CN105889418A - Hollow type zero-return-difference worm speed reducer of industrial robot - Google Patents
Hollow type zero-return-difference worm speed reducer of industrial robot Download PDFInfo
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- CN105889418A CN105889418A CN201410808709.4A CN201410808709A CN105889418A CN 105889418 A CN105889418 A CN 105889418A CN 201410808709 A CN201410808709 A CN 201410808709A CN 105889418 A CN105889418 A CN 105889418A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 16
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 229910052725 zinc Inorganic materials 0.000 description 2
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- 241000237858 Gastropoda Species 0.000 description 1
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- 210000003813 thumb Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention relates to the technical field of robot speed reducers. A hollow type zero-return-difference worm speed reducer of an industrial robot comprises a machine base, a worm gear, a worm, an output shaft, bearings and an end cover and is characterized in that an elastic check ring, a second end gear sleeve and a spring are sequentially arranged on the output shaft; the elastic check ring is tightly close to the end face of one bearing; the spring is tightly close to the end face of the inner ring of the other bearing; teeth of two end gear sleeves are engaged with each other; the outer circle and an inner hole of the first end gear sleeve are connected to an inner hole of a half-piece worm gear body A and the outer circle of the output shaft correspondingly; the outer circle of the second end gear sleeve is in sliding fit with an inner hole spline of a half-piece worm gear body B; the outer circle of the output shaft is sleeved with an inner hole of the second end gear sleeve in a spaced manner; and one half-piece gear in the half-piece worm gear body A and the half-piece worm gear body B deflects by 0.1 degree to 0.2 degree so that the two side faces of a spiral tooth groove of the worm can be engaged with the half-piece worm gear body A and the half-piece worm gear body B. The hollow type zero-return-difference worm speed reducer of the industrial robot has the beneficial effects that the transmission ratio of the toroid helicoids worm is large, transmission is stable, noise is low, the bearing force is large, tooth breakage is avoided, efficiency ranges from 0.85 to 0.95, and the bearing cost is low; and the manufacturing cost is 25-30% that of CORT and lower than that of Japan RV-C types.
Description
[technical field]
The present invention relates to industrial robot decelerator technical field, a kind of industrial robot hollow type zero return difference worm gear speed reducer.
[background technology]
Patent of invention CORT (97100463) subject matter is:
1. structure part complicated, another is many, and the accuracy of manufacture requires the highest, expensive；
2. return difference can not compensate automatically；
The most 3. RV-C hollow type cannot be replaced.
China's 863 Program, state natural sciences fund one repeat and list, it is desirable to state internal gear expert, first-class manufacturing company are in day
On the basis of this RV, develop and belong to Chinese oneself, there is the decelerator of independent intellectual property right replace Japan RV.
But, be so far assorted petty still must from Japan import RV supporting？
In this year, the Department of Science and Technology is assorted petty again to assign " industrial robot high accurate speed reducer 863 Program in 2015 "？
[summary of the invention]
The present invention is worm geared significant improvement, it is therefore intended that:
A kind of process for machining maturation, industrial robot hollow type zero return difference worm gear speed reducer of low cost of manufacture are proposed, to replace day
This RV-C type hollow decelerator.
Double enveloping hourglass worm gearing, has gear ratio big, compact conformation；Stable drive, vibration and noise are little；Transmission
Efficiency is high (0.85～0.95)；Bearing capacity is common worm screw 3～4 times, and worm-drive makes the thinning excess of transverse tooth thickness except worm gear teeth because of abrasion
The outer broken teeth that is difficult to, thus overload capacity is big, majority is applied to heavy duty power transmission occasion.
RV-320C hollow type: overall dimensions φ 440 × 140,80kg, specified output moment of torsion is 3136Nm, price about 5.5 ten thousand yuan.
Type TOP-200: worm screw d1=70.13, worm gear b=58, d2=329.87, mt=5.24, T2=3984Nm price 8300 yuan.
The two overall dimensions is close, but TOP-200 price is only the 15% of RV-320C.
The domestic 1arc of realization min return difference technical scheme is: " high precision machine tool, high accuracy manufacture ".
High precision machine tool needs the senior manufacture talent and substantial contribution, makes manufacturing cost too high, and enterprise is necessarily slowed down by Japan RV
Device price reduction is suppressed, and collapses until squeezed.
Therefore, the present invention has to propose: can " the middle rank accuracy of manufacture " decelerator realize zero return difference？Low manufacturing cost can be used
Decelerator replaces Japan's high accuracy RV-C type speed reducer？
The theoretical foundation of present inventive concept has two:
(1) the gear pair gap that eliminates of NC machine tool feed system is designed to the enlightenment of the present invention:
NC machine tool feed system requires that frame for movement has high transmission stiffness and eliminates as much as the drive gap of gear pair, because passing
Dynamic gap can cause each adverse movement of feed system to lag behind command signal, loses command pulse the reverse dead band of bad student, to transmission
Precision impact is the biggest.Digit Control Machine Tool uses the face, left and right with wide gear respectively, face, left and right of two thin gears to be adjacent to, to eliminate between flank
Gap；Hubei College of Automotive Engineering Qiu's new bridge proposes " roller gear backlash compensates new method automatically ": " at servo drive system
Gear drive in, in order to ensure Bidirectional driving precision, it is necessary to take measures eliminate backlash, sliding pin slip side set adjust gap
Mechanism, backlash can compensate automatically.”
Qin great Tong, Xie Liyang chief editor " Modern mechanical design handbook " roll up in 5 the 22nd (designs of optical, mechanical and electronic integration system) to
Go out straight-tooth and helical gear and eliminated gear clearance method (refer to roll up 5-22-168, page 169): driving gear and two panels driven gear
A and B meshing relation is: drivewheel engages with driven gear A when rotating forward；Engage with driven gear A during drivewheel reversion.
(2) old little peace Doctors ' Teachers patent of invention " accurate cycloid pin gear epicyclic transmission apparatus " (ZL200810069737) of University Of Chongqing:
The technical characteristic of this invention: if the direction, flank profil face that Cycloidal Wheel a in pin wheel housing A engages with pin tooth is clockwise；Then pin tooth
The direction, flank profil face that Cycloidal Wheel b in shell B engages with pin tooth is counterclockwise, thus zero return difference during forward and backward.
Principle is described with (one) identical.The medium accuracy of manufacture, zero return difference during forward and backward；Shortcoming: monolithic Cycloidal Wheel is done work.
Technical scheme is as follows:
On output shaft, device elastic scheibe, first and second end tooth overlap and disk spring successively, and elastic scheibe is close to the first taper roller axle
Holding inner ring end face, disk spring is close to the second tapered roller bearing internal ring end face；
The inner side end tooth of first and second end tooth set is rake tooth, or stepped tooth, and tooth engages with tooth, and the first end tooth overlaps cylindrical and interior
Hole is connected to half slit bamboo or chopped wood worm gear A endoporus and output shaft cylindrical, and the second end tooth set cylindrical and half slit bamboo or chopped wood worm gear B endoporus spline are slided and joined, institute
State the second end tooth set endoporus empty set on output shaft cylindrical；
After two and half slit bamboo or chopped wood worm gear A, B overall processing, wherein will deflect 0.1 °～0.2 ° by one and half slit bamboo or chopped wood worm gears during assembling, make worm screw 2
The two sides of spiral alveolus are engaged with two and half slit bamboo or chopped wood worm gear A, B helical teeth respectively.
First and second end tooth set inner side end tooth is wavy circle-arc tooth or sine, is similar to sinusoidal curve tooth.
Two and half slit bamboo or chopped wood worm gear A, B are zinc-base wear-resisting alloy.
Japan's RV-C type speed reducer of [beneficial effect] present invention ratio, it is created, novelty, practicality are:
(1) Double enveloping hourglass worm gearing technical maturity, gear ratio are greatly, and compact conformation, stable drive are vibrated and make an uproar
Sound is little, bearing capacity is big, will not broken teeth, transmission efficiency up to 0.85～0.95, do not need costliness special special bearing；
(2) manufacturing cost estimation is the 25～30% of RV, CORT, lower than the cost of Japanese RV-C type hollow decelerator.
The University Of Chongqing " double-worm wheel accurate transmission mechanism " (200810069736) of ratio: return difference is little, simple in construction, low cost of manufacture.
[accompanying drawing explanation]
Fig. 1. for the structural representation of the embodiment of the present invention
Fig. 2 original state: schematic diagram when being separately close to half slit bamboo or chopped wood worm gear A, B is divided in N, M face, both sides of worm spiral groove
Fig. 3 dextrorotation worm gear left hand rule: left hand four refers to, thumb is to respectively worm screw, worm gear rotation direction principle schematic
[detailed description of the invention]
With reference to Fig. 1-3, a kind of industrial robot hollow type zero return difference worm gear speed reducer, including support 1, the snail that is contained in support 1
Worm screw 2, flanged dish output shaft 5, block bearing and the end cap that wheel engages with worm gear, described worm gear includes with gorge circle as typing
Two and half slit bamboo or chopped wood worm gear A, the B in face, outside described half slit bamboo or chopped wood worm gear A, axle journal is bearing in support 1 endoporus by clutch shaft bearing 3, and it is axial
Being limited by the nose circle lid 4 being connected on support 1, outside described half slit bamboo or chopped wood worm gear B, axle journal is bearing in big end cap 8 by the second bearing 9
Hole, big end cap is connected on support 1, and the inner side axle journal of described half slit bamboo or chopped wood worm gear A and half slit bamboo or chopped wood worm gear B coordinates a copper alloy or zinc
Based wear-resistant alloy lasso 14, the purpose of device lasso 14 makes half slit bamboo or chopped wood worm gear A, B form freely supported structure, sets dress in described output shaft 5
Cable through hole, described output shaft 5 ring flange is in order to connect external drive part, and described output shaft 5 two ends are rolled with first and second circular cone
Sub-bearing 10,7 is bearing in big end cap 8 and nose circle lid 4 endoporus respectively, it is characterised in that:
Device elastic scheibe 12, first and second end tooth set 13,6 and spring 11, described elastic scheibe successively on described output shaft 5
12 are close to the first taper roll bearing 10 inner ring end face, and spring 11 is close to the second taper roll bearing 7 inner ring end face, described bullet
Spring 11 is dish-like or cylindrical compression spring, and elastic scheibe 12 is used for spacing, and spring 11 is used for resetting；
The inner side end tooth of described first and second end tooth set 13,6 is rake tooth, or stepped tooth, and tooth engages with tooth, described first
End tooth overlaps 13 cylindricals and endoporus is connected to half slit bamboo or chopped wood worm gear A endoporus and output shaft 5 cylindrical, described second end tooth overlap 6 cylindricals with
Half slit bamboo or chopped wood worm gear B endoporus spline is sliding joins, and described second end tooth overlaps 6 endoporus empty sets on output shaft 5 cylindrical, and worm screw 2 loads rotation and does
During merit: owing to first and second end tooth set 13,6 engages for end-tooth, two component of end face between cog normal pressure Fn: axial force F a
With peripheral force Ft, when axial force F a is more than back-moving spring 11 compression stress, axial force F a promotes the second end tooth set 6 to move to right, week
The second end tooth set 6 reversely deflection one Δ θ=0.1 °, the least angle～0.2 °, then half slit bamboo or chopped wood worm gear A helical teeth and worm screw 2 spiral shell is made to power Ft
Rotation alveolus opposite side N face is close to, and 2 half slit bamboo or chopped wood worm gear A, B drive output shaft 5 work done in the same direction；
After described two and half slit bamboo or chopped wood worm gear A, B overall processing, during assembling, wherein one and half slit bamboo or chopped wood worm gears are deflected Δ θ=0.1 °～0.2 °,
The two sides making worm screw 2 spiral alveolus are engaged with two and half slit bamboo or chopped wood worm gear A, B helical teeth respectively, deflection angle Δ θ size depend on worm screw,
Produced meshing backlass during spiral case making.
Described industrial robot hollow type zero return difference worm gear speed reducer, it is characterised in that: inside described first and second end tooth set 13,6
End-tooth is wavy circle-arc tooth or sine, is similar to sinusoidal curve tooth, concentrates owing to wavy circle-arc tooth does not exist stress
And not easy tooth-breaking, wavy circle-arc tooth is prone to milling, grinding and is active in one's movements.
Described industrial robot hollow type zero return difference worm gear speed reducer, it is characterised in that: described two and half slit bamboo or chopped wood worm gear A, B are casting
Zinc-base wear-resisting alloy, cast zinc based wear-resistant alloy, there is high intensity, the performance of high abrasion, casting technique is simple, it is adaptable to various castings
Make process, meet the requirement producing and using, be a kind of excellent engineering material, be used for replacing ZQSn10-1, ZQSn6-6-3,
After ZQAl9-4 alloy, reduce cost 50～70%.
Operation principle is summarized as follows:
A () original state return difference is zero: M, N face, both sides of worm screw 2 spiral alveolus is nibbled with two and half slit bamboo or chopped wood worm gear A, B helical teeth respectively
Close, that is between half slit bamboo or chopped wood worm gear A and half slit bamboo or chopped wood worm gear B deflect the least angle Δ θ, the size of deflection angle Δ θ depend on worm screw with
Sideshake produced by spiral case making, generally Δ θ=0.1 °～0.2 °；
When worm screw 2 turns clockwise, according to dextrorotation worm gear left hand rule, worm gear B turns drive the first end tooth set 13, band clockwise
Dynamic output shaft 5 is also made to turn clockwise；
When worm screw 2 turns counterclockwise, according to dextrorotation worm gear left hand rule, worm gear A turns drive the second end tooth set 6, second counterclockwise
End tooth set 6 drive the first end tooth set 6, drive output shaft 5 are made to turn counterclockwise, thus return difference is zero；
When () worm screw 2 load rotates acting b: owing to first and second end tooth set 13,6 engages for end-tooth, end face between cog normal pressure
Two component of Fn: axial force F a and peripheral force Ft, when axial force F a is more than back-moving spring 11 compression stress, axial force F a
Promoting the second end tooth set 6 to move to right, peripheral force Ft makes the second end tooth set 6 reversely deflection one Δ θ=0.1 °, the least angle～0.2 °, then
Half slit bamboo or chopped wood worm gear A helical teeth is close to worm screw 2 spiral alveolus opposite side N face, and 2 half slit bamboo or chopped wood worm gear A, B drive output shaft 5 work done in the same direction；
Otherwise, when worm screw 2 stop, back-moving spring 11 is allowed to return to initial position, and during forward and backward, return difference is zero.
Above-described embodiment is the description of the invention, is not limitation of the invention, any equal to the scheme after simple transformation of the present invention
Belong to protection scope of the present invention.
Claims (3)
1. industrial robot hollow type zero return difference worm gear speed reducer, the worm gear including support (1), being contained in support (1),
Worm screw (2), flanged dish output shaft (5), block bearing and the end cap composition engaged with worm gear, described worm gear includes with gorge circle
For two and half slit bamboo or chopped wood worm gears (A, B) of die joint, described half slit bamboo or chopped wood worm gear (A) outside axle journal is bearing in support by clutch shaft bearing (3)
(1) endoporus, it axially limits by the nose circle lid (4) being connected on support (1), described half slit bamboo or chopped wood worm gear (B) outside axle journal
Being bearing in big end cap (8) endoporus by the second bearing (9), big end cap is connected on support (1), described half slit bamboo or chopped wood worm gear (A)
A copper alloy or zinc-base wear-resisting alloy lasso (14), described output shaft (5) is coordinated with on the inner side axle journal of half slit bamboo or chopped wood worm gear (B)
In set dress cable through hole, described output shaft (5) ring flange in order to connect external drive part, described output shaft (5) two ends use
First and second taper roll bearing (10,7) is bearing in big end cap (8) and nose circle lid (4) endoporus respectively, it is characterised in that:
Device elastic scheibe (12), first and second end tooth set (13,6) and spring (11), institute successively on described output shaft (5)
Stating elastic scheibe (12) and be close to the first taper roll bearing (10) inner ring end face, described spring (11) is close to the second taper roller
Bearing (7) inner ring end face, described spring (11) is dish-like or cylindrical compression spring；
Described first and second end tooth set (13,6)) inner side end tooth is rake tooth or stepped tooth, tooth engages with tooth, and described
One end tooth set (13) cylindrical and endoporus are connected in half slit bamboo or chopped wood worm gear (A) and output shaft (5) cylindrical, described second end tooth
Set (6) cylindrical and half slit bamboo or chopped wood worm gear (B) internal spline are slided and are joined, and the second end tooth set (6) endoporus empty set is on output shaft (5) cylindrical；
After described two and half slit bamboo or chopped wood worm gear (A, B) overall processing, during assembling, wherein will deflect 0.1 °～0.2 ° by one and half slit bamboo or chopped wood worm gears,
The two sides making worm screw (2) spiral alveolus are engaged with two and half slit bamboo or chopped wood worm gear (A, B) helical teeth respectively.
Industrial robot hollow type zero return difference worm gear speed reducer the most according to claim 1, it is characterised in that: described first,
Two end tooth sets (13,6) inner side end tooth is wavy circle-arc tooth or sine, is similar to sinusoidal curve tooth.
Industrial robot hollow type zero return difference worm gear speed reducer the most according to claim 1 or claim 2, it is characterised in that: described two
Only half slit bamboo or chopped wood worm gear (A, B) is zinc-base wear-resisting alloy.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410808709.4A CN105889418B (en) | 2014-12-08 | 2014-12-08 | Zero return difference worm gear speed reducer of industrial robot hollow type |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410808709.4A CN105889418B (en) | 2014-12-08 | 2014-12-08 | Zero return difference worm gear speed reducer of industrial robot hollow type |
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| Publication Number | Publication Date |
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| CN105889418A true CN105889418A (en) | 2016-08-24 |
| CN105889418B CN105889418B (en) | 2018-10-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106481744A (en) * | 2016-12-05 | 2017-03-08 | 吴小杰 | Industrial robot end-tooth vuilt-up crankshaft formula RV decelerator |
| CN109707796A (en) * | 2019-01-09 | 2019-05-03 | 银川威力传动技术股份有限公司 | A kind of rotary reducer with damping torque |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002310267A (en) * | 2001-04-10 | 2002-10-23 | Bando Chem Ind Ltd | Resin-made worm wheel, manufacturing device thereof, and manufacturing method therefor |
| JP2004026102A (en) * | 2002-06-28 | 2004-01-29 | Koyo Seiko Co Ltd | Electric power steering device |
| CN201162804Y (en) * | 2008-03-03 | 2008-12-10 | 李旭才 | Worm gear apparatus capable of improving transmission accuracy |
| CN102032320A (en) * | 2010-11-04 | 2011-04-27 | 吴声震 | Zero-return difference worm gear speed reducer for industrial robot |
| CN102062172A (en) * | 2010-11-04 | 2011-05-18 | 吴声震 | Solar tracking gapless worm gear speed reducer |
| CN202251887U (en) * | 2011-09-08 | 2012-05-30 | 江阴克威齿轮箱制造有限公司 | Worm gear sleeve in reducer |
| CN102979888A (en) * | 2012-10-09 | 2013-03-20 | 吴小杰 | Bearing grease lubrication worm gear speed reducer of industrial robot |
| WO2013141002A1 (en) * | 2012-03-23 | 2013-09-26 | 株式会社椿本チエイン | Worm gear device |
-
2014
- 2014-12-08 CN CN201410808709.4A patent/CN105889418B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002310267A (en) * | 2001-04-10 | 2002-10-23 | Bando Chem Ind Ltd | Resin-made worm wheel, manufacturing device thereof, and manufacturing method therefor |
| JP2004026102A (en) * | 2002-06-28 | 2004-01-29 | Koyo Seiko Co Ltd | Electric power steering device |
| CN201162804Y (en) * | 2008-03-03 | 2008-12-10 | 李旭才 | Worm gear apparatus capable of improving transmission accuracy |
| CN102032320A (en) * | 2010-11-04 | 2011-04-27 | 吴声震 | Zero-return difference worm gear speed reducer for industrial robot |
| CN102062172A (en) * | 2010-11-04 | 2011-05-18 | 吴声震 | Solar tracking gapless worm gear speed reducer |
| CN202251887U (en) * | 2011-09-08 | 2012-05-30 | 江阴克威齿轮箱制造有限公司 | Worm gear sleeve in reducer |
| WO2013141002A1 (en) * | 2012-03-23 | 2013-09-26 | 株式会社椿本チエイン | Worm gear device |
| CN102979888A (en) * | 2012-10-09 | 2013-03-20 | 吴小杰 | Bearing grease lubrication worm gear speed reducer of industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106481744A (en) * | 2016-12-05 | 2017-03-08 | 吴小杰 | Industrial robot end-tooth vuilt-up crankshaft formula RV decelerator |
| CN109707796A (en) * | 2019-01-09 | 2019-05-03 | 银川威力传动技术股份有限公司 | A kind of rotary reducer with damping torque |
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| CN105889418B (en) | 2018-10-09 |
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Effective date of registration: 20180828 Address after: 325603 No. 3, Zhong Nan Tian Road, North white elephant Town, Yueqing City, Wenzhou, Zhejiang. Applicant after: Chen Wei Address before: 325400 Room 302, building 11, West Garden, Kunyang Town, Pingyang, Wenzhou, Zhejiang Applicant before: Wu Xiaojie |
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Effective date of registration: 20211020 Address after: 215122 building 3, No. 68, Qiye Road, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee after: Suzhou Huazhen industrial robot reducer Co.,Ltd. Address before: 325603 No. 3, Zhong Nan Tian Road, North white elephant Town, Yueqing City, Wenzhou, Zhejiang. Patentee before: Chen Wei |
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Denomination of invention: Hollow type zero return difference worm gear reducer for industrial robots Effective date of registration: 20221014 Granted publication date: 20181009 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Suzhou Branch Pledgor: Suzhou Huazhen industrial robot reducer Co.,Ltd. Registration number: Y2022320010586 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20181009 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Suzhou Branch Pledgor: Suzhou Huazhen industrial robot reducer Co.,Ltd. Registration number: Y2022320010586 |