CN206668892U - High intensity reductor movable head with shape of a hoof groove - Google Patents
High intensity reductor movable head with shape of a hoof groove Download PDFInfo
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- CN206668892U CN206668892U CN201720421616.5U CN201720421616U CN206668892U CN 206668892 U CN206668892 U CN 206668892U CN 201720421616 U CN201720421616 U CN 201720421616U CN 206668892 U CN206668892 U CN 206668892U
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- groove
- span
- ungulate
- movable head
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- 210000000003 hoof Anatomy 0.000 title claims abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000005299 abrasion Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of high intensity reductor movable head with shape of a hoof groove applied to articulated robot, a surface of movable head body be provided with it is longitudinally disposed be provided with the ungulate groove of its a diameter of symmetrical longitudinal span, its another surface laterally set with its a diameter of symmetrical horizontal ungulate groove of span.The ungulate groove of horizontal span on the movable head body surface forms cross-like each other with the ungulate groove of longitudinal span on plane space, and the transverse direction, the indent bottom of the ungulate groove of longitudinal span are arc-shaped.The ungulate groove of horizontal span matches with the first ball, and longitudinal ungulate groove of span matches with the second ball.The utility model strengthens movable head structural strength, increases the life-span of reductor；Abrasion are reduced, save electric energy；It is easily installed, saves artificial, raising production efficiency.Its reductor applied has the advantages that compact-sized, noise is low, in light weight, small volume, stable drive is reliable, output accuracy is high.
Description
Technical field
The present invention relates to machine driving braking technique, and in particular to a kind of driving reductor applied to articulated robot with
Dynamic plate.
Background technology
At present, most of machine driving reductor uses gear or worm-drive, and its cardinal principle is to utilize to change gear
The number of teeth realizes speed change.The defects of present in this kind of machine driving reductor is with deficiency：Because driving member machining accuracy is not high,
Certain process gap be present and influence output accuracy, plus tooth in gear or worm reduction gear during design and installation
Between tooth moved in the form of higher pair, easily produce component wear, be driven the problems such as unstable, noise is big, output accuracy is poor.
In Chinese invention patent application number 201510363182.3, a kind of cross for articulated robot is disclosed
Slider-actuated reductor, its body interior installation input shaft, crosshead shoe, tracking controller (i.e. differential speed variator) and output shaft,
Provided with the transmission track for being used to install transmitting balls, transmitting balls move that will input the crosshead shoe in transmission track
The motion of axle passes to tracking controller；Tracking controller lower surface is provided with the movement locus for being used for installing the driving ball,
Tracking controller is by driving ball to adjust the output of output shaft.This technology need not be realized by gear or worm-drive
Speed change, the noise of reductor is reduced to a certain extent, improves transmission efficiency.But easily produced during driving ball work
Raw slight bounce, its less stable easily produce that unstable reductor output, stepping vibrations, wear rate height etc. are bad to be showed
As.Particularly in application for a patent for invention number 201610997120.2, disclose a kind of trailing type of articulated robot and steadily slow down
Machine, right-angled intersection movable head has been used to compensate the malalignment error on driving-chain in accurate retarding machine, due to movable head
It is upper that there is multiple intersection V-grooves (also known as V-type track, and radial direction break-through is to the edge for being servo-actuated plate surface) structure, reduce with
The intensity of dynamic plate, and movable head phenomenon of rupture easily occurs in experiment or practical application, it have impact on the service life of reductor.
In addition movable head supporting use decussation roller there is frictional force it is big, be easy to consume, assemble the defects of complicated.
The content of the invention
In order to solve the technical problem and deficiency present in prior art, the present invention provides one kind and is applied to articulated robot
The high intensity reductor movable head with shape of a hoof groove, can make reductor transmission ball and differential speed variator track it is complete
It coincide, exporting reductor, steady, mechanical wear rate is low.
The purpose of the present invention is realized by following technical solution：High intensity reductor movable head with shape of a hoof groove,
Including movable head body, a surface of the movable head body is provided with longitudinally disposed with its a diameter of symmetrical longitudinal span
Ungulate groove, its another surface be provided with laterally set with its a diameter of symmetrical horizontal ungulate groove of span.
The ungulate groove of horizontal span on the movable head body surface is formed with the ungulate groove of longitudinal span on plane space
Cross-like each other, and the transverse direction, the indent bottom of the ungulate groove of longitudinal span are arc-shaped.The ungulate groove or vertical of horizontal span
Groove width angle to the arc-shaped inner groove faces of the ungulate groove of span is 30-90 degree.
The ungulate groove of horizontal span matches with the first ball, and the ungulate groove of the longitudinal span and the second ball match
Set.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the radial direction not break-through due to horizontal, the longitudinal ungulate groove of span on movable head body surface, avoids former V-shaped groove
Radial direction break-through is to the structure at movable head edge, and the bottom of the ungulate groove of the span is circular arc, avoids former V-shaped groove bottom knife
Pointed stress concentration phenomenon, strengthen the intensity of movable head.First, second ball coefficient of friction of its supporting use is small, makes
Frictional force it is small, service wear is low, service life increase.
2nd, gear is not used to be driven, the reductor applied uses input shaft (eccentric shaft) to be used as path generator, warp
Differential speed variator is crossed with first, second ball of corresponding installation on this movable head and its transverse direction, the ungulate groove of longitudinal span
Input shaft eccentric motion is completed output and slowed down to realize.Automatic compensation input shaft is realized by this movable head, first, second ball
The eccentric motion of (eccentric shaft) so that the reductor has, compact-sized, noise is low, in light weight, small volume, stable drive can
Lean on, output accuracy is high, the low advantage of mechanical wear rate.
Brief description of the drawings
Fig. 1 is the structural representation for the high intensity reductor movable head that the present invention has shape of a hoof groove.
Fig. 2 is Fig. 1 side sectional view.
Fig. 3 is the groove width angle schematic diagram of the ungulate groove arc-shaped inner groove faces of horizontal (longitudinal direction) span in Fig. 1.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Referring to Fig. 1, Fig. 2, the present invention is applied to the high intensity reductor movable head with shape of a hoof groove of articulated robot,
Including movable head body 1 (be among it hollow shape, its overall annular in shape), on a surface (front) for the movable head body 1
Provided with longitudinally disposed (anti-with its a diameter of symmetrical longitudinal ungulate groove 2 of span (solid line in Fig. 1 represents), its another surface
Face) be provided with laterally set with its a diameter of symmetrical horizontal ungulate groove 3 of span (dotted line in Fig. 1 represents).
The ungulate groove 3 of horizontal span and the ungulate shape on plane space of groove 2 of longitudinal span on the surface of movable head body 1
Into cross-like each other (as shown in Figure 1), and the transverse direction, the indent bottom of the ungulate groove of longitudinal span are arc-shaped (such as Fig. 2 institutes
Show).The groove width angle A of the arc-shaped inner groove faces of the ungulate groove of horizontal span or the ungulate groove of longitudinal span be 30-90 degree (such as
Shown in Fig. 3).The ungulate groove of horizontal span matches with the first ball (several), the ungulate groove of the longitudinal span and second
Ball (several) matches.
Wherein, with a diameter of symmetrical laterally ungulate groove of (longitudinal direction) span of movable head body：I.e. single shape of a hoof groove with it is another
One shape of a hoof groove is compared, and is that have rotated 180 degree with the center of circle of movable head body.
This movable head possesses geometric error compensation effect, and supporting use ball instead of former decussation roller, its surface
Original V-shaped groove structure instead of by the ungulate groove of transverse direction (longitudinal direction) span of bottom arc-shaped.Due to the bottom of the ungulate groove of the span
Portion is circular arc, avoids the stress concentration phenomenon of former V-shaped groove bottom point of a knife shape, strengthens the intensity of movable head；Due to this
Radial direction not break-through of the ungulate groove of span on movable head body surface, former V-shaped groove radial direction break-through is avoided to movable head edge
Structure, further enhance the intensity of movable head；Moreover, the manufacturing procedure of the arc groove of the ungulate trench bottom of span is less than former V-arrangement
Groove, reduces the quantity of machining tool, while improves production efficiency.Its supporting use ball coefficient of friction be less than it is former should
Decussation roller so that frictional force is small, and service wear is low, service life increase；And because frictional force is small, its power consumption
It is few, save driving electric energy；Single ball is fewer than the roller work step of intersection, is easily installed, and production efficiency is high.
As shown in figure 3, according to its supporting application ball force analysis, under vertical force, the bottom of ball by
Power is maximum, is deflected in the center line of ball and bears main vertical force in the range of 30 degree, therefore, the ungulate groove of this span it is interior
Recessed depth can be made than shallower, when its groove width angle A can be 90 degree (groove width throw adds up to), i.e. -45 ° of ＜ groove width pivot angles ＜
45 ° so that the intensity of this movable head greatly increases.So had the technical effect that caused by structure innovation of the invention：Strengthen with
The structural strength of dynamic plate, increase the life-span of reductor；Abrasion are reduced, save electric energy；It is easily installed, saves artificial, raising production
Efficiency；The quantity of machining tool is reduced, reduces investment amount.
Claims (4)
1. the high intensity reductor movable head with shape of a hoof groove, including movable head body (1), it is characterised in that：It is described servo-actuated
One surface of plate body (1) is provided with longitudinally disposed with its a diameter of symmetrical longitudinal ungulate groove of span (2), its another surface
Be provided with laterally set with its a diameter of symmetrical horizontal ungulate groove of span (3).
2. the high intensity reductor movable head according to claim 1 with shape of a hoof groove, it is characterised in that：It is described servo-actuated
The ungulate groove of horizontal span (3) on plate body (1) surface is formed with the ungulate groove of longitudinal span (2) on plane space to intersect each other
Shape, and the transverse direction, the indent bottom of the ungulate groove of longitudinal span are arc-shaped.
3. the high intensity reductor movable head according to claim 2 with shape of a hoof groove, it is characterised in that：The transverse direction
The groove width angle of the arc-shaped inner groove faces of the ungulate groove of span or the ungulate groove of longitudinal span is 30-90 degree.
4. the high intensity reductor movable head according to claim 1 with shape of a hoof groove, it is characterised in that：The transverse direction
The ungulate groove of span matches with the first ball, and longitudinal ungulate groove of span matches with the second ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720421616.5U CN206668892U (en) | 2017-04-18 | 2017-04-18 | High intensity reductor movable head with shape of a hoof groove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720421616.5U CN206668892U (en) | 2017-04-18 | 2017-04-18 | High intensity reductor movable head with shape of a hoof groove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206668892U true CN206668892U (en) | 2017-11-24 |
Family
ID=60375619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720421616.5U Expired - Fee Related CN206668892U (en) | 2017-04-18 | 2017-04-18 | High intensity reductor movable head with shape of a hoof groove |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206668892U (en) |
-
2017
- 2017-04-18 CN CN201720421616.5U patent/CN206668892U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: ZHEJIANG UNIVERSE FILTER Co. Assignor: HSOAR GROUP Co.,Ltd. Contract record no.: X2021330000378 Denomination of utility model: High strength reducer follower plate with horseshoe groove Granted publication date: 20171124 License type: Common License Record date: 20211009 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |