CN115325104A - Speed changing device, speed reducing motor and mechanical arm - Google Patents

Abstract

The utility model discloses a speed change gear, gear motor and arm, speed change gear includes: the eccentric rotating shaft and the transmission gear are rotatably sleeved on the first sub-rotating shaft; a first sleeve comprising, in an axial direction of the first sleeve: a first barrel section and a second barrel section; the inner ring wall of the first cylinder section is provided with first inner teeth, the first inner teeth are meshed with the first outer teeth, the reference circle of the first inner teeth is larger than that of the first outer teeth, and the second cylinder section is rotatably sleeved on the second sub-rotating shaft; and the inner ring wall of the second sleeve is provided with second inner teeth, the second inner teeth are meshed with the second outer teeth, and the reference circle of the second inner teeth is larger than that of the second outer teeth. The present disclosure can realize a speed change of a large speed change ratio by a compact and simple-structured speed change device.

Description

Speed changing device, speed reducing motor and mechanical arm

Technical Field

The disclosure relates to the technical field of machinery, in particular to a speed changing device and a speed reducing motor.

Background

In the mechanical field, the motor is driven by the output shaft, the rotating speed output by the output shaft may be too fast or too slow, and the actually required rotating speed may be greater than or less than the rotating speed output by the output shaft of the motor, so that the rotating speed output by the motor needs to be changed by using a device such as a speed reducing motor.

Disclosure of Invention

The present disclosure provides a speed change device, a reduction motor, and a robot arm.

The present disclosure adopts the following technical solutions.

In some embodiments, the present disclosure provides a transmission comprising:

eccentric pivot, eccentric pivot includes along the extending direction: the shaft axis of the first sub-rotating shaft and the shaft axis of the second sub-rotating shaft are parallel and do not coincide;

drive gear, rotatable cover is established on first sub-pivot, includes: the second external tooth is positioned on one side, away from the second sub-rotating shaft, of the first external tooth, and the reference circles of the first external tooth and the second external tooth are not equal;

a first sleeve comprising, in an axial direction of the first sleeve: a first barrel section and a second barrel section; the inner ring wall of the first cylinder section is provided with first inner teeth, the first inner teeth are meshed with the first outer teeth, the reference circle of the first inner teeth is larger than that of the first outer teeth, and the second cylinder section is rotatably sleeved on the second sub-rotating shaft;

and the inner ring wall of the second sleeve is provided with second inner teeth, the second inner teeth are meshed with the second outer teeth, and the reference circle of the second inner teeth is larger than that of the second outer teeth.

In some embodiments, the present disclosure provides a geared motor including a motor body and the transmission of any one of the aspects of the present disclosure, wherein the first sleeve is fixed to the motor body.

In some embodiments, the present disclosure provides a robot arm including a transmission according to any one of the present disclosure, or a reduction motor provided by the present disclosure.

The speed change device provided by the embodiment of the disclosure comprises: eccentric pivot, eccentric pivot includes along the extending direction: the shaft axis of the first sub-rotating shaft and the shaft axis of the second sub-rotating shaft are parallel and do not coincide; drive gear, rotatable cover is established on first sub-pivot, includes: the second external tooth is positioned on one side, away from the second sub-rotating shaft, of the first external tooth, and the reference circles of the first external tooth and the second external tooth are not equal; a first sleeve comprising, in an axial direction of the first sleeve: a first barrel section and a second barrel section; the inner ring wall of the first cylinder section is provided with first inner teeth, the first inner teeth are meshed with the first outer teeth, the reference circle of the first inner teeth is larger than that of the first outer teeth, and the second cylinder section is rotatably sleeved on the second sub-rotating shaft; and the inner ring wall of the second sleeve is provided with second inner teeth, the second inner teeth are meshed with the second outer teeth, and the reference circle of the second inner teeth is larger than that of the second outer teeth. The present disclosure can realize a speed change of a large speed change ratio by a compact and simple-structured speed change device.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and components are not necessarily drawn to scale.

Fig. 1 is a schematic diagram of a transmission proposed in an embodiment of the present disclosure.

Fig. 2 is an exploded view of a transmission proposed in an embodiment of the present disclosure.

Reference numerals are as follows: 1. a first sleeve; 11. a first internal tooth; 2. a second sleeve; 21. a second internal tooth; 3. an eccentric rotating shaft; 31. a first sub-rotating shaft; 32. a second sub-rotating shaft; 4. a transmission gear; 41. a first external tooth; 42. and a second external tooth.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be understood that various steps recited in method embodiments of the present disclosure may be performed in parallel and/or in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.

The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence of the functions performed by the devices, modules or units.

It is noted that references to "a" or "an" in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will appreciate that references to "one or more" are intended to be exemplary unless the context clearly indicates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

In the mechanical field, the motor is driven by the output shaft, the rotating speed output by the output shaft may be too fast or too slow, and the actually required rotating speed may be greater than or less than the rotating speed output by the output shaft of the motor, taking a mechanical arm as an example, the rotating speed generally required by the joint of the mechanical arm is about 60rpm, and the rotating speed output by the motor is generally more than 5000rpm, so that a speed reducing mechanism needs to be arranged between the joint of the mechanical arm and the motor to connect the motor with the output end of the joint, and the mechanical arm can normally work. The speed reducer of the mechanical arm in the related technology comprises an RV speed reducer, a harmonic speed reducer, a planetary gear speed reducer and the like, the speed reducer of the RV speed reducer is large and can bear heavy load, but the structural load is high in precision requirement, the machining is difficult, and the cost is high; the harmonic reducer has a large reduction ratio and a simple structure, but is not suitable for heavy load due to the flexible gear; the reduction ratio of the planetary reducer is small, and multiple stages of reduction are usually required to meet the use requirement.

Some embodiments of the present disclosure provide a transmission device, as shown in fig. 1 and 2, fig. 1 is a schematic view of a transmission device according to an embodiment of the present disclosure, and fig. 2 is an exploded view of a transmission device according to an embodiment of the present disclosure, including: eccentric rotating shaft 3, drive gear 4, first sleeve 1 and second sleeve 2.

Referring to fig. 1, the eccentric rotating shaft 3 includes, along the extending direction of the eccentric rotating shaft 3: a first sub-rotation shaft 31 and a second sub-rotation shaft 32, and the axis of the first sub-rotation shaft 31 and the axis of the second sub-rotation shaft 32 are parallel and do not coincide, i.e. the first sub-rotation shaft 31 and the second sub-rotation shaft 32 are parallel but eccentric to each other.

The rotatable cover of drive gear 4 is established on first sub-pivot 31, and drive gear 4 can rotate around first sub-pivot 31 promptly, and for example drive gear 4 can establish on first sub-pivot 31 through rolling bearing, and drive gear 4 includes: a first external tooth 41 and a second external tooth 42, where the second external tooth 42 is located on a side of the first external tooth 41 away from the second sub-rotation shaft 32, and reference circles of the first external tooth 41 and the second external tooth 42 are not equal; in some embodiments, the transmission gear 4 is a step gear having two outer gear teeth with different reference circles on its outer wall.

The first sleeve 1 includes, in the axial direction of the first sleeve 1: a first barrel section and a second barrel section; the inner ring wall of the first cylinder section is provided with first inner teeth 11, the first inner teeth 11 are meshed with the first outer teeth 41, the reference circle of the first inner teeth 11 is larger than that of the first outer teeth 41, the second cylinder section is rotatably sleeved on the second sub-rotating shaft 32, and the second sub-rotating shaft 32 can rotate relative to the first sleeve 1; in some embodiments, the first sleeve 1 can support the eccentric shaft 3, and the first sleeve 1 is fixed when the eccentric shaft 3 rotates. In some embodiments, the first sub-rotating shaft 31 and the second sub-rotating shaft 32 are eccentric to each other, so that the second sub-rotating shaft will drive the transmission gear 4 to make planetary-like rotation in the case of self-transmission of the first sub-rotating shaft, and therefore the reference circle of the first internal teeth 11 must be larger than the reference circle of the first external teeth 41.

The second sleeve 2 has second inner teeth 21 on its inner annular wall, the second inner teeth 21 mesh with the second outer teeth 42, and the reference circle of the second inner teeth 21 is larger than that of the second outer teeth 42.

For better illustration of the speed changing device proposed by the present disclosure, the operation principle of the speed changing device in some embodiments will be briefly described below with reference to fig. 1, in some embodiments, a first sleeve 1 of the speed changing device is fixed differently, an eccentric rotating shaft 3 rotates, a first sub rotating shaft 31 rotates like a planet under the driving of a second sub rotating shaft 32, a transmission gear 4 rotates under the driving of the second sub rotating shaft 32, and since a first external tooth 41 is meshed with a first internal tooth 11, the motion track of the transmission gear 4 is fixed, a second external tooth 42 of the transmission gear 4 is meshed with a second internal tooth 21, so as to drive a second sleeve 2 to rotate, and since the pitch circle of two external teeth of the transmission gear 4 does not want to move, speed changing can be achieved. The transmission device provided in the embodiment of the present disclosure can realize a transmission with a large rotation speed ratio by a simple and compact structure.

In some embodiments of the present disclosure, the sum of the eccentricity of the eccentric rotary shaft 3 and the radius of the reference circle of the second outer teeth 42 is equal to the radius of the reference circle of the second inner teeth 21; the sum of the eccentricity and the radius of the reference circle of the first external teeth 41 is equal to the radius of the reference circle of the first internal teeth 11.

In some embodiments of the present disclosure, the pitch circle of the second outer teeth 42 is smaller than the pitch circle of the first outer teeth 41. In some embodiments, since the reference circle of the second external teeth 42 is smaller than the reference circle of the first external teeth 41, in the case that the transmission gear 4 rotates once, the second external teeth 42 rotate at the same angular velocity but at a different linear velocity from the first external teeth 41, and the linear velocity of the second external teeth 42 is smaller than that of the first external teeth 41, the rotation speed can be reduced and the torque can be increased.

In some embodiments of the present disclosure, the second cartridge section has at least one first bearing therein; the first bearing is located between the inner annular wall of the second cylinder section and the second sub-rotation shaft 32. In some embodiments, the first sleeve 1 and the eccentric rotating shaft 3 can rotate relatively, and the eccentric rotating shaft can be supported and the friction between the eccentric rotating shaft and the first sleeve can be reduced by arranging the first bearing between the second sleeve section and the second sub-rotating shaft.

In some embodiments of the present disclosure, the second barrel section has at least two spaced apart first bearings inside; the second sub-shaft 32 has an annular protrusion thereon, which is located in the gap between the two spaced first bearings. In some embodiments, the first bearing and the first sleeve are coaxially arranged, a gap is formed between the first bearings which are arranged at intervals, the second sub-rotating shaft is provided with an annular bulge which is positioned between the gaps, and the annular bulge and the first bearings at two sides are matched to limit the position of the second sub-rotating shaft, so that the eccentric shaft is limited to move along the axial direction in the rotating process.

In some embodiments of the present disclosure, the interior of the second barrel section has a first bearing adjacent the first internal teeth 11; the inner diameter of the first bearing adjacent to the first inner toothing 11 is smaller than the diameter of the reference circle of the first outer toothing. In some embodiments, the transmission gear 4 may be subjected to vibration or impact during rotation to cause axial movement along the second sub-rotation shaft 32, so that the first bearing disposed adjacent thereto can limit the movement of the transmission gear 4 toward the first sub-rotation shaft. The first bearings are ring-shaped, and the middle parts of the first bearings are hollow and circular, because the inner diameter of the adjacent first bearings is smaller than the diameter of the reference circle of the transmission gear 4, the transmission gear cannot be clamped in the first bearings.

In some embodiments of the present disclosure, the second sleeve 2 comprises a third barrel section and a fourth barrel section in the axial direction of the second sleeve 2; the inner ring wall of the third cylinder section is provided with second inner teeth 21, and the fourth cylinder section is sleeved on the outer ring wall of the first sleeve 1; the second sleeve 2 is rotatable relative to the first sleeve 1. In some embodiments, the second sleeve 2 is sleeved on the outer peripheral wall of the first sleeve 1, so as to position the second sleeve 2 relative to the first sleeve 1, and in some embodiments, a rotating bearing is disposed between the second sleeve 2 and the first sleeve 1, so that the second sleeve 2 can rotate relative to the first sleeve 1.

In some embodiments, the pitch circle of the first outer teeth 41 is larger than the pitch circle of the second inner teeth 21. In some embodiments, since the reference circle of the first external teeth 41 is larger than the reference circle of the second internal teeth 21, the first external teeth 41 are limited by the second internal teeth 21 when moving in the direction away from the first sub-rotating shaft 31 along the axial direction of the second sub-rotating shaft 32, so as to prevent the transmission gear 4 from shifting, thereby playing a role of limiting.

In some embodiments of the present disclosure, the transmission further comprises: a motor including a housing and an output shaft; the shell of the motor is fixedly connected with the first sleeve 1; the eccentric rotating shaft 3 is an output shaft of the motor, or the second sub-rotating shaft 32 of the eccentric rotating shaft 3 is in transmission connection with the output shaft of the motor. In some embodiments, when the motor works, the housing is in a stationary state, the first sleeve 1 is also stationary, and the output shaft rotates relative to the housing to drive the eccentric rotating shaft to rotate. Thus in some embodiments the first sleeve 1 is a fixed end of the transmission and remains stationary during use, the eccentric shaft is an input for inputting a rotational speed and the second sleeve 2 is an output for outputting a rotational speed after the transmission has been shifted.

In some embodiments of the present disclosure, a geared motor is further provided, which includes a motor body and any one of the above speed changing devices, the first sleeve 1 is fixed to the motor body, for example, the first sleeve 1 may be fixed to a housing of the motor body, and the eccentric rotating shaft 3 may be a rotating shaft of the motor body or may be in transmission connection with the rotating shaft of the motor body. In some embodiments, the transmission is a reduction gear.

In some embodiments of the present disclosure, a robot arm is further provided, which includes the speed changing device provided in any embodiment of the present disclosure, or includes the speed reducing motor provided in any embodiment of the present disclosure.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other combinations of features described above or equivalents thereof without departing from the spirit of the disclosure. For example, the above features and the technical features disclosed in the present disclosure (but not limited to) having similar functions are replaced with each other to form the technical solution.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims (11)

1. A transmission device, characterized by comprising:

eccentric pivot (3), eccentric pivot (3) include along the extending direction: a first sub-rotating shaft (31) and a second sub-rotating shaft (32), wherein the axis of the first sub-rotating shaft (31) is parallel to the axis of the second sub-rotating shaft (32) but does not coincide with the axis of the second sub-rotating shaft;

drive gear (4), rotatable cover is established on first sub-pivot (31), include: a first outer tooth (41) and a second outer tooth (42), wherein the second outer tooth (42) is positioned on the side of the first outer tooth (41) far away from the second sub-rotating shaft (32), and the reference circles of the first outer tooth (41) and the second outer tooth (42) are not equal;

a first sleeve (1) comprising, in an axial direction of the first sleeve (1): a first barrel section and a second barrel section; the inner ring wall of the first cylinder section is provided with first inner teeth (11), the first inner teeth (11) are meshed with the first outer teeth (41), the reference circle of the first inner teeth (11) is larger than that of the first outer teeth (41), and the second cylinder section is rotatably sleeved on the second sub-rotating shaft (32);

a second sleeve (2), wherein the inner annular wall of the second sleeve (2) is provided with second inner teeth (21), the second inner teeth (21) are meshed with the second outer teeth (42), and the reference circle of the second inner teeth (21) is larger than that of the second outer teeth (42).

2. The transmission device according to claim 1,

the sum of the eccentricity of the eccentric rotating shaft and the radius of the reference circle of the second outer tooth (42) is equal to the radius of the reference circle of the second inner tooth (21);

the sum of the eccentricity and the radius of the reference circle of the first external tooth (41) is equal to the radius of the reference circle of the first internal tooth (11).

3. The transmission of claim 1,

the reference circle of the second outer tooth (42) is smaller than the reference circle of the first outer tooth (41).

4. The transmission of claim 1,

the second barrel section has at least one first bearing therein;

the first bearing is located between the inner annular wall of the second cylinder section and the second sub-rotating shaft (32).

5. The transmission according to claim 4,

the second barrel section has at least two spaced first bearings therein;

the second sub-shaft (32) is provided with an annular protrusion which is positioned in a gap between two spaced first bearings.

6. The transmission according to claim 4,

the interior of the second cylinder section has a first bearing adjacent to the first internal toothing (11);

the inner diameter of a first bearing adjacent to the first inner toothing (11) is smaller than the diameter of the pitch circle of the first outer toothing.

7. The transmission of claim 1,

the second sleeve (2) comprises a third cylinder section and a fourth cylinder section along the axial direction of the second sleeve (2);

the inner ring wall of the third cylinder section is provided with the second inner teeth (21), and the fourth cylinder section is sleeved on the outer ring wall of the first sleeve (1);

the second sleeve (2) can rotate relative to the first sleeve (1).

8. The transmission of claim 7,

the pitch circle of the first external toothing (41) is greater than the pitch circle of the second internal toothing (21).

9. The transmission device according to any one of claims 1 to 8, characterized by further comprising:

a motor including a housing and an output shaft;

the shell of the motor is fixedly connected with the first sleeve (1);

the eccentric rotating shaft (3) is an output shaft of the motor, or a second sub-rotating shaft (32) of the eccentric rotating shaft (3) is in transmission connection with the output shaft of the motor.

10. A geared motor, comprising a motor body and a transmission according to any one of claims 1-9, said first sleeve (1) being fixed to said motor body.

11. A robot arm comprising a gear change mechanism as claimed in any one of claims 1 to 9, or comprising a gear motor as claimed in claim 10.

Images