of contacting of the inner peripheral surface evagination of firm gear ontology.
Further embodiment is that inner peripheral surface is along the radial cambered surface to the firm gear ontology indent of firm gear ontology.
Therefore the inner peripheral surface of indent is set to reduce the volume of firm gear ontology, make the further lightweight of firm gear.
Further embodiment is, in the axial direction of firm gear, firm gear ontology is provided with ring flange in the periphery of first end.
Therefore setting ring flange is for realizing being coupled between firm gear and flexbile gear or firm gear and robot upper part
Part is coupled.
Further embodiment is, in the axial direction of firm gear, the portion of contacting is located at the first end of firm gear ontology.
Further embodiment is, in the axial direction of firm gear, the portion of contacting includes being raised in other than the end face of firm gear ontology
Lug boss.
Therefore the convex setting for contacting portion makes the thickness of firm gear ontology is opposite to reduce, and keeps firm gear further light
Quantization.
Further embodiment is that the radial outside of lug boss has outer surface, and the periphery where outer surface, which is located at, to abut
Between auxiliary section and firm gear ontology.
The retarder of the offer of the second mesh of the utility model includes firm gear, flexbile gear and harmonic oscillator, the outer peripheral surface of flexbile gear
On be provided with external gear teeth group, harmonic oscillator is connect with flexbile gear；Firm gear uses such as above-mentioned firm gear, and flexbile gear is located at flexbile gear and places position
In, external gear teeth group is engaged with interior gear teeth group.
From above scheme as it can be seen that the portion of contacting is used for transmission, therefore use the biggish material of relative density to protect
Demonstrate,prove strength and stiffness；Firm gear ontology is larger for installing, connecting and accounting for volume, therefore use light metal alloy material such as aluminium alloy,
The maximizations such as magnesium alloy reduce the quality of firm gear, have many advantages, such as intensity, rigidity height and lightweight using the retarder of the firm gear.
The robot that the utility model third purpose provides, including the first component and relative to the second of first component rotation
Component, robot further include such as above-mentioned retarder, and retarder is connected between the first component and second component.
By above scheme as it can be seen that having many advantages, such as that the robot of above-mentioned retarder has intensity, rigidity high and lightweight.
Detailed description of the invention
Fig. 1 is the structure chart of the utility model firm gear embodiment.
Fig. 2 is the sectional view of the utility model firm gear embodiment.
Fig. 3 is the enlarged drawing in Fig. 2 at A.
The following is a further explanation of the present invention with reference to the accompanying drawings and embodiments.
Specific embodiment
Referring to Fig. 1 and Fig. 2, Fig. 1 is the structure chart of the utility model firm gear embodiment, and Fig. 2 is that the utility model firm gear is real
Apply the sectional view of example.Firm gear includes firm gear ontology 1 and contacts portion 2, and firm gear ontology 1 uses mixing casting with portion 2 is contacted
Integrated molding is made, firm gear ontology 1 is located at the periphery for contacting portion 2, contacts portion 2 and surrounds flexbile gear placement position 100, abutting is matched
The radially inner side in conjunction portion 2 is provided with the interior gear teeth group 21 that position 100 is placed towards flexbile gear.The radially inner side of firm gear ontology 1 is provided with
Inner peripheral surface 102, inner peripheral surface 102 are to contact portion 2 radially to axis direction radially to the cambered surface of 1 indent of firm gear ontology
It is raised in outside inner peripheral surface 102；The radial outside of firm gear ontology 1 is provided with ring flange 11, is provided on ring flange 11 along firm gear axis
To perforative through-hole 111, ring flange 11 and contacts portion 2 and be arranged in the axial first end of firm gear ontology 1.
It is the enlarged drawing in Fig. 2 at A in conjunction with Fig. 3, Fig. 3.In the axial direction of firm gear, the first end of firm gear ontology 1 has end
Face 101, the lug boss 22 for contacting portion 2 are raised in other than the end face 101 of firm gear ontology 1, and lug boss 22, which has, is located at radial direction
The outer surface 201 in outside.In the radial section view direction of firm gear (Fig. 2 and Fig. 3 show), firm gear outer surface 201 axially extend and
Extended surface 291 is formed, extended surface 291 and outer surface 201 are located on same periphery, and firm gear is matched using extended surface 291 as abutting
Transition position between conjunction portion 2 and firm gear ontology 1.
In the present embodiment, firm gear ontology 1 is made of the first metal material, is contacted portion 2 and is used the second metal material
It being made, cast iron materials or cast steel material can be selected in the second metal material, such as FDC800, FDC700 or HT250 cast iron materials, second
Metal material then selects the light metal alloys material such as aluminium alloy, magnesium alloy, magnesium alloy, magnesium lithium alloy or aluminium lithium alloy, such as
ADC12 casting aluminium material.The relative density of first metal material is less than the second metal material, since firm gear ontology 1 accounts for firm gear volume
Maximum a part, firm gear weight can effectively be mitigated using lesser first metal material of relative density, realize lightweight；And it supports
It connects auxiliary section 2 and uses the second metal material to guarantee hardness, strength and stiffness requirement.
For firm gear provided by the utility model for forming retarder, retarder includes firm gear, flexbile gear and harmonic oscillator, soft
External gear teeth group is provided on the outer peripheral surface of wheel, harmonic oscillator is connect with flexbile gear；Firm gear uses such as above-mentioned firm gear, flexbile gear to be located at
Flexbile gear in the middle part of firm gear is placed in position, and the external gear teeth group of flexbile gear is engaged with the interior gear teeth group of firm gear.Retarder is for forming machine
People, the artificial industry mechanical arm of machine, robot include the first arm (first component) being mutually rotatablely connected and the second arm (
Two components), retarder is arranged between the first arm and the second arm, and the robot with above-mentioned retarder has intensity, rigid
The advantages that degree height and lightweight.
Finally it is emphasized that the above is only the preferred embodiment of the present invention, it is not limited to this reality
With novel, for those skilled in the art, the utility model can have various change and change, all in the utility model
Spirit and principle within, any modification, equivalent substitution, improvement and etc. done should be included in the protection model of the utility model
Within enclosing.
Claims (14)
1. firm gear, including firm gear ontology and the portion that contacts, the firm gear ontology is located at the periphery for contacting portion, described
The portion of contacting surrounds flexbile gear and places position, and the radially inner side for contacting portion is provided with towards the flexbile gear and places in position
Gear teeth group；
It is characterized by:
The firm gear ontology is made of the first metal material, and the portion of contacting is made of the second metal material, described
Contact portion and described this body by integral forming of firm gear；
First metal material is light metal alloy material, and the density of second metal material is greater than first metal material
The density of material.
2. firm gear according to claim 1, it is characterised in that:
First metal material is aluminum alloy materials, magnesium alloy materials or magnesium-aluminium alloy material.
3. firm gear according to claim 1, it is characterised in that:
First metal material is aluminium lithium alloy material.
4. firm gear according to claim 1, it is characterised in that:
First metal material is magnesium lithium alloy material.
5. firm gear according to any one of claims 1 to 4, it is characterised in that:
Second metal material is cast steel material.
6. firm gear according to any one of claims 1 to 4, it is characterised in that:
Second metal material is cast iron materials.
7. firm gear according to any one of claims 1 to 4, it is characterised in that:
The radially inner side of the firm gear ontology is provided with inner peripheral surface, and the portion that contacts is along the radial to institute of the firm gear ontology
Firm gear ontology axis direction is stated to be raised in outside the inner peripheral surface.
8. firm gear according to claim 7, it is characterised in that:
The inner peripheral surface is the radial cambered surface to the firm gear ontology indent along the firm gear ontology.
9. firm gear according to any one of claims 1 to 4, it is characterised in that:
In the axial direction of the firm gear, the firm gear ontology is provided with ring flange in the periphery of first end.
10. firm gear according to claim 9, it is characterised in that:
In the axial direction of the firm gear, the portion of contacting is located at the first end of the firm gear ontology.
11. firm gear according to any one of claims 1 to 4, it is characterised in that:
In the axial direction of the firm gear, the portion of contacting includes the protrusion being raised in other than the end face of the firm gear ontology
Portion.
12. firm gear according to claim 11, it is characterised in that:
The radial outside of the lug boss has an outer surface, periphery where the outer surface be located at it is described contact portion with
Between the firm gear ontology.
13. retarder, including firm gear, flexbile gear and harmonic oscillator, it is provided with external gear teeth group on the outer peripheral surface of the flexbile gear, it is described
Harmonic oscillator is connect with the flexbile gear；
It is characterized by:
The firm gear uses such as described in any item firm gears of the claims 1 to 12, and the flexbile gear is located at flexbile gear placement
In position, the external gear teeth group is engaged with the interior gear teeth group.
14. robot, including the first component and relative to the second component of first component rotation, it is characterised in that:
The robot further includes the retarder as described in the claims 13, and the retarder is connected to the first component
Between the second component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821536040.8U CN208778635U (en) | 2018-09-19 | 2018-09-19 | Firm gear, retarder and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821536040.8U CN208778635U (en) | 2018-09-19 | 2018-09-19 | Firm gear, retarder and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208778635U true CN208778635U (en) | 2019-04-23 |
Family
ID=66161948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821536040.8U Active CN208778635U (en) | 2018-09-19 | 2018-09-19 | Firm gear, retarder and robot |
Country Status (1)
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| CN (1) | CN208778635U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113969967A (en) * | 2021-10-26 | 2022-01-25 | 松山湖材料实验室 | Rigid wheel and preparation method thereof, harmonic reducer and application thereof |
| CN114087338A (en) * | 2021-11-17 | 2022-02-25 | 亚超特工业有限公司 | Lightweight harmonic gear device |
| CN114922953A (en) * | 2022-07-20 | 2022-08-19 | 国茂精密传动(常州)有限公司 | Lightweight structure, rigid wheel, machining method and harmonic speed reducer |
-
2018
- 2018-09-19 CN CN201821536040.8U patent/CN208778635U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113969967A (en) * | 2021-10-26 | 2022-01-25 | 松山湖材料实验室 | Rigid wheel and preparation method thereof, harmonic reducer and application thereof |
| CN113969967B (en) * | 2021-10-26 | 2023-11-10 | 松山湖材料实验室 | Rigid wheel, preparation method thereof, harmonic reducer and application thereof |
| CN114087338A (en) * | 2021-11-17 | 2022-02-25 | 亚超特工业有限公司 | Lightweight harmonic gear device |
| CN114922953A (en) * | 2022-07-20 | 2022-08-19 | 国茂精密传动(常州)有限公司 | Lightweight structure, rigid wheel, machining method and harmonic speed reducer |
| CN114922953B (en) * | 2022-07-20 | 2022-10-25 | 国茂精密传动(常州)有限公司 | Lightweight structure, rigid wheel, machining method and harmonic speed reducer |
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