CN211259503U - Large-speed-ratio hollow ultra-small robot joint speed reducer - Google Patents
Large-speed-ratio hollow ultra-small robot joint speed reducer Download PDFInfo
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- CN211259503U CN211259503U CN201921987834.0U CN201921987834U CN211259503U CN 211259503 U CN211259503 U CN 211259503U CN 201921987834 U CN201921987834 U CN 201921987834U CN 211259503 U CN211259503 U CN 211259503U
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Abstract
A large-speed-ratio hollow ultra-small robot joint speed reducer is characterized in that a fixed inner gear ring is arranged in the middle of the inner diameter of a cylindrical shell, an output inner gear ring is arranged on the right part of the inner diameter, and an output flange is fixed on the right end face of the output inner gear ring; a right gear rack is arranged in an inner cavity of the output inner gear ring, and the right gear rack is arranged in a central through hole of the output flange through a mounting shaft extending from the right end face of the right gear rack; a left gear rack is arranged at the left part of the inner diameter of the cylindrical shell, and an input inner gear ring is fixed on the left end surface of the left gear rack; the middle gear and the output gear which are arranged between the left gear rack and the right gear rack through the transmission shaft are respectively meshed with the fixed inner gear ring and the output inner gear ring; an end cover is fixed on the left end face of the cylindrical shell, and a hollow shaft extending out of the right end face of the end cover sequentially penetrates through the left gear frame, the right gear frame and the output flange; an input shaft is eccentrically arranged on the end cover, and an input gear fixed at the inner end of the input shaft is meshed with the input inner gear ring. The utility model discloses compact structure, small, the velocity ratio is big.
Description
Technical Field
The utility model relates to a robot joint speed reducer technical field, concretely relates to super small robot joint speed reducer of big velocity ratio cavity.
Background
The most similar prior art of the invention is a 'high-speed-ratio hollow planetary reducer CN 109751368A' applied by the applicant, the machine adopts a two-stage planetary reduction structure, realizes a large-speed-reduction-ratio hollow structure, meets the use requirement of a robot joint reducer, but keeps a basic transmission structure of a sun gear and a planetary gear, the first group of planetary gears are meshed with a fixed sun gear, the second group of planetary gears are meshed with an output sun gear, and in addition, the input end planetary gears and the output end planetary gears are coaxially fixed, the self-rotation speed of the first group of planetary gears becomes the input power of the second group of planetary gears, and the second group of planetary gears drive the output sun gear to form two-stage reduction. Because the input end planetary gear and the output end planetary gear are coaxially fixed, the assembly difficulty is large, the axial size is difficult to reduce, and in addition, the input shaft is eccentrically arranged and is driven by an external gear, the radial size is increased, so that the speed reducer is difficult to realize a subminiature structure.
SUMMERY OF THE UTILITY MODEL
The utility model provides a big velocity ratio cavity super small robot joint speed reducer to overcome prior art's is not enough.
The utility model adopts the technical proposal that: a large-speed-ratio hollow ultra-small robot joint speed reducer is provided with a cylindrical shell, wherein a fixed inner gear ring is press-mounted in the middle of the inner diameter of the cylindrical shell, an output inner gear ring is mounted at the right part of the inner diameter of the cylindrical shell through a bearing, the left end face of the output inner gear ring is close to the right end face of the fixed inner gear ring, and an output flange is fixed on the right end face of the output inner gear ring; a right gear frame is arranged in an inner cavity of the output inner gear ring, a mounting shaft extends out of the center of the right end face of the right gear frame, a through hole penetrating the whole is formed in the center of the right end face of the right gear frame, and the mounting shaft is mounted in the central through hole of the output flange through a bearing; a left gear rack is installed at the left part of the inner diameter of the cylindrical shell through a bearing, the right end face of the left gear rack is close to the left end face of the fixed inner gear ring, and an input inner gear ring is fixed on the left end face of the left gear rack; the left gear rack is fixedly connected with the right gear rack through a bolt;
at least two transmission shafts are arranged between the left gear rack and the right gear rack through bearings, and an intermediate gear and an output gear are respectively fixed on the two transmission shafts, the intermediate gear is meshed with the fixed inner gear ring, and the output gear is meshed with the output inner gear ring; the number of teeth of the intermediate gear is more than that of the output gear;
an end cover is fixed on the left end face of the cylindrical shell, a hollow shaft with a channel extends out of the center of the right end face of the end cover, and the hollow shaft sequentially penetrates through the center of the left gear carrier and the rear end of a through hole in the right gear carrier and is positioned in a central through hole of the output flange; the end cover is eccentrically provided with an input shaft through a bearing, and an input gear is fixed at the inner end of the input shaft and is meshed with the input inner gear ring.
Positioning bosses are uniformly distributed on the left end surface of the right gear frame along the circumferential direction, and arc steps with the same center are arranged on one sides of the positioning bosses far away from the center of the right gear frame; the right end face of the left gear carrier is uniformly provided with arc stoppers with the same circle center along the circumferential direction, the arc stoppers 8-1 are in transition fit with the arc steps 9-3, the arc stoppers correspond to the arc steps one by one, the arc steps are inserted into the inner sides of the arc stoppers, and the right gear carrier and the left gear carrier are assembled together concentrically; the transmission shaft is positioned between the adjacent positioning lug bosses and the arc stop blocks.
The positioning bosses and the arc check blocks are four, the four transmission shafts are respectively positioned between the adjacent positioning bosses and the adjacent arc check blocks, intermediate gears are fixed on two of the transmission shafts, output gears are fixed on the other two transmission shafts, and the two intermediate gears and the two output gears are alternately arranged in the circumferential direction and are staggered in the axial direction.
The left end of cylindric casing is along circumference equipartition draw-in groove, the right-hand member face of end cover has the snap ring through the fix with screw, locks in the draw-in groove through the snap ring screw-in and makes the end cover fix with the left end of cylindric casing.
Compared with the prior art, the utility model discloses beneficial effect who has:
1. the utility model discloses the gear frame adopts split type structure, and the drive gear axial of installing on the gear frame is arranged in turn, axial dislocation, has reduced the axial and the radial dimension of gear frame, makes the structure compacter, and the volume is littleer.
2. The utility model discloses a differential speed reduction is realized to the gear frame, and has saved central sun gear, has not only realized big velocity ratio output, satisfies the operation requirement, and the assembly degree of difficulty is little moreover, and axial dimension is little, makes the speed reducer realize ultra-thin structure. And the manufacturing cost is low and the service life is long.
3. The utility model discloses power input shaft eccentric settings, and the quill shaft is located radial center, for the robot annex if cable, trachea etc. leave the arrangement space, compare "cavity formula planetary reducer CN109751368A in the big velocity ratio", radial dimension dwindles by a wide margin, and then has dwindled the whole volume of speed reducer.
Drawings
Fig. 1 is a schematic diagram of the explosion structure of the present invention;
FIG. 2 is a schematic sectional view of the present invention;
FIG. 3 is a schematic sectional view of the present invention;
FIG. 4 is a perspective view of the gear rack assembly of the present invention;
FIG. 5 is a perspective view of the right gear rack of the present invention;
fig. 6 is a three-dimensional structure view of the left wheel carrier of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings 1-6 and the detailed description thereof.
A large-speed-ratio hollow ultra-small robot joint speed reducer is provided with a cylindrical shell 1, wherein a fixed inner gear ring 5 is press-mounted in the middle of the inner diameter of the cylindrical shell 1, an output inner gear ring 6 is mounted at the right part of the inner diameter of the cylindrical shell 1 through a crossed roller bearing, the left end face of the output inner gear ring 6 is close to the right end face of the fixed inner gear ring 5, and an output flange 10 is fixed on the right end face of the output inner gear ring 6; a right gear frame 9 is arranged in an inner cavity of the output inner gear ring 6, a mounting shaft 9-1 extends out of the center of the right end face of the right gear frame 9, a through hole 7 penetrating the whole is formed in the center of the right gear frame 9, and the mounting shaft 9-1 is mounted in a central through hole of an output flange 10 through a first deep groove ball bearing; the crossed roller bearing realizes axial positioning through mutual matching of step structures of the cylindrical shell 1, the fixed inner gear ring 5, the output inner gear ring 6 and the output flange 10.
A left gear carrier 8 is mounted at the left part of the inner diameter of the cylindrical shell 1 through a second deep groove ball bearing, the right end surface of the left gear carrier 8 is close to the left end surface of the fixed inner gear ring 5, and an input inner gear ring 14 is fixed on the left end surface of the left gear carrier 8; the left gear rack 8 and the right gear rack 9 are fixedly connected through bolts;
four transmission shafts 15 are arranged between the left gear rack 8 and the right gear rack 9 through needle roller bearings, wherein intermediate gears 11 are fixed on two transmission shafts 15, output gears 12 are fixed on the other two transmission shafts 15, and the two intermediate gears 11 and the two output gears 12 are alternately arranged in the circumferential direction and are staggered in the axial direction. The two transmission shafts are in a group, a middle gear 11 is respectively fixed on one group of transmission shafts 15, an output gear 12 is respectively fixed on the other group of transmission shafts 15, the middle gear 11 is meshed with the fixed inner gear ring 5, and the output gear 12 is meshed with the output inner gear ring 6; the number of teeth of the intermediate gear 11 is greater than that of the output gear 12.
It should be noted that, because the intermediate gear 11 and the output gear 12 are arranged in a staggered manner, the axial distance between the left gear carrier 8 and the right gear carrier 9 can be reduced to the maximum extent, and further, the axial dimension of the present invention is reduced, and an ultra-thin structure is realized. And moreover, a sun gear is omitted, the transmission relation is simplified, the assembly difficulty is reduced, and the transmission precision is ensured.
Clamping grooves 1-1 are uniformly distributed at the left end of the cylindrical shell 1 along the circumferential direction, a clamping ring 13 is fixed on the right end face of the end cover 2 through screws, and the clamping ring 13 is screwed into the clamping grooves 1-1 to be locked, so that the end cover 2 is fixed at the left end of the cylindrical shell 1. A hollow shaft 2-2 with a channel 2-1 extends out of the center of the right end face of the end cover 2, and the hollow shaft 2-2 sequentially penetrates through the center of a left gear frame 8 and the rear end part of a through hole 7 on a right gear frame 9 and is positioned in a central through hole of an output flange 10; an input shaft 3 is eccentrically installed on the end cover 2 through a third deep groove ball bearing, an input gear 4 is fixed at the inner end of the input shaft 3, and the input gear 4 is meshed with an input inner gear ring 14. The second deep groove ball bearing realizes axial positioning through mutual matching of the step structures of the fixed inner gear ring 5 and the input inner gear ring 14 and the snap ring 13.
Four positioning bosses 9-2 which are uniformly distributed along the circumferential direction extend from the left end face of the right gear frame 9, and a circular arc step 9-3 with the same center is arranged on one side of each positioning boss 9-2 far away from the center of the right gear frame 9; four arc stoppers 8-1 which are uniformly distributed along the circumferential direction and have the same center of circle extend from the right end face of the left gear carrier 8, the arc stoppers 8-1 are in transition fit with the arc steps 9-3, the arc stoppers 8-1 and the arc steps 9-3 are in one-to-one correspondence, the arc steps 9-3 are inserted into the inner sides of the arc stoppers 8-1, and the right gear carrier 9 and the left gear carrier 8 are assembled together in a concentric manner; the transmission shaft 15 is positioned between the adjacent positioning boss 9-2 and the arc stop block 8-1.
The right port of the cylindrical shell 1 is provided with steps, so that the axial positioning of the crossed roller bearing is facilitated, the left port is opened, and the installation of the fixed inner gear ring 5 is facilitated. Because the left end opening of the cylindrical shell 1 is open, the end cover 2 is difficult to install and fix, the snap ring 13 is fixed on the right end face of the end cover 2, the snap ring 13 is screwed into the clamping groove 1-1 to be locked, so that the end cover 2 is fixed at the left end of the cylindrical shell 1, and meanwhile, the snap ring 13 is used for axially positioning the second deep groove ball bearing. Novel structure, simple to operate, quick, solved the assembly difficult problem of end cover 2.
The working principle is as follows: the motor drives the input shaft 3, the input shaft 3 drives the input inner gear ring 14 to rotate (primary speed reduction) through the input gear 4, so that the fixed gear racks (the left gear rack 8 and the right gear rack 9) rotate, the intermediate gear 11 and the output gear 12 mounted on the gear racks revolve along the gear racks, and the intermediate gear 11 rotates automatically at the same time due to the fact that the intermediate gear 11 is meshed with the fixed inner gear ring 5; and the output gear 12 is meshed with the output inner gear ring 6, the gear carrier revolves to enable the output gear 12 to drive the output inner gear ring 6 to rotate, and power is output through the output flange 10. Because the intermediate gear 11 and the output gear 12 have a difference in tooth, differential speed reduction (two-stage speed reduction) is achieved, and high-speed-ratio output can be achieved by the first-stage and second-stage speed reduction.
In one embodiment, Z is the number of teeth and M is the modulus.
Input gear 4: z is 25, M is 0.6;
input ring gear 14: z is 78, M is 0.6;
intermediate gear 11: z is 26, M is 0.6;
output gear 12: z is 25, M is 0.6;
fixing the inner gear ring 5: z is 80, M is 0.6;
output ring gear 6: z is 79, M is 0.6;
transmission ratio i 200
The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that all equivalent changes made by the contents of the claims of the present invention should be included in the scope of the claims of the present invention.
Claims (4)
1. The utility model provides a super small-size robot joint speed reducer of big velocity ratio cavity, has cylindric casing (1), its characterized in that: a fixed inner gear ring (5) is pressed in the middle of the inner diameter of the cylindrical shell (1), an output inner gear ring (6) is mounted at the right part of the inner diameter of the cylindrical shell (1) through a bearing, the left end surface of the output inner gear ring (6) is close to the right end surface of the fixed inner gear ring (5), and an output flange (10) is fixed on the right end surface of the output inner gear ring (6); a right gear frame (9) is arranged in an inner cavity of the output inner gear ring (6), a mounting shaft (9-1) extends out of the center of the right end face of the right gear frame (9), a through hole (7) penetrating the whole is formed in the center of the right end face of the right gear frame (9), and the mounting shaft (9-1) is mounted in the central through hole of the output flange (10) through a bearing; a left gear carrier (8) is installed at the left part of the inner diameter of the cylindrical shell (1) through a bearing, the right end face of the left gear carrier (8) is close to the left end face of the fixed inner gear ring (5), and an input inner gear ring (14) is fixed on the left end face of the left gear carrier (8); the left gear rack (8) is fixedly connected with the right gear rack (9) through bolts;
at least two transmission shafts (15) are arranged between the left gear rack (8) and the right gear rack (9) through bearings, an intermediate gear (11) and an output gear (12) are respectively fixed on the two transmission shafts (15), the intermediate gear (11) is meshed with the fixed inner gear ring (5), and the output gear (12) is meshed with the output inner gear ring (6); the number of teeth of the intermediate gear (11) is more than that of the output gear (12);
an end cover (2) is fixed on the left end face of the cylindrical shell (1), a hollow shaft (2-2) with a channel (2-1) extends out of the center of the right end face of the end cover (2), and the hollow shaft (2-2) sequentially penetrates through the center of a left gear carrier (8) and the rear end of a through hole (7) in a right gear carrier (9) and is positioned in a central through hole of an output flange (10); the end cover (2) is eccentrically provided with an input shaft (3) through a bearing, an input gear (4) is fixed at the inner end of the input shaft (3), and the input gear (4) is meshed with an input inner gear ring (14).
2. The large-speed-ratio hollow ultra-small robot joint speed reducer according to claim 1, characterized in that: positioning bosses (9-2) are uniformly distributed on the left end surface of the right gear frame (9) along the circumferential direction, and arc steps (9-3) with the same circle center are arranged on one sides of the positioning bosses (9-2) far away from the center of the right gear frame (9); the right end face of the left gear carrier (8) is uniformly provided with arc stoppers (8-1) with the same center along the circumferential direction, the arc stoppers (8-1) are in transition fit with the arc steps (9-3), the arc stoppers (8-1) and the arc steps (9-3) are in one-to-one correspondence, the arc steps (9-3) are inserted into the inner side of the arc stoppers (8-1), and the right gear carrier (9) and the left gear carrier (8) are concentrically assembled together; the transmission shaft (15) is positioned between the adjacent positioning boss (9-2) and the arc stop block (8-1).
3. The large-speed-ratio hollow ultra-small robot joint speed reducer according to claim 2, characterized in that: the positioning bosses (9-2) and the arc check blocks (8-1) are four, the four transmission shafts (15) are respectively positioned between the adjacent positioning bosses (9-2) and the adjacent arc check blocks (8-1), intermediate gears (11) are fixed on two transmission shafts (15), output gears (12) are fixed on the other two transmission shafts (15), and the two intermediate gears (11) and the two output gears (12) are alternately arranged in the circumferential direction and are staggered in the axial direction.
4. The high-speed-ratio hollow ultra-small robot joint speed reducer according to claim 1, 2 or 3, characterized in that: clamping grooves (1-1) are circumferentially and uniformly distributed at the left end of the cylindrical shell (1), a clamping ring (13) is fixed on the right end face of the end cover (2) through screws, and the clamping ring (13) is screwed into the clamping grooves (1-1) to be locked so that the end cover (2) is fixed at the left end of the cylindrical shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921987834.0U CN211259503U (en) | 2019-11-18 | 2019-11-18 | Large-speed-ratio hollow ultra-small robot joint speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921987834.0U CN211259503U (en) | 2019-11-18 | 2019-11-18 | Large-speed-ratio hollow ultra-small robot joint speed reducer |
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| Publication Number | Publication Date |
|---|---|
| CN211259503U true CN211259503U (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921987834.0U Withdrawn - After Issue CN211259503U (en) | 2019-11-18 | 2019-11-18 | Large-speed-ratio hollow ultra-small robot joint speed reducer |
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| CN (1) | CN211259503U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836247A (en) * | 2019-11-18 | 2020-02-25 | 陕西捷泰智能传动股份有限公司 | Large-speed-ratio hollow ultra-small robot joint speed reducer |
-
2019
- 2019-11-18 CN CN201921987834.0U patent/CN211259503U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836247A (en) * | 2019-11-18 | 2020-02-25 | 陕西捷泰智能传动股份有限公司 | Large-speed-ratio hollow ultra-small robot joint speed reducer |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 721008 No. 13 Jufu East Road, Weibin District, Baoji City, Shaanxi Province Patentee after: Shaanxi Jietai intelligent transmission Co.,Ltd. Address before: 721008 No. 13 Jufu East Road, Weibin District, Baoji City, Shaanxi Province Patentee before: SHAANXI JIETAI INTELLIGENT TRANSMISSION Co.,Ltd. |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20200814 Effective date of abandoning: 20230728 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20200814 Effective date of abandoning: 20230728 |