WO2018120542A1 - 一种传动减速装置 - Google Patents

一种传动减速装置 Download PDF

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Publication number
WO2018120542A1
WO2018120542A1 PCT/CN2017/082101 CN2017082101W WO2018120542A1 WO 2018120542 A1 WO2018120542 A1 WO 2018120542A1 CN 2017082101 W CN2017082101 W CN 2017082101W WO 2018120542 A1 WO2018120542 A1 WO 2018120542A1
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WO
WIPO (PCT)
Prior art keywords
worm gear
worm
assembly
groove
transmission reduction
Prior art date
Application number
PCT/CN2017/082101
Other languages
English (en)
French (fr)
Inventor
邓星桥
张攀
江源渊
冯志鹏
李双岑
孔繁星
Original Assignee
成都中良川工科技有限公司
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 成都中良川工科技有限公司 filed Critical 成都中良川工科技有限公司
Priority to CN201780080767.1A priority Critical patent/CN110139999B/zh
Priority to DE112017006668.9T priority patent/DE112017006668B4/de
Publication of WO2018120542A1 publication Critical patent/WO2018120542A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/34—Toothed gearings for conveying rotary motion with gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H1/227—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts comprising two or more gearwheels in mesh with the same internally toothed wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/206—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members characterised by the driving or driven member being composed of two or more gear wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/10—Constructively simple tooth shapes, e.g. shaped as pins, as balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/22—Toothed members; Worms for transmissions with crossing shafts, especially worms, worm-gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/039—Gearboxes for accommodating worm gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing

Definitions

  • the invention belongs to the technical field of mechanical engineering, and relates to a transmission device, in particular to a transmission reduction device suitable for an industrial robot.
  • the transmission reduction gear is a key component of the industrial robot. It is mainly used to match the speed and transmit torque between the drive mechanism and the actuator, thereby achieving the purpose of reducing the speed and increasing the torque.
  • the transmission reduction gears frequently used include worm gear reducers, harmonic reducers and planetary reducers.
  • the worm gear reducer has a cumbersome structure, low transmission efficiency, poor precision, and different input and output axes, and poor running stability; the core component of the harmonic reducer produces periodic deformation during operation, which is prone to fatigue damage. The impact resistance and rigidity of the whole machine are poor, and the input speed is limited.
  • the planetary reducer has excellent overall performance, it can meet the equipment operation requirements, but the requirements for component raw material selection, manufacturing process and processing precision are very high. The equipment is expensive.
  • the object of the present invention is to overcome the defects of the prior art and provide a high-precision, large-transmission ratio transmission reduction device, which has the characteristics of compact structure, small appearance, low wear resistance, strong carrying capacity, simple manufacturing process, and low price. It is suitable for occasions such as precision heavy load and large transmission ratio of industrial robots.
  • a transmission reduction device includes a worm assembly, a worm gear assembly and an output shaft disposed in a casing, and the worm assembly is further provided with an input shaft.
  • a plurality of worm gear teeth on the worm gear assembly are embedded in the groove, and the worm gear teeth are movable in the groove direction in the groove and drive the worm gear assembly to rotate under the driving of the worm assembly.
  • the groove is a closed structure formed by the spiral groove provided on the outer surface of the worm wheel assembly and the guide groove disposed inside.
  • the worm gear teeth are spherical or approximately spherical.
  • the plurality of worm gear teeth are arranged in series in the groove to cover all the grooves.
  • the worm gear assembly is composed of an approximately hemispherical lower worm gear body and an upper worm gear body; the lower worm gear body and the upper worm gear body are each provided with a groove.
  • the worm assembly includes an input shaft, a lower housing, an upper housing, and a first worm tooth
  • the lower housing and the upper housing are both approximately hemispherical, and are put together to form an approximately spherical shape accommodating the worm gear assembly.
  • the spherical cavity, the inner side of the lower casing and the upper casing are provided with first worm teeth for use with the worm gear assembly, the first worm teeth being helical teeth.
  • the lower worm wheel body and the upper worm wheel body are further provided with a worm gear tooth body, which is used for assembling the worm gear teeth in the groove of the lower worm wheel body and the upper worm wheel body when assembling or repairing the factory.
  • the invention provides a transmission reduction device with compact structure, large transmission ratio, high precision, small friction and wear, easy industrial production and manufacture, and low price, and is suitable for precision of industrial transmission joints and the like with large transmission ratio requirements and volume restrictions. Heavy-duty drive applications.
  • FIG. 1 is a cross-sectional view showing the overall structure of a transmission reduction device according to the present invention
  • FIG. 2 is a cross-sectional view showing another overall structure of a transmission reduction device according to the present invention.
  • FIG. 3 is a schematic view showing the overall structure of a transmission reduction device according to the present invention.
  • Figure 4 is a plan view of a transmission reduction device of the present invention.
  • Figure 5 is a cross-sectional view showing a worm assembly of a transmission reduction device of the present invention.
  • Figure 6 is a cross-sectional view showing a worm tooth of a transmission reduction device according to the present invention.
  • Figure 7 is a cross-sectional view showing a casing of a transmission reduction gear according to the present invention.
  • FIG. 8 is a schematic view showing the overall structure of a worm gear assembly of a transmission reduction device according to the present invention.
  • Figure 9 is a cross-sectional view showing a worm gear assembly of a transmission reduction device of the present invention.
  • Figure 10 is another cross-sectional view of a worm gear assembly of a transmission reduction device of the present invention.
  • Figure 11 is a plan view of a worm gear assembly of a transmission reduction device of the present invention.
  • FIG. 12 is a schematic view showing the overall structure of a worm gear tooth mounting body of a transmission reduction device according to the present invention.
  • Figure 13 is a schematic view showing the overall structure of a turntable assembly of a transmission reduction device according to the present invention.
  • Figure 14 is a front elevational view of the turntable assembly of a transmission reduction device of the present invention.
  • 15 is a schematic view showing the overall structure of an output shaft mounting plate assembly of a transmission reduction device according to the present invention.
  • Figure 16 is a schematic view showing the overall structure of a chassis assembly of a transmission reduction device according to the present invention.
  • Figure 17 is a schematic view showing the structure of an output shaft of a transmission reduction device according to the present invention.
  • Reference numerals: 1 is a worm assembly, 11 is an input shaft, 12 is a lower casing, 13 is a first bolt, 14 is an upper casing, 15 is a first worm tooth, 16 is a spherical cavity, and 17 is a worm base. 18 is a bolt hole;
  • 2 is the box body, 21 is the first thrust bearing, 22 is the first angular contact ball bearing, 23 is the lower base, 24 is the second bolt, 25 is the middle base, 26 is the upper base, 27 is the first upper Bearing, 28 is the second upper bearing;
  • 3 is the worm gear assembly, 31 is the lower worm gear body, 32 is the middle slewing body, 33 is the upper worm gear body, 34 is the first worm gear tooth, 35 is the third bolt, 36 is the rotary shaft, 37 is the hexagon socket bolt, 38 is the first Four bolts, 39 is the worm gear tooth body;
  • 5 is a turntable assembly, 51 is a lower turntable, 52 is a second worm gear tooth, 53 is an upper turntable, 54 is a sixth bolt, and 55 is a through hole;
  • 6 is the output shaft mounting assembly, 61 is the output mounting plate, 62 is the deep groove ball bearing, and 63 is the second angular contact ball bearing;
  • 7 is the chassis assembly, 71 is the chassis, 72 is the seventh bolt, and 73 is the second thrust bearing.
  • a specific embodiment of a transmission reduction device of the present invention will be further described below with reference to the embodiments shown in Figs.
  • a transmission reduction device of the present invention is not limited to the description of the following embodiments.
  • the present invention provides a transmission reduction device including a worm assembly 1, a casing 2, a worm gear assembly 3, an output shaft 4, a turntable assembly 5, an output shaft mounting assembly 6, and a chassis assembly 7.
  • the transmission reduction gear unit is substantially cylindrical in shape, and the output shaft 4 and the input shaft 11 of the worm assembly 1 are vertically located above and below the transmission reduction device, and coincide with the axis of the transmission reduction device.
  • the worm assembly 1 includes an input shaft 11, a lower housing 12, a first bolt 13, an upper housing 14, and a first worm tooth 15.
  • the lower casing 12 and the upper casing 14 are both approximately hemispherical and are put together to form an approximately spherical spherical cavity 16 accommodating the worm gear assembly 3; the upper portion of the spherical cavity 16 is open, and the lower portion is formed by a disc shape.
  • the worm base 17 is closed, and an input shaft 11 is disposed below the worm base 17.
  • the axes of the lower casing 12, the upper casing 14, the spherical cavity 16, the worm base 17, and the input shaft 11 coincide.
  • the inner sides of the lower casing 12 and the upper casing 14 are provided with first worm teeth 15 for use with the worm gear assembly 3, and the first worm teeth 15 are helical teeth.
  • the lower casing 12 and the upper casing 14 fix the first worm teeth 15 inside the lower casing 12 and the upper casing 14 by a plurality of first bolts 13.
  • the advantage of this is that after the first worm tooth 15 is independently processed to obtain the tooth shape, the upper case 14 and the lower case 12 and the first worm tooth 15 are combined and fixed by the bolt hole 18 by means of the first bolt 13 , which can be overcome.
  • the spiral first worm tooth 15 is located in the difficulty of integrally forming the spherical cavity 16 and the machining precision of the first worm tooth 15 is effectively improved.
  • the casing 2 is substantially cylindrical in shape, and is composed of a disc-shaped lower base 23, an upper base 26, and a cylindrical intermediate base 25 through a plurality of second bolts 24.
  • the connection is fixed.
  • the lower base 23 is centrally provided with a downwardly concave circular table.
  • the inside of the circular table is provided with a first thrust bearing 21 for supporting the worm base 17 of the worm assembly 1; the circular table is also centrally provided with a first angular contact ball bearing 22, An input shaft 11 for supporting the worm assembly 1.
  • the upper base 26 is centrally provided with a first upper bearing 27 for supporting the output shaft 4;
  • the upper base 26 is further provided with three circumferentially evenly distributed second upper bearings 28 for supporting the upper ends of the rotary shafts 36 of the three worm gear assemblies 3.
  • the worm wheel assembly 3 is assembled into an approximately spherical shape by an approximately hemispherical lower worm wheel body 31 and an upper worm gear body 33, and a disk shape is provided between the lower worm wheel body 31 and the upper worm wheel body 33.
  • the middle slewing body 32 is provided with a rotary shaft 36 in the axial direction, and the lower end and the upper end of the rotary shaft 36 respectively extend from the lower and upper portions of the approximately spherical shape in the axial direction.
  • the lower worm gear body 31 and the upper worm gear body 33 are each provided with a circulating groove; specifically, the groove of the lower worm wheel body 31 is composed of a spiral groove disposed on the outer surface and a guide groove disposed inside the first and last phases. In turn, the groove is covered with a spherical first worm gear 34, and the first worm gear 34 can reciprocate in the groove; the groove structure of the upper worm body 33 is similar to that of the lower worm gear 31.
  • the upper worm wheel body 33 is connected to the middle slewing body 32 by a hexagon socket bolt 37, and the middle slewing body 32 is connected to the lower worm wheel body 31 via the fifth bolt 30.
  • the rotary shaft 36 may be of a separate structure and designed as a separate component; a split structure may also be employed.
  • the split structure is adopted, the upper portion of the rotary shaft 36 is mounted above the upper worm gear body 33 by a plurality of third bolts 35.
  • the lower portion of the rotary shaft 36 may be the same as the upper portion or may be integrally formed with the lower worm gear body 31. .
  • the middle slewing body 32 is circumferentially evenly provided with smooth grooves for use with the turret assembly 5.
  • the lower worm gear body 31 and the upper worm gear body 33 are further provided with a worm gear tooth body 39 for mounting the first worm gear teeth 34 in the grooves of the lower worm gear body 31 and the upper worm gear body 33 during factory assembly or inspection.
  • the lower worm wheel body 31 is provided with a mounting groove for use with the worm gear tooth body 39, and the mounting groove is in communication with the groove of the lower worm wheel body 31;
  • the first worm gear 34 is mounted in the groove of the lower worm wheel body 31, and then the worm gear tooth body 39 is inserted into the mounting groove.
  • the closing of the groove is achieved, and finally the fixing between the worm gear housing 39 and the mounting groove is achieved by means of a plurality of fourth bolts 38; the embodiment of the upper worm gear 33 is similar.
  • the three worm gear assemblies 3 and the worm assembly 1 of the present invention adopt a similar tooth difference engagement mode to realize a large gear ratio output.
  • the tooth surface of the first worm tooth 15 is enveloped by a ball and adopts an internal meshing manner.
  • the first worm gear tooth 34 adopts a rotating spherical shape and reciprocates along the groove of the lower worm wheel body 31 and the upper worm wheel body 33.
  • the rolling engagement motion converts the sliding friction between the worm wheel and the worm into rolling friction, thereby reducing the running resistance.
  • the turntable assembly 5 has a disk shape and is composed of a circular lower turntable 51 and an upper turntable 53.
  • the second worm gear 52 is evenly disposed between the lower turntable 51 and the upper turntable 53 in the outer circumferential direction, and the second worm gear 52 meshes with the groove on the middle slewing body 32 of the worm wheel assembly 3 to realize energy transmission.
  • the second worm gear 52 is also a rotatable spherical structure.
  • a through hole 55 is provided in the middle of the turntable assembly 5 for connecting the fixed output shaft 4.
  • the lower turntable 51 and the upper turntable 53 are connected and fixed by a plurality of sixth bolts 54.
  • the output shaft mounting assembly 6 is disc-shaped, centrally provided with a downwardly projecting cylindrical output mounting plate 61, and a second angular contact ball bearing 63 for mounting the output shaft 4.
  • the mounting plate assembly 6 is further provided with three circumferentially evenly distributed deep groove ball bearings 62 for supporting the lower end of the rotary shaft 36.
  • the deep groove ball bearing 62 cooperates with the second upper bearing 28 of the base 26 on the casing 2 to achieve axial positioning of the worm gear assembly 3.
  • the three worm gear assemblies 3 are meshed with the worm assembly 1 to effectively eliminate the flank clearance and the dynamic balance problem derived therefrom, thereby ensuring smooth operation of the device.
  • the chassis assembly 7 is disc-shaped and includes a disk-shaped chassis 71 and a second thrust bearing 73 disposed in the middle of the chassis 71.
  • the second thrust bearing 73 is for supporting the output mounting plate 61.
  • the chassis assembly 7 is fixed to the worm base 17 of the worm assembly 1 by a seventh bolt 72.
  • the output shaft 4 is a variable-diameter cylinder, and connects the first upper bearing 27 on the base 26 of the casing 2, the through hole in the middle of the turntable assembly 5, and the output shaft from top to bottom.
  • the second angular contact ball bearing 63 on the mounting assembly 6 is in contact with the ball.
  • the output shaft 4 can be fixedly connected to the turntable assembly 5 by a key.
  • the output shaft 4 and the input shaft 11 can be arranged in a hollow structure, which is convenient for laying wires on the one hand, and can further make the overall structure of the device more compact and reasonable on the other hand.
  • FIG. 1 and FIG. 2 The assembling manner of a transmission reduction device provided by the present invention is shown in FIG. 1 and FIG. 2.
  • the worm assembly 1 is mounted and positioned on the lower base 23 of the casing 2 by a first angular contact ball bearing 22 and a first thrust bearing 21, and the chassis assembly 7 is fixedly coupled to the worm assembly 1 by a seventh bolt 72.
  • the output shaft mounting assembly 6 is mounted on the chassis 71 via a second thrust bearing 73.
  • the worm gear assembly 3 is provided in total, and the lower end is connected to the output shaft mounting plate 61 through the deep groove ball bearing 62.
  • the worm gear assembly The upper end is connected to the upper base 26 via a second upper bearing 28, the worm gear assembly 3 is in meshing relationship with the worm assembly 1, and the lower end of the output shaft 4 is mounted on the output shaft mounting plate 61 via a second angular contact ball bearing 63.
  • the upper end of the output shaft 4 is mounted on the upper base 26 by a second upper bearing 28 which is in meshing relationship with the intermediate swivel 32.
  • the working principle and process of a transmission reduction device are as follows: after the power input is obtained by the first thrust bearing 21 and the first angular contact ball bearing 22 being mounted and positioned on the lower base 23, the worm assembly 1 is obtained.
  • the first worm tooth 15 meshes with the first worm gear 34 of the worm gear assembly 3 and drives the three worm gear assemblies 3 to rotate to achieve the first stage of deceleration;
  • the groove of the middle slewing body 32 of the worm gear assembly 3 is mounted on the output shaft 4
  • the turntable assembly 5 engages and drives the output shaft 4 to rotate to achieve the second stage of deceleration.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Gear Transmission (AREA)

Abstract

一种传动减速装置，包括设置在箱体（2）中的蜗杆组件（1）、蜗轮组件（3）和输出轴（4），所述蜗杆组件（1）上还设有输入轴（11）；蜗轮组件（3）上的多个蜗轮齿嵌装在沟槽中，在蜗杆组件（1）的驱动下蜗轮齿可在沟槽中沿沟槽方向运动并驱动蜗轮组件（3）旋转。该传动减速装置结构紧凑、传动比大、精度高、摩擦磨损小。

Description

一种传动减速装置 技术领域
本发明属于机械工程技术领域，涉及一种传动装置，特别涉及一种适用于工业机器人的传动减速装置。
背景技术
传动减速装置是工业机器人的关键部件，主要用在驱动机构和执行机构之间进行匹配转速和传递转矩，从而实现降低转速和增加转矩的目的。目前在工业机器人技术领域，经常用到的传动减速装置包括蜗轮蜗杆减速机、谐波减速机和行星减速机等。然而，蜗轮蜗杆减速机结构笨重，传动效率低，精度较差，且输入与输出不同轴，运行稳定性差；谐波减速机的核心部件柔轮在运行中产生周期性形变，容易发生疲劳损坏，且整机的耐冲击性和刚性较差，输入转速受限；行星减速机虽然整体性能优异，能够满足设备运行需求，但是对部件原料选用、制造工艺和加工精度等方面的要求非常高，导致设备价格昂贵。
发明内容
本发明的目的在于克服现有技术的缺陷，提供一种高精度、大传动比的传动减速装置，具有结构紧凑、外观小巧、不易磨损、承载能力强、生产制造工艺简单、价格低廉等特点，适用于工业机器人等精密重载、大传动比的场合。
为实现上述目的，本发明采用了如下技术方案：
一种传动减速装置，包括设置在箱体中的蜗杆组件、蜗轮组件和输出轴，所述蜗杆组件上还设有输入轴。所述蜗轮组件上的多个蜗轮齿嵌装在沟槽中，在蜗杆组件的驱动下蜗轮齿可在沟槽中沿沟槽方向运动并驱动蜗轮组件旋转。
进一步，所述沟槽是由设置在蜗轮组件外表面的螺旋沟槽和设置在内部的引导沟槽首尾相接而形成的封闭结构。
进一步，所述蜗轮齿为球形或近似球形。
进一步，所述多个蜗轮齿在沟槽中依次排列相接，布满全部沟槽。
进一步，所述蜗轮组件由近似半球形的下蜗轮体和上蜗轮体组合而成；所述下蜗轮体与上蜗轮体各自设有一个沟槽。
进一步，所述蜗杆组件包括输入轴、下壳体、上壳体和第一蜗杆齿，所述下壳体和上壳体均为近似半球形，拼合在一起，形成容纳蜗轮组件的近似球形的球形空腔，下壳体和上壳体的内侧设有与蜗轮组件配合使用的第一蜗杆齿，所述第一蜗杆齿为螺旋齿。
进一步，所述下蜗轮体和上蜗轮体上还设有蜗轮齿装体，用于工厂生产拼装或检修时，向下蜗轮体和上蜗轮体的沟槽中安装蜗轮齿。
本发明提供的一种传动减速装置，结构紧凑、传动比大、精度高、摩擦磨损小，易于开展工业化生产制造，同时价格低廉，适用于工业机器人关节等具有大传动比要求和体积限制的精密重载传动场合。
附图说明
图1为本发明一种传动减速装置的整体结构剖示图；
图2为本发明一种传动减速装置的另一种整体结构剖视图；
图3为本发明一种传动减速装置的整体结构示意图；
图4为本发明一种传动减速装置的俯视图；
图5为本发明一种传动减速装置的蜗杆组件的剖示图；
图6为本发明一种传动减速装置的蜗杆齿的剖示图；
图7为本发明一种传动减速装置的箱体的剖示图；
图8为本发明一种传动减速装置的蜗轮组件的整体结构示意图；
图9为本发明一种传动减速装置的蜗轮组件的剖示图；
图10为本发明一种传动减速装置的蜗轮组件的另一种剖视图；
图11为本发明一种传动减速装置的蜗轮组件的俯视图；
图12为本发明一种传动减速装置的蜗轮齿安装体的整体结构示意图；
图13为本发明一种传动减速装置的转盘组件的整体结构示意图；
图14为本发明一种传动减速装置的转盘组件的主视图；
图15为本发明一种传动减速装置的输出轴安装盘组件的整体结构示意图；
图16为本发明一种传动减速装置的底盘组件的整体结构示意图；
图17为本发明一种传动减速装置的输出轴的结构示意图。
附图标记：1为蜗杆组件，11为输入轴，12为下壳体，13为第一螺栓，14为上壳体，15为第一蜗杆齿，16为球形空腔，17为蜗杆底座，18为螺栓孔；
2为箱体，21为第一推力轴承，22为第一角接触球轴承，23为下基座，24为第二螺栓，25为中基座，26为上基座，27为第一上轴承，28为第二上轴承；
3为蜗轮组件，31为下蜗轮体，32为中回转体，33为上蜗轮体，34为第一蜗轮齿，35为第三螺栓，36为回转轴，37为内六角螺栓，38为第四螺栓，39为蜗轮齿装体；
4为输出轴；
5为转盘组件，51为下转盘，52为第二蜗轮齿，53为上转盘，54为第六螺栓，55为通孔；
6为输出轴安装组件，61为输出安装盘，62为深沟球轴承，63为第二角接触球轴承；
7为底盘组件，71为底盘，72为第七螺栓，73第二推力轴承。
具体实施方式
以下结合附图1至17给出的实施例，进一步说明本发明一种传动减速装置的具体实施方式。本发明一种传动减速装置不限于以下实施例的描述。
如图1至图4所示，本发明提供了一种传动减速装置，包括蜗杆组件1、箱体2、蜗轮组件3、输出轴4、转盘组件5、输出轴安装组件6、底盘组件7。所述传动减速装置整体近似圆柱形，输出轴4和蜗杆组件1的输入轴11垂直位于传动减速装置的上方和下方，与传动减速装置的轴线重合。
如图5至图6所示，所述蜗杆组件1包括输入轴11、下壳体12、第一螺栓13、上壳体14、第一蜗杆齿15。所述下壳体12和上壳体14均为近似半球形，拼合在一起，形成容纳蜗轮组件3的近似球形的球形空腔16；所述球形空腔16的上部开口，下部通过圆盘形的蜗杆底座17封闭，蜗杆底座17下方设有输入轴11。所述下壳体12、上壳体14、球形空腔16、蜗杆底座17和输入轴11的轴线重合。下壳体12和上壳体14的内侧设有与蜗轮组件3配合使用的第一蜗杆齿15，所述第一蜗杆齿15为螺旋齿。优选的，下壳体12与上壳体14通过多个第一螺栓13将第一蜗杆齿15固定在下壳体12和上壳体14内侧。这样做的益处在于，将第一蜗杆齿15独立加工获得齿形后，再借助第一螺栓13将上壳体14和下壳体12与第一蜗杆齿15通过螺栓孔18组合固定，可以克服螺旋状的第一蜗杆齿15位于球形空腔16一体成型加工难度大的难题，同时有效提升了第一蜗杆齿15的加工精度。
如图7所示，所述箱体2整体为近似圆柱形，由圆盘形的下基座23、上基座26，以及圆筒形的中基座25组成，通过多个第二螺栓24连接固定。所述下基座23居中设有向下凹出的圆台，圆台内部设有第一推力轴承21，用于支撑蜗杆组件1的蜗杆底座17；圆台居中还设有第一角接触球轴承22，用于支撑蜗杆组件1的输入轴11。所述上基座26居中设有用于支撑输出轴4的第一上轴承27； 上基座26上还设有3个周向均匀分布的第二上轴承28，用于支撑3个蜗轮组件3的回转轴36上端。装置整体组装完成后，仅输出轴4和蜗杆组件1的输入轴11分别从箱体2的上方和下方垂直伸出，其他部件均安装在箱体2的内部。通过采用圆柱形的箱体2，并将动力输入、输出方向与装置的几何轴心方向重合，以及将几何轴心与重心重合的设计，有利于装置整体结构紧凑小巧，运行平稳。
如图8至图12所示，所述蜗轮组件3由近似半球形的下蜗轮体31和上蜗轮体33组合成近似球形，下蜗轮体31和上蜗轮体33之间设有圆盘形的中回转体32，沿轴线方向设有回转轴36，回转轴36的下端和上端分别沿轴线方向从近似球形的下部和上部延伸出来。所述下蜗轮体31与上蜗轮体33各自设有一个循环的沟槽；具体的，所述下蜗轮体31的沟槽由设置在外表面的螺旋沟槽和设置在内部的引导沟槽首尾相接而构成，沟槽里布满圆球形的第一蜗轮齿34，第一蜗轮齿34可在沟槽中循环往复运动；所述上蜗轮体33的沟槽结构与下蜗轮体31类似。作为一种具体的实施方式，上蜗轮体33通过内六角螺栓37与中回转体32连接，中回转体32通过第五螺栓30与下蜗轮体31连接。作为另一种具体的实施方式，回转轴36可采用独立结构，设计成为一个单独的部件；也可采用分体式结构。采用分体式结构时，回转轴36的上部通过多个第三螺栓35安装在上蜗轮体33上方，回转轴36的下部既可以采用与上部相同的实施方式，也可以与下蜗轮体31一体成型。中回转体32圆周均布有与转盘组件5配合使用的光滑凹槽。所述下蜗轮体31和上蜗轮体33上还设有蜗轮齿装体39，用于工厂生产拼装或检修时，向下蜗轮体31和上蜗轮体33的沟槽中安装第一蜗轮齿34；具体实施方式如图9所示，下蜗轮体31上设有与蜗轮齿装体39配合使用的安装槽，所述安装槽与下蜗轮体31的沟槽联通；拼装时，首先通过安装槽向下蜗轮体31的沟槽中安装第一蜗轮齿34，然后再将蜗轮齿装体39插入安装槽中以 实现沟槽的封闭，最后利用多个第四螺栓38实现蜗轮齿装体39与安装槽之间的固定；上蜗轮体33的实施方式与此类似。
本发明所采用3个蜗轮组件3与蜗杆组件1采用类似少齿差啮合方式实现大传动比输出。所述第一蜗杆齿15的齿面由球包络而成，并采用内啮合方式，第一蜗轮齿34采用旋转球体形状并沿下蜗轮体31和上蜗轮体33的沟槽作循环的往复的滚动啮合运动，从而将蜗轮与蜗杆之间的滑动摩擦转变为滚动摩擦，从而减小运行阻力。
如图13至图14所示，所述转盘组件5为圆盘形，由圆形的下转盘51和上转盘53组成。下转盘51和上转盘53之间沿外圆周方向均匀设有第二蜗轮齿52，所述第二蜗轮齿52与蜗轮组件3的中回转体32上的凹槽啮合，实现能量传动。优选的，所述第二蜗轮齿52也为可以转动的球形结构。转盘组件5的中部设有通孔55，用于连接固定输出轴4。作为一种具体的实施方式，下转盘51和上转盘53通过多个第六螺栓54实现连接固定。
如图15所示，所述输出轴安装组件6为圆盘形，居中设有向下凸出的圆柱形的输出安装盘61，以及用来安装输出轴4的第二角接触球轴承63。安装盘组件6上还设有3个周向均匀分布的深沟球轴承62，用于支撑回转轴36的下端。所述深沟球轴承62与箱体2上基座26的第二上轴承28配合，实现蜗轮组件3的轴向定位。同时采用3个蜗轮组件3与蜗杆组件1啮合工作的方式，可有效消除齿侧间隙和由此衍生的动平衡问题，从而确保装置平稳运行。
如图16所示，所述底盘组件7为圆盘形，包括圆盘状的底盘71和设置在底盘71中部的第二推力轴承73。所述第二推力轴承73用于支撑输出安装盘61。所述底盘组件7通过第七螺栓72固定在蜗杆组件1的蜗杆底座17上。
如图17和图1所示，所述输出轴4为变直径圆柱体，从上至下分别连接箱体2基座26上的第一上轴承27、转盘组件5中部的通孔、输出轴安装组件6上的第二角接触球轴承63。作为一种具体的实施方式，所述输出轴4可通过键与转盘组件5连接固定。优选的，所述输出轴4和输入轴11均可设置为中空结构，一方面便于布设电线，另一方面还可以使装置整体结构更加紧凑、合理。
本发明提供的一种传动减速装置的拼装方式，如图1和图2所示。所述蜗杆组件1通过第一角接触球轴承22和第一推力轴承21安装并定位在箱体2的下基座23上，所述底盘组件7通过第七螺栓72连接固定在蜗杆组件1的蜗杆底座17上，所述输出轴安装组件6通过第二推力轴承73安装在底盘71上，蜗轮组件3一共设有3个，下端通过深沟球轴承62与输出轴安装盘61连接，蜗轮组件3上端通过第二上轴承28与上基座26连接，蜗轮组件3与蜗杆组件1形成啮合关系，所述输出轴4的下端通过第二角接触球轴承63安装在输出轴安装盘61上，输出轴4的上端通过第二上轴承28安装在上基座26上，转盘组件5与中回转体32形成啮合关系。
本发明提供的一种传动减速装置的工作原理及过程如下：通过第一推力轴承21和第一角接触球轴承22安装并定位在下基座23上的蜗杆组件1获得动力输入后，蜗杆组件1的第一蜗杆齿15与蜗轮组件3的第一蜗轮齿34啮合并带动三个蜗轮组件3旋转，实现第一级减速；蜗轮组件3的中回转体32的凹槽与安装在输出轴4上的转盘组件5啮合并带动输出轴4旋转，实现第二级减速。通过两级减速，最终实现传动减速装置的大传动比、高扭矩、低摩擦损耗、高精度运行。
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技 术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (7)

  1. 一种传动减速装置，包括设置在箱体(2)中的蜗杆组件(1)、蜗轮组件(3)和输出轴(4)，所述蜗杆组件(1)上还设有输入轴(11)，其特征在于：所述蜗轮组件(3)上的多个蜗轮齿嵌装在沟槽中，在蜗杆组件(1)的驱动下蜗轮齿可在沟槽中沿沟槽方向运动并驱动蜗轮组件(3)旋转。
  2. 根据权利要求1所述的一种传动减速装置，其特征在于：所述沟槽是由设置在蜗轮组件(3)外表面的螺旋沟槽和设置在内部的引导沟槽首尾相接而形成的封闭结构。
  3. 根据权利要求1所述的一种传动减速装置，其特征在于：所述蜗轮齿为球形或近似球形。
  4. 根据权利要求3所述的一种传动减速装置，其特征在于：所述多个蜗轮齿在沟槽中依次排列相接，布满全部沟槽。
  5. 根据权利要求1至4中任一权利要求所述的一种传动减速装置，其特征在于：所述蜗轮组件(3)由近似半球形的下蜗轮体(31)和上蜗轮体(33)组合而成；所述下蜗轮体(31)与上蜗轮体(33)各自设有一个沟槽。
  6. 根据权利要求5所述的一种传动减速装置，其特征在于：所述蜗杆组件(1)包括输入轴(11)、下壳体(12)、上壳体(14)和第一蜗杆齿(15)，所述下壳体(12)和上壳体(14)均为近似半球形，拼合在一起，形成容纳蜗轮组件(3)的近似球形的球形空腔(16)，下壳体(12)和上壳体(14)的内侧设有与蜗轮组件(3)配合使用的第一蜗杆齿(15)，所述第一蜗杆齿(15)为螺旋齿。
  7. 根据权利要求5所述的一种传动减速装置，其特征在于：所述下蜗轮体(31)和上蜗轮体(33)上还设有蜗轮齿装体(39)，用于工厂生产拼装或检修时，向下蜗轮体(31)和上蜗轮体(33)的沟槽中安装蜗轮齿。
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