CN209839073U - Flexible transmission module, speed reduction transmission device and robot - Google Patents
Flexible transmission module, speed reduction transmission device and robot Download PDFInfo
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- CN209839073U CN209839073U CN201920354710.2U CN201920354710U CN209839073U CN 209839073 U CN209839073 U CN 209839073U CN 201920354710 U CN201920354710 U CN 201920354710U CN 209839073 U CN209839073 U CN 209839073U
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Abstract
The utility model relates to a transmission structure field discloses a flexible transmission module, speed reduction transmission and robot, flexible transmission module is including inner rotor (8.1) of coaxial arrangement each other and outer rotor (8.2) around this inner rotor (8.1) periphery, evenly arranged in the clearance between inner rotor (8.1) and outer rotor (8.2) multiunit spring (8.3) that set up in pairs, each spring (8.3) connect respectively for its central axis along relative radial linear direction that is the angle extend and be in elastic transmission between inner rotor (8.1) and outer rotor (8.2). The utility model discloses a flexible transmission module is through making multiunit spring equipartition set up and extending along linear direction respectively, can effectively reduce each spring and take place wobbling possibility in drawing and pressing the deformation, can effectively avoid gear mechanism, motor etc. of connecting to bear and come from external rigidity and strike.
Description
Technical Field
The utility model relates to a transmission structure specifically relates to a flexible transmission module. On this basis, the utility model discloses still relate to a speed reduction transmission and robot that have this flexible transmission module.
Background
A reducer is a common reduction transmission device for transmitting power between a power source and an action member and reducing the power output from the power source to an appropriate rotation speed and torque. For example, various motions of the robot are usually driven by motors, and therefore, it is often necessary to provide a reduction gear at a joint to reduce and transmit power output from the motors to a motion member.
However, in the actual working process, the joint is subjected to the action of impact alternating load for a long time, which can generate adverse effects on the gear and the motor in the speed reducer, cause phenomena of tooth breakage, motor damage and the like, and restrict the service life of the product.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the impact load that prior art exists and influencing speed reduction gearing and the problem of former driving link life, providing a flexible transmission module, this flexible transmission module can cushion the transmission of impact load to better transmission stability has.
In order to achieve the above object, an aspect of the present invention provides a flexible transmission module, including the inner rotor that is coaxial each other and the outer rotor that surrounds in this inner rotor periphery, evenly arrange the spring that the multiunit set up in pairs in the clearance between inner rotor and the outer rotor, each the spring is connected respectively for its central axis extends and is in along the relative radial linear direction who is the angle between inner rotor and the outer rotor elastic transmission.
Preferably, the inner rotor has a plurality of first stop blocks uniformly distributed along the circumferential direction and respectively extending outwards along the radial direction, the outer rotor is provided with a plurality of second stop blocks respectively positioned between two adjacent first stop blocks, and the spring is connected between the second stop blocks and the corresponding first stop blocks.
Preferably, the first stopper and the second stopper are respectively formed with a boss, and the spring is connected around the boss and abutted between the first stopper and the second stopper.
Preferably, the inner rotor has three first stoppers, and the outer rotor is provided with three second stoppers.
Preferably, the inner rotor has a cylindrical body portion, the first stopper extends radially outward from the body portion, and an end of the body portion is connected with a connecting portion arranged perpendicular to the axial direction, the connecting portion is formed with a transmission notch, and one end of the outer rotor away from the connecting portion is connected with a transmission flange.
Preferably, a plurality of mounting grooves are formed on an inner circumferential wall of the outer rotor, and the second stopper has a triangular cross section in a direction perpendicular to an axial direction and is fixedly mounted into the mounting grooves by a first bolt passing through a side wall of the outer rotor.
The utility model discloses the second aspect provides a speed reduction transmission, this speed reduction transmission include the planetary gear mechanism and the above-mentioned flexible transmission module that coaxial setting and transmission are connected.
Preferably, the planetary gear mechanism includes a sun gear for transmission connection with a power source, a plurality of planet gears arranged around an outer periphery of the sun gear through a planet carrier, and a ring gear provided relatively fixedly, and the inner rotor is fixedly connected to the planet carrier through a second bolt extending along a rotation axis.
Preferably, the reduction gear has a first bearing housing connected to the ring gear by a third bolt and a gear shaft connectable to the power source, the sun gear is integrally formed at one end of the gear shaft, and the gear shaft is pivotally mounted in the first bearing housing by a first bearing; and/or the reduction gear has a second bearing housing connected to the ring gear by a third bolt, the planet carrier having a stepped shaft extending towards the flexible transmission module and being pivotally mounted in the second bearing housing by a second bearing.
Another aspect of the present invention provides a robot having the above flexible transmission module or reduction gear.
Through the technical scheme, the utility model discloses a flexible transmission module utilizes the multiunit to set up in pairs including the spring between rotor and the external rotor transmission, can play the cushioning effect by the spring when one of them receives impact load, can avoid gear mechanism, motor etc. that another person connects to bear the rigid impact that comes from the external world. Furthermore, the utility model discloses a make multiunit spring equipartition set up and extend along linear direction respectively, can effectively reduce each spring and take place wobbling possibility in drawing and pressing the deformation, ensure buffering impact load's effect.
Drawings
FIG. 1 is an exploded view of a preferred embodiment of a speed reduction drive according to the present invention;
FIG. 2 is a cross-sectional view of the creeper gear arrangement of FIG. 1;
FIG. 3 is a top plan view of the planetary gear mechanism of the reduction transmission of FIG. 1;
FIG. 4 is an exploded view of the planetary gear mechanism of FIG. 3;
FIG. 5 is a front view of the gear shafts of the planetary gear mechanism of FIG. 3;
FIG. 6 is a perspective view of a carrier of the planetary gear mechanism of FIG. 3;
FIG. 7 is a top plan view of a flexible drive module for use in the underdrive arrangement of FIG. 1;
FIG. 8 is an exploded view of the flexible drive module of FIG. 7;
FIG. 9 is a perspective view of the inner rotor of the flexible drive module of FIG. 7;
FIG. 10 is a perspective view of an outer rotor of the flexible drive module of FIG. 7;
fig. 11 and 12 are perspective views of the second stopper of the flexible transmission module of fig. 7, viewed from different perspectives.
Description of the reference numerals
1-a planetary gear mechanism; 11-sun gear; 12-a planet carrier; 13-a planet wheel; 14-a gear ring; 15-gear shaft; 2-a second bolt; 3-a third bolt; 4-a first bearing seat; 5-a first bearing; 6-a second bearing block; 7-a second bearing;
8-a flexible transmission module; 8.1-inner rotor; 8.11-body portion; 8.12-linker; 8.12A-drive notch; 8.2-outer rotor; 8.21-mounting groove; 8.3-spring; 8.4-first stop; 8.5-second stop; 8.6-boss; 8.7-driving flange; 8.8-first bolt; 8.9-flange bolts; 9 a-9 c-clamp spring.
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
In the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, left, and right" generally means upper, lower, left, and right as illustrated with reference to the accompanying drawings; "inner and outer" refer to the inner and outer relative to the profile of the components themselves. The utility model provides a flexible transmission module and speed reduction transmission for transmitting rotation (rotation) power, it can cushion in the transmission process and come from external impact load. For this purpose, the main transmission elements of the flexible transmission module and the reduction gear have a rotation axis (axis of rotation) during the transmission, and the axial direction, the circumferential direction and the radial direction all use this rotation axis as a reference.
In addition, for the sake of clarity, the present invention uses the terms "first", "second", etc. to distinguish different elements of the same kind, and these differences do not limit the differences in structure, function, material, etc. but merely mean that they do not constitute the same element in the whole module and device.
In order to facilitate better understanding of the present invention, the following description will be made first of all of the mounting structure, the transmission path, etc. of a reduction transmission device provided with a flexible transmission module, and then the present invention will be described with emphasis on the preferred structure and the operation principle of the flexible transmission module. On this basis, the technical personnel in the field can be with the utility model discloses a flexible transmission module and reduction gearing are applied to multiple suitable occasion, reach purpose such as buffering impact load, stable transmission.
Referring to fig. 1 and 2, a reduction gear transmission according to a preferred embodiment of the present invention includes a planetary gear mechanism 1 and a flexible transmission module 8. In use, the planetary gear mechanism 1 can receive the rotation power from a power source such as a motor, and output the rotation power through the flexible transmission module 8 after reducing the speed and increasing the torque.
As shown in fig. 3 and 4 in conjunction, the planetary gear mechanism 1 includes a gear shaft 15 integrally formed with the sun gear 11, a plurality of planetary gears 13 disposed around the sun gear 11, and a ring gear 14 fixedly disposed with respect to the first bearing housing 4 and the second bearing housing 6 described later, the planetary gears 13 being mounted on a carrier 12. The meshing relationship of the gears and the pivotal connection relationship of the planet gears 13 and the planet carrier 12 in the planetary gear mechanism 1 are well known in the gear transmission field, and can be understood according to the following description of the working process, and the detailed description is omitted here. The planet wheel 13 may be pivoted to the planet carrier 12 by riveting, with a pin as a rotation axis. One end of the gear shaft 15 is formed as a sun gear 11, and the other end thereof may be formed with a connection structure for driving and connecting a power source, the illustrated connection structure is a D-shaped counter bore (not labeled), and an output shaft of a motor may be matched with the connection structure to drive the sun gear 11 to rotate, so as to output power through the planet carrier 12 after being subjected to speed reduction transmission by the planet gear 13.
Fig. 5 shows the gear shaft 15 in the planetary gear mechanism 1, and fig. 6 shows the carrier 12, which respectively receive the rotational power transmitted from the power source and output the rotational power after deceleration. In the reduction gear shown in fig. 2, the radial and axial positions of the gear shaft 15 and the carrier 12 are defined by the first bearing 5 and the second bearing 7, respectively.
Wherein the first bearing 5 is installed in a stepped section of the first bearing housing 4, a snap spring groove is formed in the first bearing housing 4, whereby the axial displacement of the first bearing 5 can be restricted by the snap spring 9a installed in the snap spring groove. The gear shaft 15 shown in fig. 5 is pivotally mounted by the first bearing 5, and is formed with a circlip groove 15.1 and a flange portion 15.2 spaced from each other on an outer peripheral surface. Therefore, at the position which is flush with the clamp spring 9a, the clamp spring 9b which is clamped to the clamp spring groove 15.1 and supported on the inner ring of the first bearing 5 limits the gear shaft 15 from moving downwards in the axial direction; the inner ring of the first bearing 5 is supported at the other end on the flange portion 15.2 to stop the gear shaft 15 from moving axially upwards. Thereby, the gear shaft 15 and the sun gear 11 thereon are stably pivotally mounted in the first bearing housing 4 by the first bearing 5.
The second bearing 7 is installed in a stepped section of the second bearing housing 6, and a snap spring groove is also formed in the second bearing housing 6, whereby the axial displacement of the second bearing 7 can be restricted by the snap spring 9c installed in the snap spring groove. The planet carrier 12 shown in fig. 6 has a flange plate, which may be formed with a through-hole 12.4 for the passage of a pin for connecting the planet wheels 13, and a stepped shaft 12.1 extending from the flange plate. The planet carrier 12 may be supported on the inner race of the second bearing 7 and is pivotally mounted in the second bearing housing 6 by the engagement of the stepped shaft 12.1 with the second bearing 7. The end face of the stepped shaft 12.1 may be formed with a square fitting block 12.2 drivingly connected to the flexible drive module 8 described later and a screw hole 12.3 for fixing the axial position thereof.
As shown in fig. 7 and 8, the reduction gear transmission can output the power transmitted from the carrier 12 to the operating member by the flexible transmission module 8, and can absorb the impact load from the operating member. In particular, in the preferred embodiment shown, the flexible transmission module comprises an inner rotor 8.1 and an outer rotor 8.2 arranged coaxially with each other, the outer rotor 8.2 surrounding the inner rotor 8.1 and being formed with a gap. Three sets of springs 8.3 arranged in pairs are evenly arranged in the gap. Each spring 8.3 is connected to an inner rotor 8.1 and an outer rotor 8.2, respectively, and the central axis of the spring 8.3 extends in a linear direction at an angle to the radial direction. In this flexible transmission module 8, the rotational force transmitted by one of the inner rotor 8.1 and the outer rotor 8.2 can be elastically transmitted to the other by the spring 8.3. Therefore, when the impact load is applied to the speed reduction transmission device, if the impact load is received in the working process, the impact load is transmitted to the inner rotor 8.1 from the outer rotor 8.2 through the spring 8.3 and then transmitted to the planetary gear mechanism 2 and the motor, the spring 8.3 can absorb partial energy in the process and generate a buffer effect on the impact force, so that the damage of the impact load on the gear and the motor is reduced, and the service life is prolonged.
Especially, in the utility model provides an among the flexible transmission module 8, be provided with multiunit spring 8.3, can play the cushioning effect to the impact load that corresponds to two direction of rotation. By having the central axis of each spring 8.3 extend in a straight line, the transmission thereof can be reliably utilized, and the probability of swinging during tension-compression deformation is greatly reduced, ensuring efficient buffering of impact loads.
It will be appreciated that the springs 8.3 provided by the flexible transmission module 8 of the present invention may not be limited to three groups, depending on the size and configuration of the components, etc. In combination with the structural features described subsequently, the illustrated preferred embodiment allows a good compromise between transmission stability and good assembly by providing three sets of springs 8.3. In order to facilitate the central axis of the spring 8.3 to extend along a straight line, as shown in fig. 9 to 12, the inner rotor 8.1 has a plurality of first stoppers 8.4 uniformly distributed along the circumferential direction and respectively extending radially outward, and the outer rotor 8.2 has a plurality of second stoppers 8.5 respectively located between two adjacent first stoppers 8.4. Thereby, a spring 8.3 may be connected between the first stop 8.4 and the second stop 8.5 facilitating the transfer of the rotational force. In this preferred embodiment, the spring 8.3 is only connected in abutment between the first 8.4 and second 8.5 stops, for which purpose a boss 8.6 is formed on each of the first 8.4 and second 8.5 stops to define the abutment position of the spring 8.3, facilitating assembly.
Specifically, the inner rotor 8.1 may have a cylindrical body portion 8.11, the first stopper 8.4 extends radially outward from the body portion 8.11, and a connecting portion 8.12 arranged perpendicular to the axial direction is connected to an end of the body portion 8.11, and a transmission notch 8.12A is formed on the connecting portion 8.12. The planet carrier 12 of the planetary gear 1 has a square mating block 12.2 fitted into the transmission notch 8.12A, so that the inner rotor 8.1 can be driven to rotate.
A plurality of mounting grooves 8.21 are formed on the inner peripheral wall of the outer rotor 8.2, and the second stopper 8.5 has a triangular cross section in a direction perpendicular to the axial direction to be fitted into the mounting grooves 8.21. A screw hole 8.52 can be formed on one side of the second stopper 8.5 facing the bottom of the groove, and a first bolt 8.8 penetrates through the side wall of the outer rotor 8.2 to fixedly mount the outer rotor into the mounting groove 8.21. The first stop 8.4 and the corresponding second stop 8.5 thus have abutment faces which are opposite one another in parallel, so that the spring 8.3 can be held in a straight line for reliable telescopic deformation during the transmission. It should be noted that the triangular cross section of the second stopper 8.5 of the present invention is not strictly limited to the triangular shape in the geometric sense, and the bottom corner portion of the second stopper embedded in the mounting groove 8.21 may be formed as an arc-shaped chamfer, so that the mounting can be performed smoothly.
In the illustrated preferred embodiment provided with the above-mentioned first and second stops 8.4, 8.5, the gap between the inner rotor 8.1 and the outer rotor 8.2, where the spring 8.3 is arranged, is formed as a space with an approximately sector-shaped cross section. In other alternative embodiments, the springs 8.3 may also be directly connected to the inner and outer circumferential surfaces of the inner rotor 8.1 and the outer rotor 8.2, and the purpose of stable elastic transmission can also be achieved by reasonably arranging multiple sets of springs.
Further, a transmission flange 8.7 may be connected to an end of the outer rotor 8.2 remote from the planetary gear mechanism 1, and the transmission flange 8.7 may be connected to an external working component. In the illustrated preferred embodiment, the drive flange 8.7 is secured to the outer rotor 8.2 by three flange bolts 8.9 threaded to the portion of the outer rotor 8.2 between adjacent mounting slots 8.21.
The flexible transmission module 8 is in transmission connection with the planetary gear mechanism 1 to form a speed reduction transmission device. Wherein, an axial through hole can be formed in the transmission notch 8.12A of the inner rotor 8.1, a screw hole 12.3 is formed on the square matching block 12.2 of the planet carrier 12, and the second bolt 2 passes through the inner rotor 8.1 to be fixed to the planet carrier 12 in a threaded manner. The first bearing seat 4, the gear ring 14 of the planetary gear mechanism 1 and the second bearing seat 6 can be fixedly connected together through the third bolt 3, so that the whole speed reduction transmission device is integrated into a modularized whole, the speed reduction transmission device can be applied to joints of robots and the like, the external impact load can be buffered, and the gears and the motors are prevented from being damaged too fast.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the utility model, the technical proposal of the utility model can be simply modified, for example, the first stop dog 8.4 can be formed separately from the inner rotor 8.1 and fixedly connected into a whole, and the second stop dog 8.5 can be formed integrally on the inner peripheral surface of the outer rotor 8.2; the spring 8.3 may be connected between the inner rotor 8.1 and the outer rotor 8.2 in other ways; the gear shaft 15 may be separate from the sun gear 11 and drivingly connected thereto, etc., including various specific features, combined in any suitable manner. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations. These simple variations and combinations should also be considered as disclosed in the present invention, all falling within the scope of protection of the present invention.
Claims (10)
1. The flexible transmission module comprises an inner rotor (8.1) and an outer rotor (8.2), wherein the inner rotor (8.1) and the outer rotor (8.2) are coaxially arranged, the outer rotor surrounds the outer periphery of the inner rotor (8.1), a plurality of groups of springs (8.3) which are arranged in pairs are uniformly arranged in a gap between the inner rotor (8.1) and the outer rotor (8.2), and each spring (8.3) is respectively connected with a central axis of the spring to extend along a linear direction which is at an angle relative to the radial direction and is in elastic transmission between the inner rotor (8.1) and the outer rotor (8.2).
2. The flexible transmission module according to claim 1, characterized in that the inner rotor (8.1) has a plurality of first stops (8.4) which are distributed uniformly in the circumferential direction and each extend radially outwards, the outer rotor (8.2) is provided with a plurality of second stops (8.5) which are each located between two adjacent first stops (8.4), and the springs (8.3) are connected between the second stops (8.5) and the respective first stops (8.4).
3. The flexible transmission module according to claim 2, characterized in that the first stop (8.4) and the second stop (8.5) are each formed with a boss (8.6), around which boss (8.6) the spring (8.3) is connected in abutment between the first stop (8.4) and the second stop (8.5).
4. The flexible transmission module according to claim 2, characterized in that the inner rotor (8.1) has three first stops (8.4) and the outer rotor (8.2) is provided with three second stops (8.5).
5. The flexible transmission module according to claim 2, characterized in that the inner rotor (8.1) has a cylindrical body part (8.11), the first stop (8.4) extends radially outwards from the body part (8.11), and a connecting part (8.12) arranged perpendicular to the axial direction is connected to the end of the body part (8.11), a transmission notch (8.12A) is formed on the connecting part (8.12), and a transmission flange (8.7) is connected to the end of the outer rotor (8.2) far away from the connecting part (8.12).
6. The flexible transmission module according to any of claims 2 to 5, wherein the outer rotor (8.2) is formed with a plurality of mounting grooves (8.21) on its inner peripheral wall, and the second stopper (8.5) has a triangular cross section in a direction perpendicular to the axial direction and is fixedly mounted into the mounting grooves (8.21) by first bolts (8.8) passing through the side wall of the outer rotor (8.2).
7. A reduction gearing, characterized in that it comprises a coaxially arranged and drive connected planetary gear mechanism (1) and a flexible transmission module according to any of claims 1-6.
8. A creeper gear arrangement according to claim 7, characterised in that the planetary gear mechanism (1) comprises a sun gear (11) for driving connection to a power source, a plurality of planet gears (13) arranged around the periphery of the sun gear (11) via a planet carrier (12) and a relatively fixedly arranged ring gear (14), the inner rotor (8.1) being fixedly connected to the planet carrier (12) via a second bolt (2) extending along the axis of rotation.
9. The reduction gearing according to claim 8, characterized in that it has a first bearing block (4) connected to the ring gear (14) by means of a third bolt (3) and a gear shaft (15) connectable to the power source, the sun gear (11) being integrated at one end of the gear shaft (15), and the gear shaft (15) being pivotally mounted in the first bearing block (4) by means of a first bearing (5); and/or the like and/or,
the reduction gear has a second bearing block (6) connected to the ring gear (14) by a third bolt (3), and the planet carrier (12) has a stepped shaft extending towards the flexible transmission module and is pivotally mounted in the second bearing block (6) by a second bearing (7).
10. A robot having a flexible drive module according to any of claims 1 to 6 or a creeper gear according to any of claims 7 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920354710.2U CN209839073U (en) | 2019-03-19 | 2019-03-19 | Flexible transmission module, speed reduction transmission device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920354710.2U CN209839073U (en) | 2019-03-19 | 2019-03-19 | Flexible transmission module, speed reduction transmission device and robot |
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| Publication Number | Publication Date |
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| CN209839073U true CN209839073U (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920354710.2U Active CN209839073U (en) | 2019-03-19 | 2019-03-19 | Flexible transmission module, speed reduction transmission device and robot |
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| CN (1) | CN209839073U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023217217A1 (en) * | 2022-05-13 | 2023-11-16 | 广州市珏饰窗饰科技有限公司 | Spring driving system for cordless sheer blind |
-
2019
- 2019-03-19 CN CN201920354710.2U patent/CN209839073U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023217217A1 (en) * | 2022-05-13 | 2023-11-16 | 广州市珏饰窗饰科技有限公司 | Spring driving system for cordless sheer blind |
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Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Jifei Technology Co.,Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Patentee before: Guangzhou Xaircraft Technology Co.,Ltd. |
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