WO2019114033A1 - 一种变厚机器人关节传动结构 - Google Patents

一种变厚机器人关节传动结构 Download PDF

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Publication number
WO2019114033A1
WO2019114033A1 PCT/CN2017/118629 CN2017118629W WO2019114033A1 WO 2019114033 A1 WO2019114033 A1 WO 2019114033A1 CN 2017118629 W CN2017118629 W CN 2017118629W WO 2019114033 A1 WO2019114033 A1 WO 2019114033A1
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Prior art keywords
thickened
ring gear
planetary
double
transmission structure
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PCT/CN2017/118629
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English (en)
French (fr)
Inventor
戴飞
孙键
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变厚机器人关节技术(上海)有限公司
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Application filed by 变厚机器人关节技术(上海)有限公司 filed Critical 变厚机器人关节技术(上海)有限公司
Priority to US16/481,045 priority Critical patent/US10948048B2/en
Priority to DE212017000284.0U priority patent/DE212017000284U1/de
Publication of WO2019114033A1 publication Critical patent/WO2019114033A1/zh

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H37/00Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04Combinations of toothed gearings only
    • F16H37/041Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H3/00Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H55/00Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02Toothed members; Worms
    • F16H55/08Profiling
    • F16H55/0886Profiling with corrections along the width, e.g. flank width crowning for better load distribution
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/08General details of gearing of gearings with members having orbital motion
    • F16H57/082Planet carriers
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2863Arrangements for adjusting or for taking-up backlash
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/2881Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H55/00Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02Toothed members; Worms
    • F16H55/17Toothed wheels

Definitions

  • the invention relates to the field of joint deceleration, in particular to a thickened robot joint transmission structure.
  • the prior art generally adopts a sun gear drive, and the existing reducer mainly includes a cycloidal pin gear case, a common planetary gear box, a worm gear box and a harmonic gear box, and a reduction ratio of a common single-stage and two-stage planetary gear box.
  • the range is small, the worm gearbox has a large deceleration, but the input speed is low.
  • the application range is limited.
  • the most important application is that the cycloidal pin gearbox is driven by the crankshaft.
  • the transmission precision is high, the mechanism is complex, and the machining process is extremely high.
  • the harmonic reduction gearbox is a face contact multi-tooth meshing, the structure is tight but the output is an elastic chip cup ring. The meshing position and the output part must be elastically deformed, and the structure is impact-resistant. Therefore, with the development of new technology and application to the gear The requirements for boxes and joints continue to increase.
  • the object of the present invention is to solve the above problems.
  • the present invention uses a planetary carrier to provide a thickened robot joint transmission structure with compact structure, high power density, high rigidity and low return difference.
  • a thickened robot joint transmission structure is designed to drive a double-thickening planetary ring gear through double-thickening planetary gears, including a first-stage transmission chain, a planet carrier, a planetary pin, a double-thickening planetary gear, and a first
  • the thickening ring gear, the second thickening ring gear, the outer casing assembly and the output shaft, the transmission structure is a sun gearless transmission structure
  • the first stage transmission chain is an input end
  • the first thickening ring gear is connected with the output shaft
  • the gear in the first-stage transmission chain meshes with the carrier
  • the planet carrier is provided with a planet pin
  • the carrier and the planet pin are connected with the double-thickening planetary gear
  • the carrier drives the planetary pin to rotate along the center while driving the double change
  • the thick planetary gear rotates and revolves
  • the double thickened planetary gears respectively mesh with the first thickened ring gear and the second thickened ring gear
  • the thickened robot joint transmission structure is arranged in a center array.
  • the double thickened planetary gears, the planet carrier, the planet pin, the first thickened ring gear and the second thickened ring gear form a planetary system assembly, the double thickened planetary gears are arranged symmetrically at the center, or the non-central equiangular arrangement meets the planet Transmission law.
  • the first thickened ring gear and the output shaft are connected to form an output mechanism and are passed through a high stiffness cross cylindrical roller bearing support shell.
  • the double thickened planetary gears are continuous changes in the thickness of the gears in the tooth direction direction and continuously varying helix angles and pressure angles.
  • the planet pins and the drive center in the planet carrier can be in a parallel or angular relationship.
  • the first thickened ring gear and the planet carrier form a fixed combination and are relatively rotatable by bearings and planet carriers.
  • the double-thickening planetary gears have no sun gear structure, and the sun gear is removed as a hollow shaft for cable crossing and related shaft and line objects.
  • the planet carrier is fixed to the outer casing by crossed roller bearings, and the cross roller bearing is sealed.
  • the left and right sides can be separated by grease or grease.
  • the first-stage transmission chain speed ratio is i1, the number of teeth of the first thickening ring gear and the second thickening ring gear are respectively z2, z4; the number of teeth of the double-thickening planetary gear is z1, z3, and the total speed ratio is i1* Z1*z4/(z1*z4-z2*z3).
  • the second thickened ring gear is fixed to the outer casing assembly and has a rotational speed of zero.
  • the double-thickening planetary gear linkage has zero relative rotational speed, and can be controlled by the spline and non-circular structure relative to the axial movement to control and thicken the backlash of the ring gear.
  • the invention has the advantages that the prior art generally adopts the sun wheel drive, and the invention adopts the planetary frame drive, and has two degrees of freedom for the double ring gear, so there are two output speeds, so When the speed of one ring gear is set to zero, the speed is output by another ring gear.
  • the planetary transmission in series is used to obtain the required module design reduction ratio, and the speed ratio is changed by the first stage transmission to meet the different speed ratio requirements of the same model.
  • Planetary transmissions can achieve higher power density; thicker gears can achieve smaller backhaul errors and meet the requirements of no backlash, and can achieve greater output torque in a limited space compared to roller pendulum Line and harmonic drive have more balanced and stable transmission, higher motion transmission accuracy, more reliable process, and excellent gear surface heat treatment process to provide stable and reliable life.
  • FIG. 1 is a schematic view showing the structure of a joint transmission of a thickened robot according to the present invention.
  • FIG. 2 is a schematic view of a planetary system assembly in a joint transmission structure of a thickened robot according to the present invention.
  • outer casing assembly 2. first thickened ring gear, 3. double thickened planetary gear, 4. second thickened ring gear, 5. first stage drive chain, 6. drive mechanism, 7. output Shaft, 8. Planet carrier, 9. Planetary pin, 10. Bearing.
  • the thickened robot joint transmission gearbox of the present invention discloses a first stage transmission chain housing assembly 1, a first thickened ring gear 2, a second thickened ring gear 4, and a double thickened planetary gear 3,
  • the primary drive chain 5 the drive mechanism 6, the output shaft 7, the planet carrier 8, the planet pin 9, and the bearing 10.
  • the first stage transmission chain 5 is an input end, and the first thickening ring gear 2 and the output shaft 7 are connected as an output end.
  • the gears in the first stage transmission chain 5 mesh with the carrier 8, and the carrier 8
  • a planet pin 9 is arranged thereon, and the planet carrier 8 and the planet pin 9 are connected to the double thickened planetary gear 3.
  • the planet carrier 8 drives the planet pin 9 to rotate along the center, and simultaneously drives the double thickened planetary gear 3 to rotate and revolve, and the double thickened planet
  • the gears 3 respectively engage the first thickened ring gear 2 and the second thickened ring gear 4, and the second thickened ring gear 4 is fixed on the outer casing assembly 1, and the first thickened ring gear 2 and the output shaft 7 are passed through or fixed.
  • a pin or bolt is attached to the output shaft 7.
  • the thickened robot joint transmission structure is arranged in a center array, and the double thickened planetary ring gear is driven by the double thickened planetary gear.
  • the double thickened planetary gear 3, the carrier 8, the planetary pin 9, the first thickened ring gear 2 and the second thickened ring gear 4 constitute a planetary system assembly, and the double thickened planetary gears are arranged symmetrically at the center. Or non-central equiangular arrangement to meet the planetary transmission law.
  • the first thickened tooth 2 and the output shaft 7 are connected to form an output mechanism, and through the high-stiffness crossed cylindrical roller bearing support shell, the double thickened planetary gears are continuous in the thickness of the gear in the tooth direction direction.
  • the change and the continuously varying helix angle and pressure angle, the planet pin and the transmission center in the planet carrier may be in a parallel or angular relationship, and the first thickened ring gear 2 and the planet carrier 8 form a fixed combination structure and pass the bearing 10 and the planet The frame 8 can be rotated relative to each other.
  • the double-thickening planetary gear is a sunless wheel structure, the sun gear is removed as a hollow shaft for cable crossing and the related shaft and line objects are passed, and the carrier 8 is fixed by the crossed roller bearing 10.
  • the outer casing and the cross roller bearing are sealed, and the left and right sides can be separated by grease or grease.
  • the first-stage transmission chain speed ratio is i1, the number of teeth of the first thickening ring gear and the second thickening ring gear are respectively z2, z4; the number of teeth of the double-thickening planetary gear is z1, z3, and the total speed ratio is i1* Z1*z4/(z1*z4-z2*z3).
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the driving mechanism 6 drives the first-stage transmission chain 5, one of the transmission chains drives the planetary carrier 8 to rotate, the carrier 8 drives the planetary pin 9 to rotate along the center, and simultaneously drives the double-thickening planetary gear 3 to rotate and revolve; the thickening ring gear 2 is fixed on the casing shell assembly 1 at a rotation speed of 0 rpm.
  • the first thickened ring gear is driven by the planetary gears, and the first thickened ring gear and the output shaft are connected to the output shaft 9 by interference or fixing pins or bolts, thereby having an output rotational speed, double thickened planetary gears 2 and
  • the first thickened ring gear, the left and right sides of the double thickened planetary gear 3 ensure that the output gap and the return stroke difference are extremely small, the first stage transmission speed ratio is i1, and the thickened ring gear has the number of teeth z2, z4; double thickening
  • the number of teeth of the planetary gear is z1, z3, and the total speed ratio is i1*z1*z4/(z1*z4-z2*z3).
  • the tooth profile of the thickened gear must be continuously changeable in the thickness direction of the tooth direction, and each pair of meshed gears conforms to the principle of gear meshing involute.
  • the prior art generally uses a sun gear drive, and the present invention uses a planetary carrier drive.
  • the double ring gear there must be two degrees of freedom, so there are two output speeds, so if the rotational speed of one ring gear is zero, the rotational speed is changed by another.
  • One ring gear output For the double ring gear, there must be two degrees of freedom, so there are two output speeds, so if the rotational speed of one ring gear is zero, the rotational speed is changed by another.
  • One ring gear output One ring gear output.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • Manipulator (AREA)

Abstract

一种变厚机器人关节传动结构,包括有外壳(1),双齿圈(2、4),行星架(8)通过交叉滚子轴承(10)固定在外壳(1),行星为无太阳轮的双变厚行星齿轮(3),输入端为一对可以变化速比的齿轮或者螺旋伞齿轮,通过深沟球轴承固定在外壳(1)上,将太阳轮移去为中空轴用于电缆穿越和相关轴、线类物体通过。传动结构采用无太阳轮驱动,结构简单可靠,可控侧隙传动,高刚度,减速比范围大。

Description

一种变厚机器人关节传动结构 [技术领域]
本发明涉及关节减速领域,具体地说是一种变厚机器人关节传动结构。
[背景技术]
现有技术一般采用太阳轮驱动,且现有减速器主要包括摆线针轮齿轮箱,普通行星齿轮箱,蜗轮蜗杆齿轮箱和谐波齿轮箱,普通单级和双级行星齿轮箱的减速比范围较小,蜗轮蜗杆齿轮箱减速比较大,但是输入转速低应用范围受限,目前应用最关键的是摆线针轮减速箱为曲轴驱动,传动精度较高,机构复杂,加工工艺要求极高;谐波减速箱是面接触多齿啮合,结构紧密但是输出为弹性片式杯型环,啮合位与输出部须弹性变形,结构抗冲击性交叉,因此随着新技术的发展和应用对齿轮箱及关节的要求持续不断提高。
[发明内容]
本发明的目的在于解决上述问题,本发明采用行星架驱动,提供一种结构紧凑合理、功率密度高,高刚度及低回程差的变厚机器人关节传动结构,对于双齿圈必定有两个自由度,因此会有两个输出转速,所以设置一个齿圈的转速为零,则转速由另一个齿圈输出,该结构减速比范围大,且容易实现模块化设计。
为实现上述目的,设计一种变厚机器人关节传动结构,通过双变厚行星齿轮驱动双变厚行星齿圈,包括第一级传动链、行星架、行星销、双变厚行星齿轮、第一变厚齿圈、第二变厚齿圈、外壳组件和输出轴,所述的传动结构为无太阳轮传动结构,第一级传动链为输入端,第一变厚齿圈与输出轴连接为输出端,第一级传动链中的齿轮与行星架啮合,行星架上设有行星销,行星架和行星销与双变厚行星齿轮连接,行星架驱动行星销沿中心旋转,同时驱动双变厚行星齿轮自转和公转,双变厚行星齿轮分别啮合第一变厚齿圈和第二变厚齿圈,第二变厚齿圈固定在外壳组件上,第一变厚齿圈和输出轴通过过盈或者固定销或者螺栓连接在输出轴。
变厚机器人关节传动结构为中心阵列布置。
双变厚行星齿轮、行星架、行星销、第一变厚齿圈和第二变厚齿圈构成行星系统组合件, 双变厚行星齿轮为中心对称布置,或非中心等角布置,满足行星传动定律。
第一变厚齿圈和输出轴连接构成输出机构,并通过高刚度交叉圆柱滚子轴承支持者外壳上。
双变厚行星齿轮为沿齿向方向齿轮的厚度发生连续的变化和连续变化的螺旋角及压力角。
行星架中的行星销和传动中心可以为平行或者成角度关系。
第一变厚齿圈和行星架构成固定组合结构并通过轴承和行星架可发生相对转动。
双变厚行星齿轮为无太阳轮结构,将太阳轮移去为中空轴用于电缆穿越和相关轴、线类物体通过。
行星架通过交叉滚子轴承固定在外壳,交叉滚子轴承采用密封结构,左右两侧可以采用油脂分开或者脂脂分开。
第一级传动链速比为i1,第一变厚齿圈和第二变厚齿圈的齿数分别为z2,z4;双变厚行星齿轮的齿数为z1,z3,则总速比为i1*z1*z4/(z1*z4-z2*z3)。
第二变厚齿圈固定在外壳组件上,旋转速度为零。双变厚行星齿轮联动为相对旋转速度为零,可以通过花键,非圆结构相对轴向运动以控制和变厚齿圈的侧隙。
本发明同现有技术相比,其优点在于:现有技术一般采用太阳轮驱动,而本发明采用行星架驱动,对于双齿圈必定有两个自由度,因此会有两个输出转速,所以设置一个齿圈的转速为零,则转速由另一个齿圈输出,利用串联的行星传动以获取所需要的模块设计减速比,通过第一级传动改变速比以满足同一型号的不同速比要求,行星传动可以得到较高的功率密度;变厚齿轮可以实现较小的回程误差及满足无侧隙的要求,还可以实现在有限的空间里获取更大的输出扭矩,相较于滚子摆线及谐波传动具有更加平衡稳定的传动、更高的运动传递精度、更加可靠的工艺、优良的齿轮表面热处理工艺提供稳定可靠的寿命。
[附图说明]
图1为本发明中变厚机器人关节传动结构示意图。
图2为本发明中变厚机器人关节传动结构中行星系统组合件示意图。
图中:1.外壳组件,2.第一变厚齿圈,3.双变厚行星齿轮,4.第二变厚齿圈,5.第一级传动链,6.驱动机构,7.输出轴,8.行星架,9.行星销,10.轴承。
[具体实施方式]
下面对本发明作进一步说明,应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。
参见图1,本发明变厚机器人关节传动齿轮箱公开了第一级传动链箱体外壳组件1,第一变厚齿圈2,第二变厚齿圈4,双变厚行星齿轮3,第一级传动链5,驱动机构6,输出轴7,行星架8,行星销9,轴承10。
参见图1,所述第一级传动链5为输入端,第一变厚齿圈2与输出轴7连接为输出端,第一级传动链5中的齿轮与行星架8啮合,行星架8上设有行星销9,行星架8和行星销9与双变厚行星齿轮3连接,行星架8驱动行星销9沿中心旋转,同时驱动双变厚行星齿轮3自转和公转,双变厚行星齿轮3分别啮合第一变厚齿圈2和第二变厚齿圈4,第二变厚齿圈4固定在外壳组件1上,第一变厚齿圈2和输出轴7通过过盈或者固定销或者螺栓连接在输出轴7。
参见图1-2,变厚机器人关节传动结构为中心阵列布置,通过双变厚行星齿轮驱动双变厚行星齿圈。
参见图2,双变厚行星齿轮3、行星架8、行星销9、第一变厚齿圈2和第二变厚齿圈4构成行星系统组合件,双变厚行星齿轮为中心对称布置,或非中心等角布置,满足行星传动定律。
参见图1-2,第一变厚齿2和输出轴7连接构成输出机构,并通过高刚度交叉圆柱滚子轴承支持者外壳上,双变厚行星齿轮为沿齿向方向齿轮的厚度发生连续的变化和连续变化的螺旋角及压力角,行星架中的行星销和传动中心可以为平行或者成角度关系,第一变厚齿圈2和行星架8构成固定组合结构并通过轴承10和行星架8可发生相对转动,双变厚行星齿轮为无太阳轮结构,将太阳轮移去为中空轴用于电缆穿越和相关轴、线类物体通过,行星架8通过交叉滚子轴承10固定在外壳,交叉滚子轴承采用密封结构,左右两侧可以采用油脂分开或者脂脂分开。
第一级传动链速比为i1,第一变厚齿圈和第二变厚齿圈的齿数分别为z2,z4;双变厚行星齿轮的齿数为z1,z3,则总速比为i1*z1*z4/(z1*z4-z2*z3)。
实施例一:
驱动机构6驱动第一级传动链5,传动链中的一个齿轮驱动行星架8旋转,行星架8驱动行星销9沿中心旋转,同时驱动双变厚行星齿轮3自转和公转;变厚齿圈2固定在箱体外壳组件1上面,转速为0rpm。
第一变厚齿圈在行星轮的驱动下,由于第一变厚齿圈和输出轴通过过盈或者固定销或者螺栓连接在输出轴9上,从而有输出转速,双变厚行星齿轮2和第一变厚齿圈,双变厚行星齿轮3的左右下保证输出的间隙和回程差极小,第一级传动速比为i1,变厚齿圈的齿数分别为z2,z4;双变厚行星齿轮的齿数为z1,z3,则总速比为i1*z1*z4/(z1*z4-z2*z3)。
变厚齿轮的齿形必须是沿齿向方向厚度方向连续可导的变化,每一对啮合的齿轮各自符合齿轮啮合渐开线原理。
现有技术一般采用太阳轮驱动,而本发明采用行星架驱动,对于双齿圈必定有两个自由度,因此会有两个输出转速,所以设置一个齿圈的转速为零,则转速由另一个齿圈输出。

Claims (10)

  1. 一种变厚机器人关节传动结构,包括第一级传动链、行星架、行星销、双变厚行星齿轮、第一变厚齿圈、第二变厚齿圈、外壳组件和输出轴,其特征在于所述的传动结构为无太阳轮传动结构,第一级传动链为输入端,第一变厚齿圈与输出轴连接为输出端,第一级传动链中的齿轮与行星架啮合,行星架上设有行星销,行星架和行星销与双变厚行星齿轮连接,行星架驱动行星销沿中心旋转,同时驱动双变厚行星齿轮自转和公转,双变厚行星齿轮分别啮合第一变厚齿圈和第二变厚齿圈,第二变厚齿圈固定在外壳组件上,第一变厚齿圈和输出轴通过过盈或者固定销或者螺栓连接在输出轴。
  2. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于变厚机器人关节传动结构为中心阵列布置。
  3. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于双变厚行星齿轮、行星架、行星销、第一变厚齿圈和第二变厚齿圈构成行星系统组合件,双变厚行星齿轮为中心对称布置,或非中心等角布置,满足行星传动定律。
  4. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于第一变厚齿圈和输出轴连接构成输出机构,并通过高刚度交叉圆柱滚子轴承支持者外壳上,双变厚行星齿轮为沿齿向方向齿轮的厚度发生连续的变化和连续变化的螺旋角及压力角。
  5. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于行星架中的行星销和传动中心可以为平行或者成角度关系。
  6. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于第一变厚齿圈和行星架构成固定组合结构并通过轴承和行星架可发生相对转动。
  7. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于双变厚行星齿轮为无太阳轮结构,将太阳轮移去为中空轴用于电缆穿越和相关轴、线类物体通过。
  8. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于行星架通过交叉滚子轴承固定在外壳,交叉滚子轴承采用密封结构,左右两侧可以采用油脂分开或者脂脂分开。
  9. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于第一级传动链速比为i1,第一变厚齿圈和第二变厚齿圈的齿数分别为z2,z4;双变厚行星齿轮的齿数为z1,z3,则总速比为i1*z1*z4/(z1*z4-z2*z3)。
  10. 如权利要求1所述的一种变厚机器人关节传动结构,其特征在于第二变厚齿圈固定在外壳组件上,旋转速度为零,双变厚行星齿轮联动为相对旋转速度为零,可以通过花键,非圆结构相对轴向运动以控制和变厚齿圈的侧隙。
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