CN110043610A - A kind of high bearing-type speed reducer for driving robot of bearing capacity - Google Patents
A kind of high bearing-type speed reducer for driving robot of bearing capacity Download PDFInfo
- Publication number
- CN110043610A CN110043610A CN201910373654.1A CN201910373654A CN110043610A CN 110043610 A CN110043610 A CN 110043610A CN 201910373654 A CN201910373654 A CN 201910373654A CN 110043610 A CN110043610 A CN 110043610A
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- Prior art keywords
- bearing
- roller
- speed reducer
- raceway
- type speed
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- Legal status (The legal status 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 status listed.)
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 239000007787 solid Substances 0.000 claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 7
- 239000010959 steel Substances 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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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
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The present invention relates to a kind of high bearing-type speed reducers for driving robot of bearing capacity, including casing assembly, roller disk component and center, raceway at two is equipped between the casing assembly and roller disk component, it is spherical raceway at one, another place is cylindrical surface raceway, solid matter steel ball in the spherical raceway, solid matter cylindrical roller in the cylindrical surface raceway, the center is equipped with eccentric step, the bias step is equipped with capacity eccentric bearing, the capacity eccentric bearing is equipped with transmission ring, the casing assembly inner cavity is equipped with ring gear, equal part radial slot is provided in the roller disk component, roller is equipped in the equal part radial slot, the transmission ring pushes roller to engage with ring gear.The present invention has higher bearing capacity, shorter axial dimension, smaller outer dimension, simpler processing technology, significant decrease processing cost, and easily guarantees the accuracy of manufacture, meets the requirement of robot.
Description
Technical field
The present invention relates to technical field of mechanical transmission, and in particular to a kind of high axis for driving robot of bearing capacity
Formula speed reducer is held, joint of robot is suitable for.
Background technique
In currently known industrial robot retarder field, using the RV retarder of Japan, European Slovakia
Spinea retarder and harmonic speed reducer.Based on the above two are all driven by accurate cycloid pin gear, RV retarder is basic herein
On added primary planet pinion deceleration；Spinea retarder is then to have added special interpreter on the basis of Cycloidal pin-wheel drive
Structure and crossed roller bearing, they all meet joint of robot to compact-sized requirement, but structure is complicated, expensive.
In addition, the flexbile gear bearing capacity of harmonic speed reducer is weaker, it is only suitable for driving the wrist of robot, is not suitable for industrial robot
Large arm.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of high bearing-types for driving robot of bearing capacity
Speed reducer has higher bearing capacity, smaller outer dimension, and simpler processing technology significantly reduces processing cost, and
Easily guarantee the accuracy of manufacture, meets the requirement of robot.
The object of the present invention is achieved like this:
A kind of high bearing-type speed reducer for driving robot of bearing capacity, including casing assembly, roller disk component and center,
It is equipped with raceway at two between the casing assembly and roller disk component, is spherical raceway at one, another place is cylindrical surface raceway, institute
Solid matter steel ball in spherical raceway, solid matter cylindrical roller in the cylindrical surface raceway are stated, the center is equipped with eccentric step,
The bias step is equipped with capacity eccentric bearing, and the capacity eccentric bearing is equipped with transmission ring, and the casing assembly inner cavity is equipped with ring gear,
The ring gear is curve tooth form, and equal part radial slot is provided in the roller disk component, is equipped with rolling in the equal part radial slot
Column, the transmission ring push roller to engage with ring gear.
Preferably, the casing assembly includes housing front, shell middle part and rear shell, passes through fastener between three and connects
It connects, the housing front connects servo motor, and portion in the shell is arranged in the ring gear.
Preferably, the roller disk component includes roller disk ontology, terminal pad and disk cover, and capacity eccentric bearing is arranged in roller disk
Between ontology and disk cover, the equal part radial slot is arranged on roller disk ontology, and the roller disk ontology and terminal pad pass through the
One screw is fixed, and the roller disk ontology and disk cover are fixed by the second screw, and second screw is located at two adjacent equal parts
Between radial slot.
Preferably, the spherical raceway is equipped with spherical surface interior rollaway nest and spherical surface outer rollaway nest, and the spherical surface outer rollaway nest setting is outside
In the middle part of shell and on the inside of the faying face of rear shell, the outer of roller disk ontology and terminal pad faying face is arranged in the spherical surface interior rollaway nest
Week.
Preferably, the cylindrical roller is located in the middle part of shell between disk cover, Correspondent cy linder shape rolling in the middle part of the shell
Son is equipped with cylindrical surface outer rollaway nest.
Preferably, 2-3 roller is equipped in each equal part radial slot.
Preferably, the eccentric step two sides are respectively equipped with first bearing and second bearing, the outer ring of the first bearing
It is connect simultaneously with roller disk ontology, terminal pad, the second bearing outer ring is connect with disk cover.
Preferably, the both ends of the center correspond to capacity eccentric bearing equipped with balance weight.
Preferably, the first outside framework oil seal, the housing front and center are equipped between the terminal pad and rear shell
Between be equipped with the second reinforced seal.
The beneficial effects of the present invention are:
The present invention have higher bearing capacity, shorter axial dimension, smaller outer dimension, simpler processing technology,
Processing cost is significantly reduced, and easily guarantees the accuracy of manufacture, meets the requirement of robot.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Wherein: casing assembly 1；Ring gear 1.1；Housing front 1.2；1.3 in the middle part of shell；Rear shell 1.4；Roller disk group
Part 2；Roller 2.1；Terminal pad 2.2；Roller disk ontology 2.3；Disk cover 2.4；Center 3；Eccentric step 3.1；Steel ball 4；It is cylindrical
Roller 5；Capacity eccentric bearing 6；First screw 7；First bearing 8；Second bearing 9；Balance weight 10；First outside framework oil seal 11；Second bone
Frame sealing 12；Transmission ring 13.
Specific embodiment
Referring to Fig. 1, the present invention relates to a kind of high bearing-type speed reducers for driving robot of bearing capacity, including shell group
Part 1, roller disk component 2 and center 3 are equipped with raceway at two between the casing assembly 1 and roller disk component 2, be ball at one
Face raceway, another place are cylindrical surface raceway, solid matter steel ball 4 in the spherical raceway, and solid matter is cylindrical in the cylindrical surface raceway
Roller 5 forms the supporting structure of similar bearing, substantially reduces the axial dimension of retarder, while roller disk component 2 being enable to exist
It is rotated in casing assembly 1, ensure that accurate positioning and the flexible rotating of roller disk component.The center 3 is equipped with eccentric platform
Rank 3.1, the bias step 3.1 are equipped with capacity eccentric bearing 6, and the capacity eccentric bearing 6 is equipped with transmission ring 13, the casing assembly 1
Inner cavity is equipped with ring gear 1.1, and the ring gear 1.1 is curve tooth form, is provided with equal part radial slot in the roller disk component 2,
Roller 2.1 is equipped in the equal part radial slot, the transmission ring 13 generates thrust to roller, pushes roller 2.1 and ring gear 1.1
Engagement.
Since there are a tooth is poor, roller disk component 2 and casing assembly 1 generate relative motion, when casing assembly 1 is fixed,
Roller disk component 2 exports this rotary motion；When roller disk component 2 is fixed, then casing assembly 1 is defeated by this rotary motion
Out.
The casing assembly 1 includes housing front 1.2, shell middle part 1.3 and rear shell 1.4, has positioning to stop between three
Mouthful, it to guarantee concentricity, and is connected by fastener, the housing front 1.2 connects servo motor, the electricity of the servo motor
Arbor is inserted into the inner hole of center 3, is connected by key and center 3 and capacity eccentric bearing 6 and transmission ring 13 is driven to rotate together, described
Portion 1.3 in the shell are arranged in ring gear 1.1.
The roller disk component 2 includes terminal pad 2.2, roller disk ontology 2.3 and disk cover 2.4, and the setting of capacity eccentric bearing 6 is being rolled
Between column disk ontology 2.3 and disk cover 2.4, the equal part radial slot is arranged on roller disk ontology 2.3, in each equal part radial slot
Equipped with 2-3 roller 2.1.The terminal pad 2.2 is fixed with roller disk ontology 2.3 by the first screw 7, the roller disk ontology
2.3 and disk cover 2.4 fixed by the second screw, second screw is located between two adjacent equal part radial slots.
The spherical raceway is equipped with spherical surface interior rollaway nest and spherical surface outer rollaway nest, and portion in the shell is arranged in the spherical surface outer rollaway nest
1.3 and rear shell 1.4 faying face on the inside of, spherical surface interior rollaway nest setting is combined in terminal pad 2.2 and roller disk ontology 2.3
The periphery in face.
The cylindrical roller 5 is located in the middle part of shell between 1.3 and disk cover 2.4,1.3 Correspondent cy linder shapes in the middle part of the shell
Roller 5 is equipped with cylindrical surface outer rollaway nest.
3.1 two sides of the bias step are respectively equipped with first bearing 8 and second bearing 9, and the outer ring of the first bearing 8 is same
When connect with terminal pad 2.2, roller disk ontology 2.3,9 outer ring of second bearing is connect with disk cover 2.4.
The both ends of the center 3 correspond to capacity eccentric bearing 6 equipped with balance weight 10.When the balance weight 10 makes speed reducer work
Reach complete dynamic balancing, to eliminate vibration.
The first outside framework oil seal 11 is equipped between the terminal pad 2.2 and rear shell 1.4, the housing front 1.2 is in
The second reinforced seal 12 is equipped between heart set 3.First reinforced seal 11 hinder sundries enter in steel ball 4, it is ensured that steel ball 4 it is flexible
Rotation.Second reinforced seal 12 guarantees that sundries does not enter internal bearings, extends the service life of bearing.
In addition to the implementation, all to use equivalent transformation or equivalent replacement the invention also includes there is an other embodiments
The technical solution that mode is formed should all be fallen within the scope of the hereto appended claims.
Claims (9)
1. a kind of high bearing-type speed reducer for driving robot of bearing capacity, it is characterised in that: including casing assembly (1), rolling
Column disk component (2) and center (3) are equipped with raceway at two, are at one between the casing assembly (1) and roller disk component (2)
Spherical raceway, another place are cylindrical surface raceway, solid matter steel ball (4) in the spherical raceway, solid matter circle in the cylindrical surface raceway
Cylinder roller (5), the center (3) are equipped with eccentric step (3.1), and the bias step (3.1) is equipped with capacity eccentric bearing
(6), the capacity eccentric bearing (6) is equipped with transmission ring (13), and casing assembly (1) inner cavity is equipped with ring gear (1.1), the internal tooth
Enclosing (1.1) is curve tooth form, and equal part radial slot is provided in the roller disk component (2), is equipped with rolling in the equal part radial slot
Column (2.1), the transmission ring (13) push roller (2.1) to engage with ring gear (1.1).
2. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 1, it is characterised in that:
The casing assembly (1) includes housing front (1.2), shell middle part (1.3) and rear shell (1.4), passes through fastening between three
Part connection, the housing front (1.2) connect servo motor, and portion (1.3) in the shell are arranged in the ring gear (1.1).
3. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 2, it is characterised in that:
The roller disk component (2) includes terminal pad (2.2), roller disk ontology (2.3) and disk cover (2.4), and capacity eccentric bearing (6) setting exists
Between roller disk ontology (2.3) and disk cover (2.4), the equal part radial slot is arranged on roller disk ontology (2.3), the connection
Disk (2.2) and roller disk ontology (2.3) are fixed by the first screw (7), and the roller disk ontology (2.3) and disk cover (2.4) are logical
It crosses the second screw to fix, second screw is located between two adjacent equal part radial slots.
4. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 3, it is characterised in that:
The spherical raceway is equipped with spherical surface interior rollaway nest and spherical surface outer rollaway nest, and the spherical surface outer rollaway nest setting is portion (1.3) and outer in the shell
On the inside of the faying face at shell rear portion (1.4), the spherical surface interior rollaway nest setting is combined in terminal pad (2.2) and roller disk ontology (2.3)
The periphery in face.
5. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 3, it is characterised in that:
The cylindrical roller (5) is located in the middle part of shell between (1.3) and disk cover (2.4), (1.3) Correspondent cy linder shape in the middle part of the shell
Roller (5) is equipped with cylindrical surface outer rollaway nest.
6. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 1, it is characterised in that:
2-3 roller (2.1) is equipped in each equal part radial slot.
7. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 3, it is characterised in that:
Described bias step (3.1) two sides are respectively equipped with first bearing (8) and second bearing (9), and the outer ring of the first bearing (8) is same
When connect with terminal pad (2.2), roller disk ontology (2.3), second bearing (9) outer ring is connect with disk cover (2.4).
8. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 1, it is characterised in that:
The both ends of the center (3) correspond to capacity eccentric bearing (6) equipped with balance weight (10).
9. a kind of high bearing-type speed reducer for driving robot of bearing capacity according to claim 3, it is characterised in that:
Between the terminal pad (2.2) and rear shell (1.4) be equipped with the first outside framework oil seal (11), the housing front (1.2) and in
The second reinforced seal (12) are equipped between heart set (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373654.1A CN110043610B (en) | 2019-05-07 | 2019-05-07 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373654.1A CN110043610B (en) | 2019-05-07 | 2019-05-07 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110043610A true CN110043610A (en) | 2019-07-23 |
| CN110043610B CN110043610B (en) | 2023-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910373654.1A Active CN110043610B (en) | 2019-05-07 | 2019-05-07 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
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|---|---|---|---|---|
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2019
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| CN2086825U (en) * | 1990-12-28 | 1991-10-16 | 严明 | Speed reducer with displaced rollers |
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|---|---|
| CN110043610B (en) | 2023-12-12 |
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