WO2019242245A1 - Mécanisme de transmission et structure d'articulation le comprenant - Google Patents

Mécanisme de transmission et structure d'articulation le comprenant Download PDF

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Publication number
WO2019242245A1
WO2019242245A1 PCT/CN2018/118965 CN2018118965W WO2019242245A1 WO 2019242245 A1 WO2019242245 A1 WO 2019242245A1 CN 2018118965 W CN2018118965 W CN 2018118965W WO 2019242245 A1 WO2019242245 A1 WO 2019242245A1
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WO
WIPO (PCT)
Prior art keywords
bevel gear
transmission mechanism
transmission
spring
joint structure
Prior art date
Application number
PCT/CN2018/118965
Other languages
English (en)
Chinese (zh)
Inventor
韩冰
张文欣
张天翼
杨裕才
閤栓
张志波
谢黎
李威
Original Assignee
珠海格力智能装备有限公司
珠海格力电器股份有限公司
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 珠海格力智能装备有限公司, 珠海格力电器股份有限公司 filed Critical 珠海格力智能装备有限公司
Publication of WO2019242245A1 publication Critical patent/WO2019242245A1/fr

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Classifications

    • 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
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only
    • 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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • 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
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/126—Self-adjusting during operation, e.g. by a spring
    • F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs

Definitions

  • the invention relates to a mechanical transmission, in particular to a transmission mechanism and a joint structure having the same.
  • the installation gap between the bevel gear and other transmission parts cannot be accurately controlled, and the bevel gear transmits to both the axial and radial directions of the bevel gear during the transmission process. Acting force, long-term transmission is easy to cause the gap between the bevel gear and the transmission part to increase, causing abnormal cooperation, generating noise of different lengths, and excessive gaps are more likely to cause transmission failure.
  • the need to disassemble the reducer, flange and other components is time-consuming and labor-intensive.
  • the main objective of the present invention is to provide a transmission mechanism and a joint structure having the same to solve the problem of abnormal transmission between the bevel gear and other transmission parts in the prior art.
  • a transmission mechanism including a first bevel gear, a second bevel gear, and a pushing member.
  • the first bevel gear meshes with the second bevel gear to transmit motion; the pushing member and the The first bevel gear and / or the second bevel gear are abutted to adjust a fit clearance between the first bevel gear and the second bevel gear.
  • the transmission mechanism further includes: a fixed seat, the fixed seat is disposed on one side of the first bevel gear, and the pushing member is located between the fixed seat and the first bevel gear to stop the pushing member.
  • the pushing member is a spring, one end of the spring is in contact with the first bevel gear, and the other end of the spring is in contact with the fixing seat, so that the first bevel gear is pressed against the second bevel gear under the action of the pushing member.
  • a pushing portion is provided on the first bevel gear, and a fixing portion is provided on the fixing seat.
  • the pushing portion is opposite to the fixing portion.
  • One end of the spring is in contact with the pushing portion, and the other end of the spring is in contact with the fixing portion.
  • the transmission mechanism further includes a transmission shaft, the transmission shaft is drivingly connected with the first bevel gear to drive the first bevel gear to rotate, and the spring is sleeved on the transmission shaft.
  • first mounting cavity is provided at an end of the first bevel gear near the fixed seat
  • second mounting cavity is provided at an end of the fixed seat near the first bevel gear.
  • the first mounting cavity and the second mounting cavity are docked to form a space for mounting. Positioning space of the spring.
  • a limiting surface is provided on the transmission shaft, and an end surface of the fixed seat abuts the limiting surface to position the fixed seat.
  • a joint structure which includes an assembly body and a transmission mechanism.
  • the transmission mechanism is mounted on the assembly body, and the transmission mechanism is the aforementioned transmission mechanism.
  • the transmission mechanism is the above-mentioned transmission mechanism.
  • the assembly has a first installation cavity for installing the first bevel gear and a second installation cavity for installing the second bevel gear.
  • the joint structure further includes a bearing assembly.
  • the drive shaft is connected to the assembly through a bearing assembly.
  • the transmission mechanism is the aforementioned transmission mechanism.
  • the bearing assembly includes a first bearing group and a second bearing group. Both the first bearing group and the second bearing group are sleeved on the transmission shaft, and the first bearing group is disposed on the first cone. The side of the gear away from the fixed seat of the transmission mechanism, and the second bearing group is disposed on the side of the fixed seat of the transmission mechanism away from the first bevel gear.
  • the transmission mechanism to which the technical solution of the present invention is applied includes a first bevel gear, a second bevel gear, and a pushing member.
  • the pushing member is drivingly connected to the first bevel gear or the second bevel gear, or is connected to both the first bevel gear and the second bevel gear. It is connected to push the first bevel gear and the second bevel gear to maintain close cooperation, so as to solve the problem of abnormal transmission caused by the incomplete cooperation between the bevel gear and other transmission parts in the prior art.
  • FIG. 1 shows a front sectional view of an embodiment of a joint structure according to the present invention.
  • Fig. 2 shows a sectional side view of an embodiment of a joint structure according to the present invention.
  • First bevel gear 30. Fixed seat; 40. Pushing component; 50. Transmission shaft; 51. Limit surface; 61. First bearing group; 62. Second bearing group; 70. Assembly.
  • the present invention provides a transmission mechanism. Please refer to FIG. 1 and FIG. 2.
  • the transmission mechanism includes: a first bevel gear 10 and a second bevel gear.
  • the first bevel gear 10 meshes with the second bevel gear to transmit motion.
  • the pushing member 40 includes a pushing member 40 that abuts against the first bevel gear 10 and / or the second bevel gear to adjust the fit clearance between the first bevel gear 10 and the second bevel gear.
  • the transmission mechanism in the present invention includes a first bevel gear 10, a second bevel gear, and a pushing member 40.
  • the pushing member 40 is drivingly connected to the first bevel gear 10 or the second bevel gear, or is connected to the first bevel gear 10 and the second bevel
  • the gears are all connected to push the first bevel gear 10 and the second bevel gear to keep close cooperation, so as to solve the problem of abnormal transmission caused by the incomplete cooperation between the bevel gear and other transmission parts in the prior art.
  • the transmission mechanism further includes a fixing base 30, which is disposed on one side of the first bevel gear 10, and the pushing member 40 is located between the fixing base 30 and the first bevel gear 10 to stop the pushing member 40.
  • the transmission mechanism in this embodiment further includes a fixing base 30, and the pushing member 40 is disposed on the fixing base 30 to push the first bevel gear 10.
  • the pushing member 40 is a spring. One end of the spring is in contact with the first bevel gear 10, and the other end of the spring is in contact with the fixing seat 30, so that the first bevel gear 10 is pressed against the second bevel gear by the pushing member 40. on.
  • the pushing member 40 in this embodiment uses a spring.
  • the spring is in a compressed state. One end is in contact with the first bevel gear 10 and the other end is connected with the fixing seat 30.
  • the spring gives the first bevel gear 10 a direction.
  • the force of the second driving wheel causes the first bevel gear to closely fit the second bevel gear.
  • the first bevel gear 10 is provided with a pushing portion, and the fixing base 30 is provided with a fixing portion.
  • the pushing portion is opposite to the fixing portion.
  • One end of the spring is in contact with the pushing portion, and the other end of the spring is in contact with the fixing portion.
  • the first bevel gear 10 is provided with a pushing portion that abuts the pushing member 40
  • the fixing seat 30 is provided with a fixing portion for fixing the pushing member 40, the pushing portion and the fixing portion. They are respectively provided on both sides of the pushing member 40.
  • the transmission mechanism further includes a transmission shaft 50.
  • the transmission shaft 50 is drivingly connected to the first bevel gear 10 to drive the first bevel gear 10 to rotate.
  • the spring is sleeved on the transmission shaft 50.
  • the transmission mechanism in this embodiment is further provided with a transmission shaft 50.
  • the transmission shaft 50 is penetrated inside the first bevel gear 10, and the transmission shaft 50 and the first bevel gear 10 are driven by a key.
  • the spring is also sleeved on the transmission shaft 50.
  • the first bevel gear 10 is provided with a first mounting cavity at one end near the fixed base 30, and the second bevel gear 10 is provided with a second mounting cavity at one end thereof. Space for mounting springs.
  • a first mounting cavity is provided on an inner wall of one end of the first bevel gear 10 near the fixed seat 30, and an inner side of one end of the fixed seat 30 near the first bevel gear 10 is provided.
  • the transmission shaft 50 is provided with a limiting surface 51, and an end surface of the fixed base 30 abuts the limiting surface 51 to position the fixed base 30.
  • the transmission shaft 50 in this embodiment is a stepped shaft.
  • the stepped shaft is divided into a first stepped shaft and a second stepped shaft.
  • One end of the fixed seat 30 abuts between the first stepped shaft and the second stepped shaft.
  • the first stepped shaft is used to install the fixed seat 30, the spring, the first bevel gear 10 and the first bearing group 61, and the second stepped shaft is used to limit the fixed seat and install the second bearing group.
  • the present invention also provides a joint structure including an assembly body 70 and a transmission mechanism, and the transmission mechanism is the above-mentioned transmission mechanism.
  • the joint structure in the present invention includes a transmission mechanism and an assembly body 70 for installing and cooperating with the transmission mechanism.
  • the joint structure is used to connect two robot arms, and one end of the assembly body 70 is connected to one robot arm. One end and the other end of the 70 are connected to another robot arm, and the joint structure realizes the transmission connection between the two robot arms.
  • the assembly 70 has a first mounting cavity for mounting the first bevel gear 10 and a second mounting cavity for mounting the second bevel gear.
  • the joint structure further includes a bearing assembly, and the transmission shaft 50 is connected to the assembly 70 through the bearing assembly.
  • the assembly 70 in this embodiment is provided with a first mounting cavity and a second mounting cavity.
  • the two mounting cavities are perpendicular to each other and are used to mount the first bevel gear 10 and the second bevel gear, respectively.
  • the bearing assembly includes a first bearing group 61 and a second bearing group 62.
  • the first bearing group 61 is disposed on the transmission shaft 50 on the side of the first bevel gear 10 away from the fixed seat 30, and the second bearing group 62 is disposed away from the fixed seat 30.
  • the first bevel gear 10 is on a transmission shaft 50.
  • the transmission mechanism in this embodiment is connected to the assembly 70 through a bearing assembly.
  • the bearing assembly includes a first bearing group 61 and a second bearing group 62.
  • the first bearing group 61 and the second bearing group 62 are respectively provided.
  • the transmission mechanism in the present invention includes a first bevel gear 10, a second bevel gear, and a pushing member 40.
  • the pushing member 40 is drivingly connected to the first bevel gear 10 or the second bevel gear, or is connected to the first bevel gear 10 and the second bevel
  • the gears are all connected to push the first bevel gear 10 and the second bevel gear to keep close cooperation, so as to solve the problem of abnormal transmission caused by the incomplete cooperation between the bevel gear and other transmission parts in the prior art.
  • orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal”, “top, bottom” and the like indicate the orientation Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description. Unless stated to the contrary, these orientation words do not indicate and imply the device or element referred to. It must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the scope of protection of the present invention; the orientation words “inside and outside” refer to the inside and outside relative to the outline of each component itself.
  • spatially relative terms such as “above”, “above”, “above”, “above”, etc. can be used here to describe as shown in the figure Shows the spatial relationship between one device or feature and other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device as described in the figures. For example, if a device in the drawing is turned over, devices described as “above” or “above” other devices or constructions will be positioned “below the other devices or structures” or “below” Other devices or constructs. " Thus, the exemplary term “above” may include both directions “above” and “below”. The device can also be positioned in other different ways (rotated 90 degrees or at other orientations), and the relative description of space used here is explained accordingly.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gear Transmission (AREA)
  • Gears, Cams (AREA)

Abstract

L'invention concerne un mécanisme de transmission et une structure d'articulation le comprenant. Le mécanisme de transmission comprend un premier engrenage conique (10), un second engrenage conique et un composant de poussée (40) ; le premier engrenage conique (10) est en prise avec le second engrenage conique pour transférer un mouvement ; le composant de poussée (40) vient en butée contre le premier engrenage conique (10) et/ou le second engrenage conique, de manière à ajuster un jeu d'ajustement entre le premier engrenage conique (10) et le second engrenage conique. La structure d'articulation comprend un ensemble (70) et le mécanisme de transmission. La structure de transmission et la structure d'articulation ayant celle-ci résolvent le problème en l'état de la technique d'une transmission anormale entre un engrenage conique et d'autres éléments de transmission.
PCT/CN2018/118965 2018-06-21 2018-12-03 Mécanisme de transmission et structure d'articulation le comprenant WO2019242245A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810644070.9 2018-06-21
CN201810644070.9A CN108506424A (zh) 2018-06-21 2018-06-21 传动机构及具有其的关节结构

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WO2019242245A1 true WO2019242245A1 (fr) 2019-12-26

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WO (1) WO2019242245A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108506424A (zh) * 2018-06-21 2018-09-07 珠海格力智能装备有限公司 传动机构及具有其的关节结构

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CN101086293A (zh) * 2006-06-07 2007-12-12 福特环球技术公司 差速器中加载弹力的侧齿轮
JP2008223812A (ja) * 2007-03-09 2008-09-25 Yaskawa Electric Corp バックラッシュ調整機構及びそれを備えたロボット
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CN108119609A (zh) * 2016-11-26 2018-06-05 沈阳新松机器人自动化股份有限公司 消隙机构及减速器
CN108506424A (zh) * 2018-06-21 2018-09-07 珠海格力智能装备有限公司 传动机构及具有其的关节结构
CN208331134U (zh) * 2018-06-21 2019-01-04 珠海格力智能装备有限公司 传动机构及具有其的关节结构

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CN102588559A (zh) * 2012-02-13 2012-07-18 北京波尔通导科技有限公司 无间隙齿轮传动装置及消除齿轮传动间隙的方法
CN105333066A (zh) * 2015-11-29 2016-02-17 綦江永跃齿轮有限公司 带消隙结构的减速器

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4976165A (en) * 1989-07-14 1990-12-11 Kabushiki Kaisha Kobe Seiko Sho Backlash removing mechanism for industrial robot
CN101086293A (zh) * 2006-06-07 2007-12-12 福特环球技术公司 差速器中加载弹力的侧齿轮
JP2008223812A (ja) * 2007-03-09 2008-09-25 Yaskawa Electric Corp バックラッシュ調整機構及びそれを備えたロボット
CN102069504A (zh) * 2009-11-23 2011-05-25 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102777561A (zh) * 2011-05-11 2012-11-14 台达电子工业股份有限公司 传动总成
CN204327866U (zh) * 2014-11-25 2015-05-13 比亚迪股份有限公司 锥齿轮减速器
CN104595460A (zh) * 2014-12-25 2015-05-06 惠州市华阳多媒体电子有限公司 一种可消除传动间隙的齿轮组件
CN106151483A (zh) * 2015-03-12 2016-11-23 盐城工业职业技术学院 相交轴锥齿轮传动间隙消除机构
CN108119609A (zh) * 2016-11-26 2018-06-05 沈阳新松机器人自动化股份有限公司 消隙机构及减速器
CN108506424A (zh) * 2018-06-21 2018-09-07 珠海格力智能装备有限公司 传动机构及具有其的关节结构
CN208331134U (zh) * 2018-06-21 2019-01-04 珠海格力智能装备有限公司 传动机构及具有其的关节结构

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