CN210196361U

CN210196361U - Double-worm gear conjugate speed reducer module

Info

Publication number: CN210196361U
Application number: CN201821762029.3U
Authority: CN
Inventors: Zilong Ling; 凌子龙
Original assignee: 凌子龙
Current assignee: AICI TECHNOLOGY (SHENZHEN) Co.,Ltd.
Priority date: 2018-10-29
Filing date: 2018-10-29
Publication date: 2020-03-27
Anticipated expiration: 2028-10-29

Abstract

The double-worm gear conjugate speed reducer module comprises a double-worm gear conjugate speed reducer and an encoder at least arranged on one worm gear shaft of the double-worm gear conjugate speed reducer. The technical scheme includes that the encoder is arranged on at least one worm wheel shaft, namely the rotating part of the encoder is connected with the worm wheel shaft to rotate together, the fixed part of the encoder is connected and fixed with a speed reducer casing, along with the progress of robot technology, the speed reducer is modularized, the integration level can be improved, the development and production cost can be reduced, the double-worm-wheel conjugate speed reducer has the characteristic of zero return difference, meanwhile, the double-worm-wheel conjugate speed reducer is provided with two worm wheel shafts, and the angle change data of the worm wheel shafts can be obtained by arranging the encoder on at least one worm wheel shaft.

Description

Double-worm gear conjugate speed reducer module

Technical Field

The invention relates to the technical field of mechanical transmission, in particular to a double-worm gear conjugate speed reducer module.

Background

The invention discloses a double-worm gear conjugate speed reducer, which is a precision speed reducer invented in 2016 and capable of adjusting return difference, and is disclosed in patent number CN 201610691486.7.

At present, robots in the industrial field and the service field are applied more and more, speed reducers in precision equipment such as robot joints are necessary core parts, however, the connection and fixation among the core parts such as the speed reducers, encoders and motors all increase the complexity and the volume of the application, the hollow structure of the double-worm gear conjugate speed reducer is influenced if the encoders are directly arranged at the output ends of the special structure, and the cost of using a magnetic grating or a grating encoder is higher and the volume is larger.

Disclosure of Invention

The invention provides a double-worm-gear conjugate speed reducer module.

The technical scheme adopted by the invention is as follows.

The double-worm gear conjugate speed reducer module comprises a double-worm gear conjugate speed reducer and an encoder at least arranged on one worm gear shaft of the double-worm gear conjugate speed reducer. The technical scheme includes that the encoder is arranged on at least one worm wheel shaft, namely the rotating part of the encoder is connected with the worm wheel shaft to rotate together, and the fixed part of the encoder is connected and fixed with a speed reducer shell; along with the progress of the robot technology, the integration level can be improved by modularizing the speed reducer, the development and production cost is reduced, the double-worm gear conjugate speed reducer has the characteristic of zero return difference, meanwhile, the double-worm gear conjugate speed reducer is provided with two worm gear shafts, the angle change data of the worm gear shafts can be obtained by arranging the encoder on at least one worm gear shaft, the accurate angle change data of the output gear of the speed reducer can be converted through the gear ratio of the gear on the worm gear shaft and the output gear, thus, the encoder does not need to be arranged on the output shaft of the speed reducer, the hollowing of the output gear of the speed reducer is facilitated, and the innovative technical scheme fully utilizes the structural characteristics of.

And the encoder of the double-worm gear conjugate speed reducer module is an absolute position encoder. Although the absolute position of the worm wheel shaft cannot reflect the absolute position of the output gear after gear ratio conversion, the absolute position of the worm wheel shaft can reflect that the output shaft is one of definite position states in a plurality of large-angle ranges in a circle, and then the output shaft is selected and judged by an upper computer, so that the absolute position of the worm wheel shaft has great advantages compared with an incremental encoder.

And the absolute position encoder of the double-worm gear conjugate speed reducer module is a magnetic induction absolute position encoder. The magnetic encoder is easy to miniaturize during absolute position encoding and beneficial to reducing the cost, and is a robot encoder widely applied at present.

Two worm wheel shafts of the double-worm wheel conjugate speed reducer module are respectively provided with an encoder. Set up encoder (angle position sensor) on two worm-gear shafts and can open and stop the synchronous relation monitoring speed reducer at the operation in-process through the operation of two worm-gears and whether have increaseed the return difference because of reasons such as wearing and tearing, promptly in the acceleration and deceleration motion process of speed reducer constantly through the phase difference of the angle position sensor data on two worm-gear shafts judge the current return difference situation of speed reducer, this calculates the return difference monitoring of a kind of constantly to the speed reducer, guarantees that the speed reducer is in qualified return difference within range work, also can make the warning for the return difference debugging opportunity of speed reducer simultaneously.

The two worm wheel shafts of the double-worm wheel conjugate speed reducer module are respectively provided with an encoder, and the two worm wheels of the double-worm wheel conjugate speed reducer have different teeth. Under the prerequisite of guaranteeing two worm wheel conjugate speed reducers normal work, the number of teeth difference of two worm wheels just also means that the epaxial gear of two worm wheels is the different number of teeth, because must guarantee that the worm axle is the same through the drive ratio of two worm wheel transmissions to output gear, two worm wheel pivoted angles are different when output gear rotates certain angle like this, can judge the absolute position of speed reducer output gear through the signal difference of the epaxial encoder of two worm wheels.

The double-worm gear conjugate speed reducer module further comprises a driving motor and a transmission gear or a synchronous belt which is used for connecting the output shaft of the motor and the worm shaft of the double-worm gear conjugate speed reducer, and the shell of the driving motor is fixed with the shell of the speed reducer. The double-worm-gear speed reducer module integrated with the motor is a complete robot joint module, and the rotation of an output gear of the joint module can be controlled only by connecting a motor driving wire and an encoder data wire to a controller.

The motor of the robot joint module is a brushless motor. The brushless motor is more energy-saving and faster, and particularly, the rotation control of the inductive brushless motor is more accurate, so that the action of the robot is smoother.

The double-worm-wheel conjugate speed reducer module further comprises a motor driving module and a main control module, a data communication interface is arranged on a chip of the main control module and can be connected with an upper controller, and the main control module is connected with the encoder and the motor driving module. The double-worm-wheel conjugate speed reducer module comprising the motor driving module and the main control module can directly receive a digital control signal of an upper computer and rotate an output gear of the speed reducer module at a specified speed by a specified angle by driving a motor.

The double-worm-gear conjugate speed reducer module further comprises an acceleration sensor, and the acceleration sensor is fixed with the speed reducer shell. The acceleration sensor is fixed on the speed reducer shell, after the acceleration sensor transmits a three-axis acceleration sensor signal to the upper computer, the upper controller can judge the current space angle state of the speed reducer module according to the acceleration sensor signal, meanwhile, the acceleration sensor can also be used as a closed-loop signal of the overall motion of the mechanical arm where the speed reducer module is located, meanwhile, the acceleration sensor can also output an acceleration increasing and decreasing signal which is similar to the collision and is generated by the speed reducer shell to assist the controller in judging whether the collision occurs, and particularly, the signal data of the acceleration sensor can also be used for roughly judging the space angle state where the current speed reducer joint is located when the speed reducer module is not located at the first joint of the. At the moment, the known installation state information of the mechanical arm and other key encoder information of the mechanical arm are matched, so that the absolute position of the current state of the mechanical arm can be accurately judged.

The adjusting part of the adjusting part comprises an adjusting bolt fixed with the shell through threads and an adjusting bolt cover used for preventing the adjusting bolt from loosening, and the adjusting bolt axially compresses a worm capable of axially sliding of the double-worm-gear conjugate speed reducer through an angular contact bearing. Adjusting bolt lid and adjusting bolt can pass through be equipped with the spacing draw-in groove of circumference on the adjusting bolt it realizes circumference fixed adjusting bolt to cover to be equipped with the convex claw that can insert the adjusting bolt draw-in groove and fix the mode on the speed reducer casing through other bolts on the adjusting bolt lid, prevents not hard up, also can realize locking effect through increasing the viscous material layer and with the mode of adjusting bolt lid on the casing with the bolt fastening between adjusting bolt and adjusting bolt.

The core invention point of the double-worm-gear conjugate speed reducer module is that a coder is arranged in the middle of speed reduction transmission by utilizing the structural characteristic innovation of the double-worm-gear conjugate speed reducer, the obvious beneficial effects of monitoring return difference, no influence on the hollow structure of the output shaft of the speed reducer, low cost and the like are obtained, and meanwhile, the integration level of the speed reducer module is improved as much as possible, so that the development cost and the production cost of a robot are reduced.

Drawings

Fig. 1 is a schematic view of an integrated robot joint module 1 according to embodiment 1.

Fig. 2 is a schematic view 2 (exploded view) of an integrated robot joint module according to embodiment 1.

Fig. 3 is a schematic view of an integrated robot joint module 1 according to embodiment 2.

Fig. 4 is a schematic view (exploded view) of an integrated robot joint module in embodiment 2.

The notations in the figures have the following meanings: 1, a double-worm gear conjugate deceleration transmission gear set; 2, a shell of the double-worm gear conjugate reducer; 3, an encoder (the embodiment adopts a magnetic encoder, the magnetic steel is fixed on a worm wheel shaft, and the figure indicates a magnetic induction encoder IC of the encoder); 4, a motor, 5, a double-worm gear conjugate speed reducer adjusting bolt; and 6, adjusting the bolt fixing cover.

Detailed Description

The following description of the embodiments refers to the accompanying drawings.

Example 1: as shown in fig. 1-2 (partial screw is hidden in the figure), the double-worm gear conjugate speed reducer module comprises a double-worm gear conjugate speed reducer and encoders respectively arranged on two worm gear shafts of the double-worm gear conjugate speed reducer, the encoder selected for use in the embodiment is a magnetic absolute position encoder, and each magnetic position encoder comprises a magnetic steel fixed on the worm gear shaft and a magnetic position sensor IC: TLE5012B E1000, two magnetic position encoder ICs are welded on the same circuit board, the circuit board is fixed on the casing of the double-worm gear conjugate reducer, and the circuit board also comprises a three-axis accelerometer (three-axis gyroscope) IC, MPU-6050, and the circuit board also comprises typical necessary peripheral circuits and components for the IC to work, and meanwhile, the circuit board is provided with a data communication interface to realize the communication between the IC and external equipment, and upload the acquired data or download control commands or setting information; the double-worm gear conjugate speed reducer in the embodiment is a typical transmission structure, and is formed by selecting a steel gear and an aluminum-magnesium alloy manufacturing shell, and two ends of each gear shaft are fixed on the shell through ball bearings; the double-worm gear conjugate speed reducer is adjusted in a thread adjusting mode, and is provided with a convex claw fixing cover for fixing an adjusting bolt, so that the adjusted thread is further prevented from loosening.

Example 2: as shown in fig. 3-4 (partial screw is hidden in the figure), the double-worm gear conjugate speed reducer module comprises a double-worm gear conjugate speed reducer and an encoder arranged on a worm gear shaft of the double-worm gear conjugate speed reducer, the encoder selected for use in this embodiment is a magnetic absolute position encoder, and the magnetic position encoder comprises a magnetic steel fixed on the worm gear shaft and a magnetic position sensor IC: TLE5012B E1000, the magnetic position encoder IC is welded on the same circuit board, the circuit board is fixed on the double worm gear conjugate reducer shell, at the same time, the circuit board also includes three-axis accelerometer (three-axis gyroscope) IC, MPU-6050, the circuit board also includes typical necessary peripheral circuit and components and parts of the above-mentioned IC work, the circuit board is equipped with the data communication interface to realize the above-mentioned IC and external equipment communication, upload the data collected or download the control command or set up the information; the double-worm gear conjugate speed reducer in the embodiment is a typical transmission structure, and is formed by selecting a steel gear and an aluminum-magnesium alloy manufacturing shell, and two ends of each gear shaft are fixed on the shell through ball bearings; the double-worm gear conjugate speed reducer is adjusted in a thread adjusting mode, and is provided with a convex claw fixing cover for fixing an adjusting bolt, so that the adjusted thread is further prevented from loosening; and meanwhile, a brushless motor is fixed on the shell and drives the input end of the double-worm gear conjugate speed reducer through a synchronous belt.

Claims

1. Two worm wheel conjugate speed reducer module, characterized by: the double-worm gear conjugate speed reducer module comprises a double-worm gear conjugate speed reducer and an encoder at least arranged on one worm gear shaft of the double-worm gear conjugate speed reducer.

2. The double-worm gear conjugate reducer module according to claim 1, wherein: and the encoder of the double-worm gear conjugate speed reducer module is an absolute position encoder.

3. The double-worm gear conjugate reducer module according to claim 1, wherein: and the absolute position encoder of the double-worm gear conjugate speed reducer module is a magnetic induction absolute position encoder.

4. The double-worm gear conjugate reducer module according to claim 1, wherein: two worm wheel shafts of the double-worm wheel conjugate speed reducer module are respectively provided with an encoder.

5. The double-worm gear conjugate reducer module according to claim 1, wherein: the two worm wheel shafts of the double-worm wheel conjugate speed reducer module are respectively provided with an encoder, and the two worm wheels of the double-worm wheel conjugate speed reducer have different teeth.

6. The double-worm gear conjugate reducer module according to claim 1, wherein: the double-worm gear conjugate speed reducer module further comprises a driving motor and a transmission gear or a synchronous belt which is used for connecting the output shaft of the motor and the worm shaft of the double-worm gear conjugate speed reducer, and the shell of the driving motor is fixed with the shell of the speed reducer.

7. The double-worm gear conjugate reducer module according to claim 1, wherein: the double-worm-wheel conjugate speed reducer module further comprises a motor driving module and a main control module, a data communication interface is arranged on a chip of the main control module and can be connected with an upper controller, and the main control module is connected with the encoder and the motor driving module.

8. The double-worm gear conjugate reducer module according to claim 1, wherein: the double-worm-gear conjugate speed reducer module further comprises an acceleration sensor, and the acceleration sensor is fixed with the speed reducer shell.

9. The double-worm gear conjugate reducer module according to claim 1, wherein: the adjusting part of the adjusting part comprises an adjusting bolt fixed with the shell through threads and an adjusting bolt cover used for preventing the adjusting bolt from loosening, and the adjusting bolt axially compresses a worm capable of axially sliding of the double-worm-gear conjugate speed reducer through an angular contact bearing.