CN209990878U - Bearing type speed reducer capable of driving robot and having large transmission ratio - Google Patents

Bearing type speed reducer capable of driving robot and having large transmission ratio Download PDF

Info

Publication number
CN209990878U
CN209990878U CN201920638424.9U CN201920638424U CN209990878U CN 209990878 U CN209990878 U CN 209990878U CN 201920638424 U CN201920638424 U CN 201920638424U CN 209990878 U CN209990878 U CN 209990878U
Authority
CN
China
Prior art keywords
shell
bearing
disc
roller
robot
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.)
Active
Application number
CN201920638424.9U
Other languages
Chinese (zh)
Inventor
严明
严东润
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangyin Institute Of Transmission Machinery
Original Assignee
Jiangyin Institute Of Transmission Machinery
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jiangyin Institute Of Transmission Machinery filed Critical Jiangyin Institute Of Transmission Machinery
Priority to CN201920638424.9U priority Critical patent/CN209990878U/en
Application granted granted Critical
Publication of CN209990878U publication Critical patent/CN209990878U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model relates to a bearing type speed reducer with large transmission ratio and capable of driving a robot, which comprises a shell component, a roller disc component and a central sleeve, wherein two raceways are arranged between the shell component and the roller disc component, one raceway is a spherical raceway, the other raceway is a cylindrical raceway, steel balls are densely arranged in the spherical raceway, cylindrical rollers are densely arranged in the cylindrical raceway, an eccentric bearing is arranged on the central sleeve, the eccentric bearing is provided with a transmission ring, the inner cavity of the shell component is provided with an inner gear ring, the inner gear ring is in a curved tooth shape, a uniform radial groove is arranged in the roller disc component, rollers are arranged in the uniform radial groove, and the transmission ring pushes the rollers to be meshed with the inner gear ring; the central sleeve is connected with an intermediate shaft, and a planetary gear train structure is arranged between the intermediate shaft and the roller disc component. The utility model discloses have higher bearing capacity, shorter axial dimensions, less overall dimension, simpler processing technology is showing and is reducing the processing cost to easily guarantee the manufacturing accuracy, satisfy the operation requirement of robot, have higher drive ratio, transmission efficiency is high.

Description

Bearing type speed reducer capable of driving robot and having large transmission ratio
Technical Field
The utility model relates to a mechanical transmission technical field, concretely relates to drive bearing formula speed reducer of robot that drive ratio is big is applicable to the robot joint.
Background
In the field of industrial robot reducers known at present, japanese RV reducers, european slovakspinea reducers and harmonic reducers are used. The RV reducer is additionally provided with a primary planetary gear for speed reduction on the basis of the precise cycloid pin gear transmission; the spine speed reducer is characterized in that a special conversion mechanism and a crossed roller bearing are added on the basis of cycloidal pin gear transmission, the conversion mechanism and the crossed roller bearing meet the requirement of a robot joint on compact structure, but the structure is complex, the axial size is large, the price is high, and the transmission ratio is less than 80. In addition, the flexible gear of the harmonic reducer has weaker bearing capacity, is only suitable for driving the wrist of the robot and is not suitable for the large arm of the industrial robot.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the aforesaid not enough, provide a drive bearing formula speed reducer of robot that drive ratio is big, have higher bearing capacity, less overall dimension, simpler processing technology is showing and is reducing the processing cost to easily guarantee the manufacturing accuracy, satisfy the operation requirement of robot, the drive ratio is between 100 supplementations 200, and transmission efficiency is higher.
The purpose of the utility model is realized like this:
a bearing type speed reducer with a large transmission ratio and capable of driving a robot comprises a shell component, a roller disc component and a center sleeve, wherein two roller paths are arranged between the shell component and the roller disc component, one roller path is a spherical roller path, the other roller path is a cylindrical roller path, steel balls are densely arranged in the spherical roller path, cylindrical rollers are densely arranged in the cylindrical roller path, an eccentric bearing is arranged on the center sleeve and is provided with a transmission ring, an inner ring gear is arranged in an inner cavity of the shell component, the inner ring gear is in a curve tooth shape, an equal-division radial groove is formed in the roller disc component, rollers are arranged in the equal-division radial groove, and the transmission ring pushes the rollers to be meshed with the; the central sleeve is connected with an intermediate shaft, and a planetary gear train structure is arranged between the intermediate shaft and the roller disc component.
Preferably, the shell assembly comprises a shell front part, a shell middle part and a shell rear part which are connected through fasteners, the shell front part is connected with the servo motor, and the inner gear ring is arranged in the shell middle part.
Preferably, the roller disc assembly comprises a roller disc body, a connecting disc and a disc cover, the eccentric bearing is arranged between the roller disc body and the disc cover, the equant radial grooves are formed in the roller disc body, the roller disc body and the connecting disc are fixed through first screws, the roller disc body and the disc cover are fixed through second screws, and the second screws are located between two adjacent equant radial grooves.
Preferably, the planetary gear train structure comprises a planetary carrier, a sun gear, a planetary gear and a fixed internal gear, the fixed internal gear is connected with the connecting disc, one end of the intermediate shaft extends into the planetary carrier and then is connected with the sun gear, and the planetary carrier is fixed with the central sleeve bolt.
Preferably, the spherical raceway is provided with an inner spherical raceway and an outer spherical raceway, the outer spherical raceway is arranged on the inner side of the joint surface of the middle part of the shell and the rear part of the shell, and the inner spherical raceway is arranged on the periphery of the joint surface of the roller disc body and the connecting disc.
Preferably, the cylindrical roller is positioned between the middle part of the shell and the disk cover, and the middle part of the shell is provided with a cylindrical outer raceway corresponding to the cylindrical roller.
Preferably, there are 2-3 rollers in each equally divided radial slot.
Preferably, a first bearing and a second bearing are respectively arranged on two sides of the eccentric step, an outer ring of the first bearing is simultaneously connected with the roller disc body and the connecting disc, an inner ring of the first bearing is simultaneously connected with the planet carrier and the central sleeve, and an outer ring of the second bearing is connected with the disc cover.
Preferably, be equipped with first skeleton oil blanket between connection pad and the shell rear portion, it is sealed to be equipped with the second skeleton between shell front portion and the center sleeve.
The utility model has the advantages that:
the utility model discloses have higher bearing capacity, shorter axial dimensions, less overall dimension, simpler processing technology is showing and is reducing the processing cost to easily guarantee manufacturing accuracy, satisfy the operation requirement of robot, the transmission ratio is between 100 and give good care 200, and transmission efficiency is higher.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Wherein: a housing assembly 1; 1.1 of inner gear ring; the front part of the shell is 1.2; the middle part of the shell is 1.3; the rear part of the shell is 1.4; a roller disc assembly 2; 2.1 of the roller; a connecting disc 2.2; a roller disc body 2.3; a plate cover 2.4; a center sleeve 3; a steel ball 4; a cylindrical roller 5; an eccentric bearing 6; a first screw 7; a first bearing 8; a second bearing 9; an intermediate shaft 10; a first skeleton oil seal 11; a second skeletal seal 12; a drive ring 13; a planetary carrier 14; a sun gear 15; a planet wheel 16; the internal gear 17 is fixed.
Detailed Description
Referring to fig. 1, the utility model relates to a drive bearing formula speed reducer of robot that drive ratio is big, including shell subassembly 1, roller dish subassembly 2 and center sleeve 3, be equipped with two raceways between shell subassembly 1 and the roller dish subassembly 2, one is the sphere raceway, and another is the cylinder face raceway, the closely arranged steel ball 4 in the sphere raceway, closely arranged cylindrical roller 5 in the cylinder face raceway forms the bearing structure of similar bearing, has shortened the axial dimension of reduction gear greatly, makes roller dish subassembly 2 rotate in shell subassembly 1 simultaneously, has guaranteed the accurate positioning and the nimble rotation of roller dish subassembly. The central sleeve 3 is provided with an eccentric bearing 6, the eccentric bearing 6 is provided with a transmission ring 13, an inner cavity of the housing component 1 is provided with an inner gear ring 1.1, the inner gear ring 1.1 is in a curve tooth shape, the roller disc component 2 is provided with an equally divided radial groove, rollers 2.1 are arranged in the equally divided radial groove, the transmission ring 13 generates thrust to the rollers to push the rollers 2.1 to be meshed with the inner gear ring 1.1, the central sleeve 3 is connected with an intermediate shaft 10, and a planetary gear train structure is arranged between the intermediate shaft 10 and the roller disc component 2.
Due to a tooth difference, the roller disc assembly 2 and the housing assembly 1 generate relative movement, and when the housing assembly 1 is fixed, the roller disc assembly 2 outputs the rotation; when the roller disc assembly 2 is fixed, the housing assembly 1 outputs this rotational movement.
The shell assembly 1 comprises a shell front portion 1.2, a shell middle portion 1.3 and a shell rear portion 1.4, positioning spigots are arranged among the shell front portion 1.2, the shell middle portion 1.3 and the shell rear portion 1.4 to guarantee coaxiality and are connected through fasteners, a servo motor is connected with the shell front portion 1.2, a motor shaft of the servo motor is inserted into an inner hole of an intermediate shaft 10 and drives a center sleeve 3, an eccentric bearing 6 and a transmission ring 13 to rotate together through key connection, and the inner gear ring 1.1 is arranged in the shell middle portion 1.
The roller disc assembly 2 comprises a connecting disc 2.2, a roller disc body 2.3 and a disc cover 2.4, an eccentric bearing 6 is arranged between the roller disc body 2.3 and the disc cover 2.4, the equally divided radial slots are arranged on the roller disc body 2.3, and 2-3 rollers 2.1 are arranged in each equally divided radial slot. The connecting disc 2.2 and the roller disc body 2.3 are fixed by first screws 7, the roller disc body 2.3 and the disc cover 2.4 are fixed by second screws, and the second screws are positioned between two adjacent equally-divided radial grooves.
The planetary gear train structure comprises a planetary carrier 14, a sun gear 15, a planetary gear 16 and a fixed internal gear 17, wherein the fixed internal gear 17 is connected with a connecting disc 2.2, one end of an intermediate shaft 10 extends into the planetary carrier 14 and then is connected with the sun gear 15, and the planetary carrier 14 is fixed with a central sleeve 3 through bolts.
The spherical raceway is provided with an inner spherical raceway and an outer spherical raceway, the outer spherical raceway is arranged on the inner side of a joint surface of the middle part 1.3 of the shell and the rear part 1.4 of the shell, and the inner spherical raceway is arranged on the periphery of the joint surface of the connecting disc 2.2 and the roller disc body 2.3.
The cylindrical roller 5 is positioned between the middle part 1.3 of the shell and the disc cover 2.4, and the middle part 1.3 of the shell is provided with a cylindrical outer raceway corresponding to the cylindrical roller 5.
The eccentric bearing 6 both sides are equipped with first bearing 8 and second bearing 9 respectively, the outer lane of first bearing 8 is connected with connection pad 2.2, roller dish body 2.3 simultaneously, the inner circle of first bearing 8 is connected with planet carrier 14, center sleeve 3 simultaneously, second bearing 9 outer lane is connected with the dish lid 2.4.
The eccentric bearing section installed on the central sleeve 3 is provided with a balance hole corresponding to the eccentric bearing 6. The balance hole makes the speed reducer reach complete dynamic balance when working so as to eliminate vibration.
A first framework oil seal 11 is arranged between the connecting disc 2.2 and the rear part 1.4 of the shell, and a second framework seal 12 is arranged between the front part 1.2 of the shell and the central sleeve 3. The first framework seal 11 prevents impurities from entering the steel ball 4, and flexible rotation of the steel ball 4 is ensured. The second framework seal 12 ensures that sundries do not enter the inner bearing, and prolongs the service life of the bearing.
In addition to the above embodiments, the present invention also includes other embodiments, and all technical solutions formed by equivalent transformation or equivalent replacement should fall within the protection scope of the claims of the present invention.

Claims (9)

1. The utility model provides a drive bearing formula speed reducer of robot that drive ratio is big which characterized in that: the roller disc type rolling bearing comprises a shell component (1), a roller disc component (2) and a center sleeve (3), wherein two rolling ways are arranged between the shell component (1) and the roller disc component (2), one rolling way is a spherical rolling way, the other rolling way is a cylindrical rolling way, steel balls (4) are densely arranged in the spherical rolling way, cylindrical rollers (5) are densely arranged in the cylindrical rolling way, an eccentric bearing (6) is arranged on the center sleeve (3), a transmission ring (13) is arranged on the eccentric bearing (6), an inner cavity of the shell component (1) is provided with an inner gear ring (1.1), the inner gear ring (1.1) is in a curve tooth shape, an equal-dividing radial groove is arranged in the roller disc component (2), rollers (2.1) are arranged in the equal-dividing radial groove, and the transmission ring (13) pushes the rollers (2.1) to be meshed; the central sleeve (3) is connected with an intermediate shaft (10), and a planetary gear train structure is arranged between the intermediate shaft (10) and the roller disc component (2).
2. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 1, wherein: the shell component (1) comprises a shell front part (1.2), a shell middle part (1.3) and a shell rear part (1.4), the shell front part (1.2) is connected with the servo motor through a fastener, and the inner gear ring (1.1) is arranged in the shell middle part (1.3).
3. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 2, wherein: the roller disc assembly (2) comprises a connecting disc (2.2), a roller disc body (2.3) and a disc cover (2.4), an eccentric bearing (6) is arranged between the roller disc body (2.3) and the disc cover (2.4), the equant radial grooves are formed in the roller disc body (2.3), the connecting disc (2.2) and the roller disc body (2.3) are fixed through a first screw (7), the roller disc body (2.3) and the disc cover (2.4) are fixed through a second screw, and the second screw is located between two adjacent equant radial grooves.
4. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 3, wherein: the planetary gear train structure comprises a planetary carrier (14), a sun gear (15), a planetary gear (16) and a fixed internal gear (17), wherein the fixed internal gear (17) is connected with a connecting disc (2.2), one end of an intermediate shaft (10) extends into the planetary carrier (14) and then is connected with the sun gear (15), and the planetary carrier (14) is fixed with a central sleeve (3) through bolts.
5. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 3, wherein: the spherical raceway is provided with an inner spherical raceway and an outer spherical raceway, the outer spherical raceway is arranged on the inner side of the joint surface of the middle part (1.3) of the shell and the rear part (1.4) of the shell, and the inner spherical raceway is arranged on the periphery of the joint surface of the connecting disc (2.2) and the roller disc body (2.3).
6. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 3, wherein: the cylindrical roller (5) is positioned between the middle part (1.3) of the shell and the disc cover (2.4), and the middle part (1.3) of the shell is provided with a cylindrical outer raceway corresponding to the cylindrical roller (5).
7. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 1, wherein: 2-3 rollers (2.1) are arranged in each equally divided radial groove.
8. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 3, wherein: eccentric bearing (6) both sides are equipped with first bearing (8) and second bearing (9) respectively, the outer lane of first bearing (8) is connected with connection pad (2.2), roller dish body (2.3) simultaneously, the inner circle of first bearing (8) is connected with planet carrier (14), center sleeve (3) simultaneously, second bearing (9) outer lane is connected with lid (2.4).
9. The bearing type speed reducer with large transmission ratio and capable of driving the robot as claimed in claim 3, wherein: be equipped with first skeleton oil blanket (11) between connection pad (2.2) and shell rear portion (1.4), be equipped with second skeleton between shell front portion (1.2) and the well core sleeve (3) and seal (12).
CN201920638424.9U 2019-05-07 2019-05-07 Bearing type speed reducer capable of driving robot and having large transmission ratio Active CN209990878U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920638424.9U CN209990878U (en) 2019-05-07 2019-05-07 Bearing type speed reducer capable of driving robot and having large transmission ratio

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920638424.9U CN209990878U (en) 2019-05-07 2019-05-07 Bearing type speed reducer capable of driving robot and having large transmission ratio

Publications (1)

Publication Number Publication Date
CN209990878U true CN209990878U (en) 2020-01-24

Family

ID=69293392

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920638424.9U Active CN209990878U (en) 2019-05-07 2019-05-07 Bearing type speed reducer capable of driving robot and having large transmission ratio

Country Status (1)

Country Link
CN (1) CN209990878U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021184423A1 (en) * 2020-03-20 2021-09-23 苏州大学 Bispherical cycloidal roller nutation drive device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021184423A1 (en) * 2020-03-20 2021-09-23 苏州大学 Bispherical cycloidal roller nutation drive device

Similar Documents

Publication Publication Date Title
CN102252062B (en) Complex precise cycloidal speed reducer
CN100439750C (en) Pin gear cycloid gear driving device and speed reducer thereof
CN108799316B (en) RV precision speed reducer eccentric shaft and precision speed reducer
CN201262223Y (en) Clearance-eliminating transmission case
CN209990878U (en) Bearing type speed reducer capable of driving robot and having large transmission ratio
CN108953541B (en) RV speed reducer with ultralow reduction ratio
CN111022608A (en) Two-stage sine hammer-shaped roller oscillating tooth speed reducer
CN101382192A (en) Gap eliminating transmission case
US11067150B2 (en) Transmission speed reduction device
CN210256196U (en) Single-motor double-speed reducer robot joint structure
CN209990856U (en) Bearing type speed reducer capable of driving robot and having high bearing capacity
CN110304229B (en) Marine steering engine with two-stage mechanical transmission structure
CN110125974B (en) Single-motor double-speed reducer robot joint structure
CN213628713U (en) Precision speed reducer for industrial robot
CN101936381B (en) Transmission device with cantilever-type reverse gear aid
CN110043634A (en) A kind of bearing-type speed reducer for driving robot that transmission ratio is big
CN100472091C (en) Crank pingear transmission
CN112228516A (en) Precision speed reducer for industrial robot
CN106352024A (en) Single-eccentric short transmission chain speed reducer
CN110043610A (en) A kind of high bearing-type speed reducer for driving robot of bearing capacity
CN214661789U (en) RV reducer adopting herringbone gear planetary reduction mechanism
CN216045246U (en) Sealed cycloidal speed reducer for light robot
CN212338044U (en) Movable pin type cycloidal speed reducer
CN112178134B (en) Large-scale high-rigidity impact-resistant precise speed reducer
CN213655613U (en) High-speed silent type sealing speed reducing mechanism

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant