CN205715575U - A kind of low back clearance robot reductor - Google Patents
A kind of low back clearance robot reductor Download PDFInfo
- Publication number
- CN205715575U CN205715575U CN201620191162.2U CN201620191162U CN205715575U CN 205715575 U CN205715575 U CN 205715575U CN 201620191162 U CN201620191162 U CN 201620191162U CN 205715575 U CN205715575 U CN 205715575U
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- China
- Prior art keywords
- wheel
- cycloidal
- cycloidal wheel
- bent axle
- reductor
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Abstract
The utility model discloses a kind of low back clearance robot reductor, comprise wheel seat, pin wheel housing, the first Cycloidal Wheel, needle roller, the second Cycloidal Wheel, gland, elastic component, crosshead shoe and bent axle, described Cycloidal Wheel one has two, both become 180 degree of phase relations, and pin wheel housing, belong to multi point engagement drive connection between needle roller；Described crosshead shoe one has two, forms diesis slide block structure, and its slide block grooved is trapezoid groove structure, is axially self compensated gap by elastic component；Described bent axle center of rotation and wheel seat, gland concentric.This utility model uses single axle Cycloidal pin-wheel drive, crosshead shoe structure output, belongs to primary speed-down transmission, has high efficiency, the feature of low back clearance.
Description
Technical field
This utility model relates to a kind of reductor, particularly relates to a kind of low back clearance robot reductor.
Background technology
Existing robot reductor major part uses harmonic wave speed reducing machine, and RV reductor etc., harmonic wave speed reducing machine is firm
Property not as RV reductor big, do not possess high rigidity characteris, and current RV reductor be all double-crankshaft two-stage
Drive mechanism, belongs to two-stage transmission, and primary speed-down uses gear drive, when gear is in engagement at a high speed
Time, there is vibration big, the shortcoming that noise is big, need also exist for certain gap simultaneously, and its internal hyperbolic
The bearing of axle, by spacial influence, even needs the least needle bearing, and its play is also main back clearance source.
Owing to the speed of service of robot is required increasingly faster by current development, the input speed to its reductor
Spend more and more higher, and traditional RV reductor primary transmission uses gear drive, deposits at high speeds
In the shortcoming that vibrating noise is big, and the little bearing of double-crankshaft also can produce bigger caloric value, thus affects
In the life-span of whole reductor, the engagement of its one-stage gear is also required to certain gap, the simultaneously trip of double-crankshaft bearing
Gap is all one of back clearance main source affecting whole reductor, and its back clearance cannot compensate automatically
Utility model content
Technical problem to be solved in the utility model is to provide one and directly uses centre-crank shaft, the most favourable
In being equipped with bigger bent axle and bearing, thus reduce heating, be conducive to improving the speed of service, its cycloidal-pin wheel
The moment of torsion of transmission is exported by diesis slide block structure, and its crosshead shoe gap is realized the most certainly by elastic component
The dynamic low back clearance robot reductor compensated.
This utility model is achieved through the following technical solutions: a kind of low back clearance robot reductor, bag
Include wheel seat, pin wheel housing, the first Cycloidal Wheel, needle roller, the second Cycloidal Wheel, gland, elastic component, the first cross
Slide block, the second crosshead shoe and bent axle, described gland and wheel seat are fixedly connected on one；
First base bearing is installed between described gland and pin wheel housing, between wheel seat and pin wheel housing, is provided with second
Base bearing, gland is fixed together with wheel seat, is provided with first bent between central shaft side and the gland of bent axle
Axle bearing, is provided with the second crankshaft bearing between central shaft opposite side and the wheel seat of bent axle；
Between first eccentric part and first Cycloidal Wheel of bent axle, the first eccentric part bearing, the first Cycloidal Wheel are installed
It is connected with the outer ring of the first eccentric part bearing, and installs with the shaft shoulder of bent axle at the inner ring of the first eccentric part bearing
Flexible part, is provided with the second eccentric part bearing, and between the second eccentric part and second Cycloidal Wheel of bent axle
Two Cycloidal Wheel are connected with the outer ring of the second eccentric part bearing.
As preferred technical scheme, inside described gland, wheel seat, it is provided with dovetail groove, the first Cycloidal Wheel,
Being provided with trapezoid boss outside two Cycloidal Wheel, the first crosshead shoe, the one side of the second crosshead shoe are provided with trapezoidal
Boss, another side is provided with dovetail groove, and trapezoid boss is cross with the direction of dovetail groove, and trapezoid boss is embedding
Entering in dovetail groove, the gap between trapezoid boss and dovetail groove is compensated automatically by elastic component.
As preferred technical scheme, described dovetail groove is designed to self-locking structure with the trapezoidal angle of trapezoid boss.
As preferred technical scheme, the quantity of the needle roller inside described pin wheel housing is than the first Cycloidal Wheel or second
Many one of the number of teeth of Cycloidal Wheel.
As preferred technical scheme, described first Cycloidal Wheel is identical with the second Cycloidal Wheel shape, carries on the back during installation
Backrest and 180 degree of phase relations of one-tenth.
As preferred technical scheme, described gland, the first crosshead shoe, the first Cycloidal Wheel constitute the 10th
Word slide block mechanism.
As preferred technical scheme, described wheel seat, the second crosshead shoe, the second Cycloidal Wheel constitute the 20th
Word slide block mechanism；
As preferred technical scheme, described first Cycloidal Wheel, the second Cycloidal Wheel, pin wheel housing, bent axle and rolling
Pin constitutes cycloidal-pin wheel mechanism.
The beneficial effects of the utility model are: the comparison that Crankshaft Sizes of the present utility model can design is thick,
Eccentric part bearing used can also correspondingly select the deep groove ball bearing that rotatory is good, thus is conducive to reducing
Heating, improves the speed of service of bent axle, solves the heating problem of double-crankshaft
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below by right
In embodiment or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that below,
Accompanying drawing in description is only embodiments more of the present utility model, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is schematic diagram of the present utility model；
Fig. 2 is structural blast structural representation of the present utility model；
Fig. 3 is lateral cross section view of the present utility model；
Fig. 4 is forward cross section view of the present utility model；
In figure: 1, pin wheel housing, 2, gland, the 3, first base bearing, the 4, first crankshaft bearing, 5,
One crosshead shoe, the 6, first Cycloidal Wheel, the 7, first eccentric part bearing, 8, needle roller, 9, elastic component, 10,
Bent axle, the 11, second Cycloidal Wheel, the 12, second eccentric part bearing, the 13, second crosshead shoe, 14, second
Base bearing, the 15, second crankshaft bearing, 16, wheel seat.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually
Beyond the feature repelled mutually and/or step, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), removes
Non-specifically describes, all can be by other equivalences or have the alternative features of similar purpose and replaced.That is, unless
Narration especially, each feature is an example in a series of equivalence or similar characteristics.
As depicted in figs. 1 and 2, one of the present utility model low back clearance robot reductor, including wheel seat,
Pin wheel housing, the first Cycloidal Wheel, needle roller, the second Cycloidal Wheel, gland, elastic component, the first crosshead shoe,
Two crosshead shoes and bent axle；
Gland the 2, first crosshead shoe the 5, first Cycloidal Wheel 6 constitutes the first cross slides, wheel seat 16,
Second crosshead shoe the 13, second Cycloidal Wheel 11 constitutes the second cross slides, the first Cycloidal Wheel 6, second
Cycloidal Wheel 11, pin wheel housing 1, bent axle 10, needle roller 8 constitute cycloidal-pin wheel mechanism.
As shown in Figure 4, the quantity of the needle roller 8 inside pin wheel housing 1 is than the first Cycloidal Wheel 6 or the second Cycloidal Wheel
Many one of the number of teeth of 11, when the rotation of single bent axle 10 is turned around, the first Cycloidal Wheel 6 and the second Cycloidal Wheel 11
Carrying out the eccentric motion of a circle with needle roller 8 while contacting, its result is the first Cycloidal Wheel 6 and the second cycloid
Take turns 11 distances rotating 1 number of teeth along the direction contrary with bent axle 10.
The external tooth form of the first Cycloidal Wheel 6 or the second Cycloidal Wheel 11 is by the center of the inner side semicircle orifice of pin wheel housing 1
Away from radius, the radius of needle roller 8, the eccentric throw of bent axle 10 draws to obtain standard cycloidal curve, the most single song
Its profile of line all keeps tangent with all needle rollers 8, it is achieved thereby that multi point engagement, has that registration is big, back clearance
The feature that low, rigidity is high.
As shown in Figures 2 and 3, the first base bearing 3, wheel seat 16 are installed between gland 2 and pin wheel housing 1
And the second base bearing 14 is installed between pin wheel housing 1, and what gland 2 and wheel seat 16 were fixed together；Bent axle
Between central shaft side and the gland 2 of 10, first crankshaft bearing is installed, installs between opposite side and wheel seat 16
There is the second crankshaft bearing 15, be provided with first between the first eccentric part and first Cycloidal Wheel 6 of bent axle 10 eccentric
Portion's bearing 7, and the outer ring of the bearing 7 of the first Cycloidal Wheel 6 and the first eccentric part is connected, and first eccentric
The shaft shoulder of the inner ring of portion's bearing 7 and bent axle 10 is provided with second eccentric part and second of elastic component 9 bent axle 10
Second eccentric part bearing 12, and the second Cycloidal Wheel 11 and axle of the second eccentric part are installed between Cycloidal Wheel 11
Hold 12 outer ring be connected.
In the present embodiment, inside gland 2, wheel seat 16, it is provided with dovetail groove, first Cycloidal Wheel the 6, second cycloid
It is provided with trapezoid boss outside wheel 11, and first crosshead shoe the 5, second crosshead shoe 13 is that one side is with ladder
Shape boss, another side becomes cross with dovetail groove, its trapezoid boss with the direction of dovetail groove；Between them
Assembly relation be that trapezoid boss embeds dovetail groove, can slide along dovetail groove direction, and trapezoid boss
And the gap between dovetail groove is then compensated automatically by the elasticity of elastic component 9.
Furthermore, described dovetail groove can be designed to self-locking, so with the trapezoidal angle of trapezoid boss
The gap that elastic component 9 compensates is irreversible, and therefore, gland 2 is carried on the back relative to the rotation of the first Cycloidal Wheel 6
Gap is zero, and wheel seat 16 is also zero relative to the rotation back clearance of the second Cycloidal Wheel 11.Thus this cross chute
On the one hand structure achieves the primary transmission of single axle, on the other hand achieves zero back clearance output.
This utility model uses the motion of single eccentric shaft, it is characterised in that: eccentric motion is provided when bent axle rotates,
Its center of rotation and wheel seat, gland is coaxial, and its bent axle can be hollow keyway arrangements, and gland has screwed hole,
Can be used for the installation of motor, thus ensure that the compactedness of total.Traditional RV reductor bent axle is by sky
Between affect diameter dimension must be less, the bearing of eccentric part even must be with without the needle bearing of Internal and external cycle, its technique
All there is certain problem in property and performance, the heating that high speed rotating brings requires that maximum speed that bent axle rotates is not
More than 1000r/min, otherwise will affect the life-span of reductor, and Crankshaft Sizes of the present utility model can design
Comparison thick, eccentric part bearing used can also correspondingly select the deep groove ball bearing that rotatory is good, from
And be conducive to reducing heating, improve the speed of service of bent axle, solve the heating problem of double-crankshaft.
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model is also
It is not limited to this, any change expected without creative work or replacement, all should contain in this practicality new
Within the protection domain of type.Therefore, protection domain of the present utility model should be limited with claims
Protection domain is as the criterion.
Claims (8)
1. a Zhong Di back clearance robot reductor, it is characterized in that: include that wheel seat, pin wheel housing, the first Cycloidal Wheel, needle roller, the second Cycloidal Wheel, gland, elastic component, the first crosshead shoe, the second crosshead shoe and bent axle, described gland and wheel seat are fixedly connected on one；
First base bearing is installed between described gland and pin wheel housing, second base bearing is installed between wheel seat and pin wheel housing, gland is fixed together with wheel seat, between central shaft side and the gland of bent axle, the first crankshaft bearing is installed, between central shaft opposite side and the wheel seat of bent axle, the second crankshaft bearing is installed；
Between first eccentric part and first Cycloidal Wheel of bent axle, the first eccentric part bearing is installed, first Cycloidal Wheel is connected with the outer ring of the first eccentric part bearing, and at the inner ring of the first eccentric part bearing and the shaft shoulder of bent axle, elastic component is installed, second eccentric part bearing is installed between the second eccentric part and second Cycloidal Wheel of bent axle, and the second Cycloidal Wheel is connected with the outer ring of the second eccentric part bearing.
Low back clearance robot the most according to claim 1 reductor, it is characterized in that: inside described gland, wheel seat, be provided with dovetail groove, it is provided with trapezoid boss outside first Cycloidal Wheel, the second Cycloidal Wheel, first crosshead shoe, the one side of the second crosshead shoe are provided with trapezoid boss, another side is provided with dovetail groove, trapezoid boss is cross with the direction of dovetail groove, and trapezoid boss is embedded in dovetail groove, and the gap between trapezoid boss and dovetail groove is compensated automatically by elastic component.
Low back clearance robot the most according to claim 2 reductor, it is characterised in that: described dovetail groove is designed to self-locking structure with the trapezoidal angle of trapezoid boss.
Low back clearance robot the most according to claim 1 reductor, it is characterised in that: more than the number of teeth of the first Cycloidal Wheel or the second Cycloidal Wheel one of the quantity of the needle roller inside described pin wheel housing.
Low back clearance robot the most according to claim 1 reductor, it is characterised in that: described first Cycloidal Wheel is identical with the second Cycloidal Wheel shape, back-to-back and 180 degree of phase relations of one-tenth during installation.
Low back clearance robot the most according to claim 1 reductor, it is characterised in that: described gland, the first crosshead shoe, the first Cycloidal Wheel constitute the first cross slides.
Low back clearance robot the most according to claim 1 reductor, it is characterised in that: described wheel seat, the second crosshead shoe, the second Cycloidal Wheel constitute the second cross slides.
Low back clearance robot the most according to claim 1 reductor, it is characterised in that: described first Cycloidal Wheel, the second Cycloidal Wheel, pin wheel housing, bent axle and needle roller constitute cycloidal-pin wheel mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620191162.2U CN205715575U (en) | 2016-03-12 | 2016-03-12 | A kind of low back clearance robot reductor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620191162.2U CN205715575U (en) | 2016-03-12 | 2016-03-12 | A kind of low back clearance robot reductor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205715575U true CN205715575U (en) | 2016-11-23 |
Family
ID=57313170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620191162.2U Withdrawn - After Issue CN205715575U (en) | 2016-03-12 | 2016-03-12 | A kind of low back clearance robot reductor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205715575U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105570437A (en) * | 2016-03-12 | 2016-05-11 | 深圳市领略数控设备有限公司 | Low-back-clearance robot speed reducer |
| CN108240459A (en) * | 2016-12-26 | 2018-07-03 | 上银科技股份有限公司 | Speed reducer with lubricating loop |
-
2016
- 2016-03-12 CN CN201620191162.2U patent/CN205715575U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105570437A (en) * | 2016-03-12 | 2016-05-11 | 深圳市领略数控设备有限公司 | Low-back-clearance robot speed reducer |
| WO2017156651A1 (en) * | 2016-03-12 | 2017-09-21 | 深圳市领略数控设备有限公司 | Low-back-clearance robot speed reducer |
| US11292125B2 (en) | 2016-03-12 | 2022-04-05 | Shenzhen Llmachineco., Ltd. | Low-back-clearance robot speed reducer |
| CN108240459A (en) * | 2016-12-26 | 2018-07-03 | 上银科技股份有限公司 | Speed reducer with lubricating loop |
| CN108240459B (en) * | 2016-12-26 | 2020-11-24 | 上银科技股份有限公司 | Speed reducer with lubricating loop |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161123 Effective date of abandoning: 20190215 |
|
| AV01 | Patent right actively abandoned |