CN204784523U - A crosshead shoe drives speed reducer for articulated robot - Google Patents
A crosshead shoe drives speed reducer for articulated robot Download PDFInfo
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- CN204784523U CN204784523U CN201520450371.XU CN201520450371U CN204784523U CN 204784523 U CN204784523 U CN 204784523U CN 201520450371 U CN201520450371 U CN 201520450371U CN 204784523 U CN204784523 U CN 204784523U
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- crosshead shoe
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- speed reducer
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Abstract
The utility model relates to a crosshead shoe drives speed reducer for articulated robot, including input shaft, output shaft, organism, crosshead shoe, transmission ball, trajectory control ware and drive ball, installation input shaft, crosshead shoe, trajectory control ware and output shaft in the organism, the last transmission orbit that is used for installing the transmission ball that is equipped with of crosshead shoe, the transmission ball transmits the ware for trajectory control at transmission orbit internal motion with the motion with the input shaft, trajectory control ware lower surface is equipped with and is used for the installation the movement track of drive ball, the trajectory control ware is through the output of drive ball adjustment output shaft. The utility model discloses a motion of automatic adjustment input eccentric shaft is identical completely with the offset, and the transmission ball of messenger's speed reducer and the orbit of trajectory control ware are identical completely, and reducer output is steady, mechanical wear is rateed lowly.
Description
Technical field
The utility model relates to mechanical transmission braking technique, and the crosshead shoe be specifically related to for articulated robot drives speed reducer.
Background technique
Current mechanical transmission speed reducer on the market, great majority adopt gear or worm drive, and its cardinal principle utilizes to change the gear number of teeth to realize speed change.Shortcomings and deficiencies existing for this kind of mechanical transmission speed reducer are: because driving component machining accuracy is not high, gear or worm reduction gear are in design and installation process, all there is certain process gap and affect output accuracy, add between tooth and tooth it is with the motion of higher pair form, easily produce the problems such as component wear, transmission are steady, noise is large, output accuracy is poor.
In the Chinese invention patent application CN102767600A announced on July 31st, 2012, disclose a kind of S shape cycloid groove and built-in ball thereof of utilizing and realize the BS speed reducer slowed down, this technology does not need by gear or worm drive to realize speed change, reduce the noise of speed reducer to a certain extent, improve transmission efficiency.But, the S shape cycloid groove of BS speed reducer defines the offset of eccentric shaft, make it cannot control the movement locus of speed reducer completely in the process of motion, the mechanical interference that ball produces in S shape cycloid groove easily produce that speed reducer exports steadily, stepping vibrations, the bad phenomenon such as heating value is large, wear rate is high.
Summary of the invention
In order to solve the technical problem existing for prior art, the crosshead shoe that the utility model is provided for articulated robot drives speed reducer, adopt crosshead shoe, transmitting balls, tracking controller and drive the motion of ball realization automatic adjustment input eccentric shaft and offset to fit like a glove, the transmitting balls of speed reducer and the track of tracking controller are fitted like a glove, and speed reducer output is steady, mechanical wear rate is low.
The technological scheme that the utility model adopts is as follows: the crosshead shoe for articulated robot drives speed reducer, comprises input shaft, output shaft, body, crosshead shoe, transmitting balls, tracking controller and drives ball; In described body, input shaft, crosshead shoe, tracking controller and output shaft are installed; Described crosshead shoe is provided with the transmission track for installing transmitting balls, transmitting balls move in transmission track with by the Movement transmit of input shaft to tracking controller; Tracking controller lower surface is provided with the movement locus for installing described driving ball, and tracking controller is by driving the output of ball adjustment output shaft.
Described transmitting balls comprises A face transmitting balls and B face transmitting balls, and the upper and lower surface of crosshead shoe is respectively equipped with A face transmission track for installing A face transmitting balls and B face transmitting balls and B face transmission track.
Described crosshead shoe drives speed reducer also to comprise gap adjustment plate, crossed roller bearing upper cover, decussation roller and crossed roller bearing lower cover, described gap adjustment plate is arranged between tracking controller and crossed roller bearing upper cover, described output shaft is arranged in crossed roller bearing upper cover and crossed roller axle lower cover, and decussation roller is arranged on output shaft.
Compared with prior art, the utility model tool has the following advantages and beneficial effect:
1, do not adopt gear to do transmission, with input eccentric shaft as path generator, through tracking controller by crosshead shoe coordinate input eccentric shaft move output realize deceleration.Have compact structure, noise is low, lightweight, volume is little, zero clearance, stable drive are reliable, output accuracy advantages of higher, velocity ratio and transmission efficiency are up to 93%.
2, by crosshead shoe, transmitting balls, tracking controller and drive ball to realize the motion of automatically adjustment input eccentric shaft and offset fits like a glove, the transmitting balls of speed reducer and the track of tracking controller are fitted like a glove, thus realize speed reducer output steadily, mechanical wear rate is low, eliminates the design deficiency of BS speed reducer S shape cycloid groove.
Accompanying drawing explanation
Fig. 1 is overall structure planimetric map of the present utility model;
Fig. 2 is overall structure sectional view of the present utility model;
Fig. 3 is exploded view of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail, but mode of execution of the present utility model is not limited thereto.
Embodiment
See Fig. 1-3, the crosshead shoe that the utility model is used for articulated robot drives speed reducer, comprises input eccentric shaft 1, body 2, A face transmitting balls 3, crosshead shoe 4, B face transmitting balls 5, tracking controller 6, drives ball 7, gap adjustment plate 8, crossed roller bearing upper cover 9, decussation roller 10, output shaft 11, crossed roller bearing lower cover 12 and fastening screw trip bolt 13.
Input eccentric shaft 1, crosshead shoe 4, tracking controller 6, crossed roller bearing and output shaft 11 are installed in body 2.The structure of described crosshead shoe 4 is according to the rigidity of speed reducer and stationarity requirement, upper, lower surface (i.e. A, B face) be respectively equipped with A face transmission track for installing A face transmitting balls 3 and B face transmitting balls 5 and B face transmission track, transmission Trajectory Design in A face has more than two parallel ball orbits, correspondingly B face transmission track in the same way 90-degree rotation be provided with the ball orbit of more than two, A face transmitting balls does straight reciprocating motion on the ball orbit of A face transmission track, B face transmitting balls does straight reciprocating motion on the ball orbit of B face transmission track, at A face transmission track and B face transmitting balls 5, the relative movement on B face transmission track just forms 90 degree of coordinates to A face transmitting balls 3, make crosshead shoe can be freely movable at plane space, the offset of input eccentric shaft is coordinated to correspond to the circular movement of offset.A face transmitting balls 3 is positioned on the positioning hole of body 2, and B face transmitting balls 5 is positioned on the positioning hole of tracking controller 6 upper surface.The lower surface of tracking controller 6 is provided with ball moving track, for installing the driving ball 7 of output shaft, drives ball 7 to be positioned on the positioning hole of output shaft 11, and tracking controller is by driving the output of ball adjustment output shaft.
Gap adjustment plate 8 is arranged between tracking controller 6 and crossed roller bearing upper cover 9.Output shaft 11 is arranged on crossed roller bearing upper cover 9 with in crossed roller axle lower cover 12, and decussation roller 10 is arranged on output shaft 11.Be connected by fastening screw trip bolt 13 between body 2 with crossed roller bearing lower cover 12.Decussation roller 10 plays the effect of radial and axial output bearing.
Principle of the present utility model is as follows: by the transmitting balls on crosshead shoe and upper and lower surface thereof, by the Movement transmit of input eccentric shaft to tracking controller, motion and the offset of automatic adjustment input eccentric shaft fit like a glove, and the movement locus of transmitting balls and tracking controller is fitted like a glove; Tracking controller is according to offset, by the output driving ball automatically to adjust output shaft, realize speed reducer to slow down stably output function, the synchromesh tracking controller of 100% can transmit very large moment of torsion, and guarantee performance and the zero clearance of speed reducer, reduce mechanical wear, improve transmission accuracy.
Mode of execution of the present utility model is not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present utility model and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (8)
1. the crosshead shoe for articulated robot drives speed reducer, comprises input shaft, output shaft and body, it is characterized in that, also comprises crosshead shoe, transmitting balls, tracking controller and drives ball; In described body, input shaft, crosshead shoe, tracking controller and output shaft are installed; Described crosshead shoe is provided with the transmission track for installing transmitting balls, transmitting balls move in transmission track with by the Movement transmit of input shaft to tracking controller; Tracking controller lower surface is provided with the movement locus for installing described driving ball, and tracking controller is by driving the output of ball adjustment output shaft.
2. crosshead shoe according to claim 1 drives speed reducer, it is characterized in that, described transmitting balls comprises A face transmitting balls and B face transmitting balls, and the upper and lower surface of crosshead shoe is respectively equipped with A face transmission track for installing A face transmitting balls and B face transmitting balls and B face transmission track.
3. crosshead shoe according to claim 2 drives speed reducer, it is characterized in that, transmission Trajectory Design in A face has more than two parallel ball orbits, correspondingly B face transmission track in the same way 90-degree rotation be provided with the ball orbit of more than two, A face transmitting balls, B face transmitting balls is respectively at the ball orbit of A face transmission track, the ball orbit of B face transmission track does straight reciprocating motion, the relative movement of A face transmitting balls and B face transmitting balls forms 90 degree of coordinates, make crosshead shoe in plane space, correspond to the circular movement of input shaft offset.
4. crosshead shoe according to claim 2 drives speed reducer, and it is characterized in that, described A face transmitting balls is positioned on the positioning hole of body.
5. crosshead shoe according to claim 2 drives speed reducer, and it is characterized in that, described B face transmitting balls is positioned on the positioning hole of tracking controller upper surface.
6. crosshead shoe according to claim 1 drives speed reducer, it is characterized in that, described crosshead shoe drives speed reducer also to comprise gap adjustment plate, crossed roller bearing upper cover, decussation roller and crossed roller bearing lower cover, described gap adjustment plate is arranged between tracking controller and crossed roller bearing upper cover, described output shaft is arranged in crossed roller bearing upper cover and crossed roller axle lower cover, and decussation roller is arranged on output shaft.
7. crosshead shoe according to claim 6 drives speed reducer, it is characterized in that, is connected between described body with crossed roller bearing lower cover by fastening screw trip bolt.
8. crosshead shoe according to claim 1 drives speed reducer, it is characterized in that, described input shaft is input eccentric shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520450371.XU CN204784523U (en) | 2015-06-25 | 2015-06-25 | A crosshead shoe drives speed reducer for articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520450371.XU CN204784523U (en) | 2015-06-25 | 2015-06-25 | A crosshead shoe drives speed reducer for articulated robot |
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| Publication Number | Publication Date |
|---|---|
| CN204784523U true CN204784523U (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520450371.XU Active CN204784523U (en) | 2015-06-25 | 2015-06-25 | A crosshead shoe drives speed reducer for articulated robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104964011A (en) * | 2015-06-25 | 2015-10-07 | 广州启帆工业机器人有限公司 | Cross slide block driving speed reducer for multi-joint robot |
-
2015
- 2015-06-25 CN CN201520450371.XU patent/CN204784523U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104964011A (en) * | 2015-06-25 | 2015-10-07 | 广州启帆工业机器人有限公司 | Cross slide block driving speed reducer for multi-joint robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180824 Address after: 215000 A 1F, 18 1F, Weitang Town, Xiangcheng District, Jiangsu. Patentee after: Suzhou Julong Kai fan precision transmission Co., Ltd. Address before: No. 2, Xin Rui Road, Luogang District Science City, Guangzhou, Guangdong Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT CO. |
|
| TR01 | Transfer of patent right | ||
| CP03 | Change of name, title or address |
Address after: 242300 No. 16 Pioneering North Road, Ningguo Economic and Technological Development Zone, Xuancheng City, Anhui Province Patentee after: Anhui Julong Qifan precision transmission Co.,Ltd. Address before: 215000 A 1F, 18 1F, Weitang Town, Xiangcheng District, Jiangsu. Patentee before: Suzhou Julong Kai fan precision transmission Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211220 Address after: 213164 Zone D, No. 98, LongQian Road, Wujin national high tech Industrial Development Zone, Changzhou City, Jiangsu Province Patentee after: Guomao precision transmission (Changzhou) Co.,Ltd. Address before: 242300 No. 16 Pioneering North Road, Ningguo Economic and Technological Development Zone, Xuancheng City, Anhui Province Patentee before: Anhui Julong Qifan precision transmission Co.,Ltd. |
|
| TR01 | Transfer of patent right |