CN103753529B - A kind of industrial robot joint gapless drive mechanism - Google Patents
A kind of industrial robot joint gapless drive mechanism Download PDFInfo
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- CN103753529B CN103753529B CN201410019294.2A CN201410019294A CN103753529B CN 103753529 B CN103753529 B CN 103753529B CN 201410019294 A CN201410019294 A CN 201410019294A CN 103753529 B CN103753529 B CN 103753529B
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Abstract
The invention discloses a kind of industrial robot joint gapless drive mechanism, technical problem to be solved by this invention, be the defect overcoming the existence of existing clearance elimination gear gear reduction mechanism.The technical scheme taked is: a kind of industrial robot joint gapless drive mechanism, comprises input roller gear, driven cylindrical gear, the first worm screw, exports worm gear, the second worm screw, the gap that disappears roller gear and the roller gear that commutates; Input roller gear is meshed with driven cylindrical gear and the roller gear that commutates simultaneously; Driven cylindrical gear is connected with the first worm screw; Export worm gear to be meshed with the first worm screw and the second worm screw simultaneously; Second worm screw is connected with the gap roller gear that disappears; The gap that disappears roller gear is meshed with commutation roller gear.
Description
Technical field
The present invention relates to a kind of industrial robot joint gapless drive mechanism, especially a kind of industrial robot joint gapless drive mechanism on industrial robot joint, for precision drive mechanical fields such as industrial robots.
Background technology
Gear reduction unit is a kind of reducing gear of extensive use.Along with the progress of industry, in the contour microtechnic field of industrial robot, common gear reduction unit cannot meet instructions for use, because during its gear drive, gear and gears meshing exist and rotate backward sideshake, can angular transmission error be there is when reverse drive, cause transmission to be located inaccurate, and this situation not allowed in high-accuracy industries such as industrial robots; The high-accuracy reductor of foreign brand name is just like the Spinea reductor of Japanese Supreme Being people RV reductor, Harmonic reductor, Slovakia, but it is expensive, delivery cycle is long, is also not easily produced in enormous quantities employing by domestically produced machine people.
Openly current and apply clearance elimination gear speed reducer structure, what it adopted disappear gap ways and means, has and adopts bidentate face to disappear gap, utilizes spring tension to disappear gap, but the effect of the gap that disappears does not get an expected result, its driving torque is higher by the restriction of spring force, complex structure, cost.
Rack-and-pinion gap-eliminating structure is comparatively conventional abroad, is especially widely used in machine tool drive.Rack pinion is mainly used in, on the larger heavy duty machine tools of stroke, can obtaining larger gearratio, and the high-speed straight-line that is also easy to get moves, and rigidity and mechanical efficiency are also high, but transmission is steady not.When adopting rack pinion, measure must be adopted to eliminate backlash.When driven loads hour, the thin gear adjusting method of biplate also can be adopted to be adjacent to the left and right sides of tooth bar teeth groove respectively by two gears, thus eliminate backlash.When driven loads is large, the thick gear-driven structure of biplate can be adopted.Operation principle is: feed motion bent axle 21 inputs, and this axle is equipped with the helical gear that two hand of helixs are contrary, when applying axial force F on bent axle 21, helical gear can be made to produce moving axially of trace.Now, the first axle 11 and the second axle 31 just turn over small angle with contrary direction, and the first gear 41 and the second gear 51 are adjacent to the left and right side of tooth bar teeth groove respectively, thus reach the effect eliminating stab flank clearance.(as shown in Figure 6)
Summary of the invention
Technical problem to be solved by this invention, be the defect overcoming the existence of existing clearance elimination gear gear reduction mechanism, propose the joint of robot industrial robot joint gapless drive mechanism that a kind of multistage cylindrical gear pair and worm couple are combined to form, this kind of transmission mechanism, both can meet high accuracy, at a high speed than, requirement that volume is little, the manufacturing cost of joint of robot reducing gear can have been reduced again greatly.
For solving the problems of the technologies described above, the technical scheme that the present invention takes is:
A kind of industrial robot joint gapless drive mechanism, comprises input roller gear, driven cylindrical gear, the first worm screw, exports worm gear, the second worm screw, the gap that disappears roller gear and the roller gear that commutates; Input roller gear is meshed with driven cylindrical gear and the roller gear that commutates simultaneously; Driven cylindrical gear is connected with the first worm screw; Export worm gear to be meshed with the first worm screw and the second worm screw simultaneously; Second worm screw is connected with the gap roller gear that disappears; The gap that disappears roller gear is meshed with commutation roller gear; Wherein, the gap that disappears described in roller gear is provided with kidney slot; Described disappear gap roller gear and the second worm screw form anti-backlash mechanism; The described gap roller gear that disappears is connected with screw by aforementioned kidney slot with the second worm screw.
Industrial robot joint gapless drive mechanism of the present invention, is made up of cylindrical gearing pair and worm couple.Transmission mechanism of the present invention eliminates gear reversion sideshake by anti-backlash mechanism, thus reaches the object of transmission mechanism forward and backward gapless driving.The second worm screw described in the present invention and the gap roller gear that disappears form anti-backlash mechanism; The present invention adopts input roller gear as the input of transmission mechanism, and worm gear is as the output of transmission mechanism.Input roller gear and driven cylindrical gear form gear pair, and the first worm screw forms worm couple with output worm gear; Second worm screw forms worm couple with output worm gear.Cylindrical gear pair in the present invention and worm couple form a closed-loop drive chain, when profile of tooth rotates forward, side profile of tooth engages, and side profile of tooth exists sideshake in addition, eliminate profile of tooth opposite side sideshake by anti-backlash mechanism, reach the object of transmission mechanism forward and backward commutation gapless driving.
The present invention is in order to reach a gearratio required for external loading, and the present invention also comprises the first multistage cylindrical gear pair and the second multistage cylindrical gear pair; First multistage cylindrical gear pair is meshed with driven cylindrical gear and the first worm screw simultaneously; Second multistage cylindrical gear pair is meshed with the second worm screw and the gap roller gear that disappears simultaneously.The present invention forms the speed reducing ratio of transmission mechanism by multistage cylindrical gear pair and worm couple, and owing to adopting Worm Wheel System, the gear range of transmission mechanism is larger.
Driven cylindrical gear described in the present invention and the first worm screw as a whole.
The course of work of the present invention:
Rotate counterclockwise describe the course of work of the present invention with double reduction, input roller gear:
Input roller gear engage with driven cylindrical gear and tumbler gear, drives the first worm screw and exports worm-drive, by moment of torsion and Movement transmit to exporting on worm gear, thus external output torque and rotation; And also drive the second worm-drive while of exporting worm gear, drive the gap column gear transmission that disappears; Eliminated the gear backlash of input gear reverse drive by anti-backlash mechanism, thus reach the object of the forward and reverse zero-clearance transmission of transmission mechanism.Anti-backlash mechanism described in this section is made up of the second worm screw and the gap roller gear that disappears.
The process in reversion gap eliminated by this transmission mechanism:
Input roller gear is first driven to rotate forward, eliminate this transmission mechanism rotate forward gap after, fix the second worm screw, reverse fine rotation disappears gap roller gear, make to disappear gap roller gear and commutation roller gear, between commutation roller gear and input roller gear, gears meshing place originally becomes sideshake position, originally there is the side of sideshake to become gears meshing place, thus reach the object of transmission mechanism forward and backward commutation zero-clearance transmission.Eliminate behind gap, use will disappear gap roller gear and the second worm screw of screw 7 to fix.This transmission mechanism input center and the arrangement in 90 ° of output center line, possess the function changing transmission direction.
Rotate counterclockwise describe the course of work of the present invention with multi-stage speed-reducing, input roller gear:
Input roller gear engage with driven cylindrical gear and tumbler gear, drives the first multistage cylindrical gear pair and worm and gear auxiliary driving, by moment of torsion and Movement transmit to exporting on worm gear, thus external output torque and rotation; And export the second worm screw and the second multistage cylindrical gear pair that worm gear also drives closed loop simultaneously, drive the gap roller gear that disappears; Eliminated the gear backlash of input gear reverse drive by anti-backlash mechanism, thus reach the object of the forward and reverse zero-clearance transmission of transmission mechanism.Note: the anti-backlash mechanism described in this section is made up of the second worm screw, the second multistage cylindrical gear pair and the gap roller gear that disappears.
The process in reversion gap eliminated by this transmission mechanism:
Input roller gear is first driven to rotate forward, eliminate this transmission mechanism rotate forward gap after, be fixed in the gear shaft (note of the gap roller gear upper level that disappears, the gear shaft being positioned at the gap roller gear upper level that disappears as described herein is: due to the second worm screw and disappear between gap roller gear also engaged the second multistage cylindrical gear pair), reverse fine rotation disappears gap roller gear, make disappear gap roller gear and commutation roller gear, between commutation roller gear and input roller gear, the gears meshing place of script becomes sideshake position, originally the side of sideshake is had to become gears meshing place, thus just reach transmission mechanism, inverse transform is to the object of zero-clearance transmission.After eliminating gap, screw is used to be fixed with the gear shaft being positioned at the gap roller gear upper level that disappears by the gap roller gear that disappears.This transmission mechanism input center and the arrangement in 90 ° of output center line, possess the function changing transmission direction.
The present invention's advantage compared with prior art: utilize the forward and backward drive gap in anti-backlash mechanism elimination driving-chain, transmission principle is simple, speed ratio is large, volume is little, bearing capacity is high, processing is simple, cost is low, can while guarantee transmission mechanism transmission accuracy, reduce the holistic cost of transmission mechanism, be applicable to the contour precision drive industry of industrial robot.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
Fig. 2 is Fig. 1 [A-A] view.
Fig. 3 is stereogram of the present invention.
Fig. 4 is before clearance elimination gear nibbles district's conjunction enlarged drawing-gap that disappears.
Fig. 5 is after clearance elimination gear nibbles district's conjunction enlarged drawing-gap that disappears.
Fig. 6 is that the present invention disappears gap schematic diagram.
Wherein, 1, input roller gear, 2, driven cylindrical gear, the 3, first worm screw, 4, export worm gear, the 5, second worm screw, 6, the gap that disappears roller gear, 6-1, kidney slot, 7, screw, 8, commutation roller gear, 9, profile of tooth engagement place, 10, gear backlash.
Detailed description of the invention
For making content of the present invention more become apparent, be further described below in conjunction with accompanying drawing 1-Fig. 6 and detailed description of the invention.
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Rotate counterclockwise for double reduction, input roller gear, as shown in Figure 1, Figure 2 and Figure 3:
Fig. 1 is structural representation of the present invention, as shown in Figure 1, industrial robot joint gapless drive mechanism of the present invention comprises input roller gear 1, driven cylindrical gear 2, first worm screw 3, exports worm gear 4, second worm screw 5, the gap that disappears roller gear 6 and the roller gear 8 that commutates.
Input roller gear 1 rotates around fixed axis O1-O1;
Driven cylindrical gear 2 and the first worm screw 3 link into an integrated entity, and jointly rotate around fixed axis O2-O2, and the first worm screw 3 rotation direction is left-handed (hands of worm also can be designed to dextrorotation, and just during engagement, the rotation direction of worm gear is contrary);
Export worm gear 4 to rotate around fixed axis O5-O5;
Second worm screw 5 is rotated around fixed axis O3-O3;
The gap that disappears roller gear 6 rotates around fixed axis O3-O3;
Second worm screw and the gap roller gear 6 that disappears link into an integrated entity by hold-down screw 7;
First worm screw 3 is identical with the second worm screw 5 rotation direction;
Commutation roller gear 8 rotates around fixed axis O4-O4;
The gap that disappears roller gear 6 is provided with waist type groove, allows the second worm screw 5 and the gap roller gear 6 that disappears to have certain angular turn, thus eliminates gear reversion gap.
As shown in Figure 1, external power supply drives input roller gear 1 to rotate counterclockwise, and drives driven cylindrical gear 2 and commutation roller gear 8 to rotate clockwise; First worm screw 3 and driven cylindrical gear 2 link into an integrated entity, also rotate clockwise; First worm screw 3 driver output worm gear 4 rotates counterclockwise (as shown in Figure 2), by externally output torque and the rotation of output worm gear 4; And export worm gear 4 and rotate, also can distribute sub-fraction moment of torsion for driving the second worm screw 5 rotates counterclockwise, and now the second worm screw 5 and the gap roller gear 6 that disappears first are integrally fixed by hold-down screw 7, therefore the gap roller gear 6 that disappears also rotates counterclockwise; And the gap roller gear 6 that disappears rotates counterclockwise and to rotate clockwise with the roller gear 8 that commutates that to make this gear pair engage direction consistent.This drive state disappeared before gap for transmission mechanism.Meshing relation before the gap that disappears of detailed driven cylindrical gear 2 as shown in Figure 4, the gap that disappears roller gear 6, commutation roller gear 8 and input roller gear 1.As shown in Figure 4: mark 9 in Fig. 4 and represent profile of tooth engagement place, mark 10 represents gear backlash.
Second worm screw 5 position is fixed, loosen hold-down screw 7, slightly rotate counterclockwise the gap roller gear 6 that disappears, the gears meshing place made to disappear in gap roller gear 6 and commutation roller gear 8 gear pair, commutation roller gear 8 and input roller gear 1 gear pair originally becomes sideshake position, originally there is the side of sideshake to become gears meshing place (as shown in Figure 5), thus reach the object of transmission mechanism forward and backward commutation zero-clearance transmission.Eliminate behind gap, use will disappear gap roller gear 6 and the second worm screw 5 of hold-down screw 7 to be integrally fixed.Mark 9 in Fig. 5 and represent profile of tooth engagement place, mark 10 represents gear backlash.
Disappear in gap process above-mentioned, the gap that disappears roller gear 6 is provided with waist type groove, relative second worm screw 5 of gap roller gear 6 that allows to disappear has certain angular turn, thus gear pair reversion sideshake can be eliminated, therefore disappear gap roller gear 6 and the second worm screw 5 that are provided with waist type groove 6-1 constitute the gap-eliminating structure in industrial robot joint gapless drive mechanism, as shown in Figure 1, Figure 2 and Figure 3.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.
Part that the present invention does not relate to is all same as the prior art or adopt prior art to be realized.
Claims (3)
1. an industrial robot joint gapless drive mechanism, it is characterized in that, comprise input roller gear (1), driven cylindrical gear (2), the first worm screw (3), export worm gear (4), the second worm screw (5), the gap that disappears roller gear (6) and commutation roller gear (8); Input roller gear (1) is meshed with driven cylindrical gear (2) and the roller gear (8) that commutates simultaneously; Driven cylindrical gear (2) is connected with the first worm screw (3); Export worm gear (4) to be meshed with the first worm screw (3) and the second worm screw (5) simultaneously; Second worm screw (5) is connected with the gap roller gear (6) that disappears; The gap that disappears roller gear (6) is meshed with commutation roller gear (8); Wherein, the gap that disappears described in roller gear (6) is provided with kidney slot (6-1); The described gap roller gear (6) that disappears forms anti-backlash mechanism with the second worm screw (5); The described gap roller gear (6) that disappears is connected with screw (7) by aforementioned kidney slot (6-1) with the second worm screw (5).
2. industrial robot joint gapless drive mechanism as claimed in claim 1, is characterized in that, also comprise the first multistage cylindrical gear pair and the second multistage cylindrical gear pair; First multistage cylindrical gear pair is meshed with driven cylindrical gear (2) and the first worm screw (3) simultaneously; Second multistage cylindrical gear pair is meshed with the second worm screw (5) and the gap roller gear (6) that disappears simultaneously.
3. industrial robot joint gapless drive mechanism as claimed in claim 1, is characterized in that, described driven cylindrical gear (2) is as a whole with the first worm screw (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410019294.2A CN103753529B (en) | 2014-01-16 | 2014-01-16 | A kind of industrial robot joint gapless drive mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410019294.2A CN103753529B (en) | 2014-01-16 | 2014-01-16 | A kind of industrial robot joint gapless drive mechanism |
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| CN103753529A CN103753529A (en) | 2014-04-30 |
| CN103753529B true CN103753529B (en) | 2016-04-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438511A (en) * | 2019-12-25 | 2020-07-24 | 国网浙江杭州市萧山区供电有限公司 | High-safety puncture wire clamp screwing device applicable to live working robot |
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| CN104772770B (en) * | 2015-04-03 | 2017-02-22 | 深圳市荣德机器人科技有限公司 | Joint reduction gear |
| CN107559386B (en) * | 2017-10-31 | 2021-03-16 | 枣庄北航机床创新研究院有限公司 | Mutual clearance-eliminating non-return difference transmission device with double speed reducers |
| CN108406842A (en) * | 2018-05-15 | 2018-08-17 | 哈尔滨理工大学 | A kind of twin worm formula spatial cell robot rotary articulation |
| CN110091318B (en) * | 2019-06-10 | 2021-03-30 | 广东博智林机器人有限公司 | Robot |
| CN113084864B (en) * | 2021-05-07 | 2022-09-27 | 重庆理工大学 | Robot joint structure with variable rigidity |
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| US4976165A (en) * | 1989-07-14 | 1990-12-11 | Kabushiki Kaisha Kobe Seiko Sho | Backlash removing mechanism for industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111438511A (en) * | 2019-12-25 | 2020-07-24 | 国网浙江杭州市萧山区供电有限公司 | High-safety puncture wire clamp screwing device applicable to live working robot |
| CN111438511B (en) * | 2019-12-25 | 2021-11-02 | 国网浙江杭州市萧山区供电有限公司 | High-safety puncture wire clamp screwing device applicable to live working robot |
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| CN103753529A (en) | 2014-04-30 |
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