CN208778633U - Retarder and robot - Google Patents
Retarder and robot Download PDFInfo
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- CN208778633U CN208778633U CN201821536061.XU CN201821536061U CN208778633U CN 208778633 U CN208778633 U CN 208778633U CN 201821536061 U CN201821536061 U CN 201821536061U CN 208778633 U CN208778633 U CN 208778633U
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 104
- 238000005461 lubrication Methods 0.000 claims description 2
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 210000000515 tooth Anatomy 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 230000004323 axial length Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
The utility model provides retarder and robot, retarder are arranged between the first component of robot and second component, and retarder includes firm gear, flexbile gear and flexible bearing；Firm gear is equipped with first and matches coincidence, is equipped with interior gear teeth group on the inside of firm gear；The peripheral wall of flexbile gear is equipped with second and matches coincidence, and peripheral wall has outer peripheral surface and inner peripheral surface, and outer peripheral surface is equipped with external gear teeth group, and flexible bearing is located at second and matches coincidence, and flexbile gear is located at first and matches coincidence, and external gear teeth group is engaged with interior gear teeth group；In the axial direction of firm gear, the tooth top of external gear teeth group has the first length, and the tooth root of external gear teeth group has the second length, and the tooth top of interior gear teeth group has third length, and flexible bearing has the 4th length；Second length and third length are all larger than the first length, and the 4th length is greater than the second length.Sufficiently expansion at external gear teeth group place on peripheral wall, the expansion deformation of peripheral wall in the circumferential is uniform, and engagement contact is abundant between tooth group, effectively reduces driving error and extends the service life of flexible bearing.
Description
Technical field
The utility model relates to retarding device technical fields, and in particular to a kind of retarder and the machine using the retarder
People.
Background technique
Harmonic gear reducer be it is a kind of by firm gear, flexbile gear and make flexbile gear occur radial deformation harmonic oscillator form
Retarder, harmonic gear reducer has many advantages, such as that high-precision, high-bearing capacity, transmission ratio are big, and small in size, light-weight, extensively
It is general to be applied to the industries such as electronics, space flight and aviation, robot, lathe.The harmonic oscillator of harmonic gear reducer includes flexible shaft
It holds and cam, cam is plugged in flexible bearing the outer surface for making flexible bearing deformation and having ellipse, flexible bearing pacified
Be filled to that the peripheral wall of flexbile gear surrounds in coincidence, then according to the profile of flexible bearing, deformation occurs for peripheral wall, the foreign steamer of flexbile gear periphery
Tooth group is then in oval arrangement.
For the lightweight requirements for meeting harmonic gear reducer, existing some harmonic gear reducers use size and axis
To the lesser flexible bearing of length, and following technical problem is, the axial length of flexible bearing is too small and leads to peripheral wall
Expansion deformation in the axial direction is incomplete, insufficient contact is engaged so as to cause external gear teeth group and interior gear teeth group, to generate
Driving error；Installation concentricity between the lesser flexible bearing of axial length and flexbile gear is difficult to ensure, peripheral wall is in the circumferential
Expansion deformation is uneven, and the stress of flexible bearing is unstable, generates driving error and shortens the service life of flexible bearing.
Utility model content
The first of the utility model is designed to provide a kind of retarder for reducing driving error, prolonging the service life.
The second of the utility model is designed to provide a kind of robot for reducing driving error, prolonging the service life.
The retarder of the offer of the first mesh of the utility model includes firm gear, flexbile gear and flexible bearing；The is equipped in the middle part of firm gear
One matches coincidence, and the interior gear teeth group for matching coincidence towards first is provided on the inside of firm gear；Flexbile gear has peripheral wall, and peripheral wall surrounds second and matches
Coincidence, the outside of peripheral wall are equipped with outer peripheral surface, external gear teeth group are provided on outer peripheral surface, peripheral wall is in radial inside setting direction second
Inner peripheral surface with coincidence, flexible bearing are installed on second with abutting in coincidence and with inner peripheral surface, and flexbile gear is installed on first with coincidence
In, external gear teeth group is engaged with interior gear teeth group；In the axial direction of firm gear, the length of the tooth top of external gear teeth group is the first length, foreign steamer
The length of the tooth root of tooth group is the second length, and the length of the tooth top of interior gear teeth group is third length, and the length of flexible bearing is the
Four length；Second length and third length are all larger than the first length, and the 4th length is greater than the second length.
By above scheme as it can be seen that the 4th length due to flexible bearing is greater than the second length of external gear teeth group tooth root, peripheral wall
Part where upper external gear teeth group is sufficiently expanded under the cooperation with flexible bearing, and the biggish length of flexible bearing can guarantee it is soft
The installation concentricity of property bearing and peripheral wall, the expansion deformation of peripheral wall in the circumferential is uniform, nibbles between external gear teeth group and interior gear teeth group
Splice grafting touching sufficiently, effectively reduces driving error and extends the service life of flexible bearing.
Further embodiment is that the second length is greater than third length.
Therefore sufficiently engaging between certifiable external gear teeth group and interior gear teeth group is arranged in this.
Further embodiment is, in the axial direction of firm gear, peripheral wall has the 5th length；4th length is greater than the 5th length
0.3 times and less than 0.7 times of the 5th length.
Further scheme is, in the axial direction of firm gear, peripheral wall has the 5th length；4th length is greater than the 5th length
0.5 times and less than 0.6 times of the 5th length.
Therefore the 4th length of flexible bearing in the axial direction is bigger relative to the accounting of the 5th length of peripheral wall, it is soft
The deformation of peripheral wall caused by the deformation of property bearing itself, flexible bearing then will be more uniform.
Further embodiment is that the 4th length is greater than 0.2 times of the diameter of inner peripheral surface.
Further scheme is that the 4th length is greater than 0.3 times of the diameter of inner peripheral surface.
Therefore the 4th length of flexible bearing in the axial direction is bigger relative to the accounting of the diameter of inner peripheral surface, it is flexible
The maximum value of lower, the producible oscillating quantity of a possibility that bearing generates swing relative to peripheral wall is smaller, is driven more stable, transmission
Error is smaller.
Further embodiment is, in the axial direction of flexbile gear, external gear teeth group is arranged in the first end of peripheral wall, the internal diameter of peripheral wall from
The middle part of peripheral wall is gradually reduced to the second end of peripheral wall.
Further embodiment is, in the axial direction of flexbile gear, external gear teeth group is arranged in the first end of peripheral wall, the internal diameter of peripheral wall from
The middle part of peripheral wall is gradually increased to the second end of peripheral wall.
Further embodiment is, on the radial section of firm gear, inner peripheral surface is parallel to the axis of firm gear.
Therefore inner peripheral surface can improve the uniformity of peripheral wall deformation using cylindrical surface.
Further embodiment is, in the axial direction of firm gear, the first end face of flexible bearing is located in the first plane, flexible bearing
Second end face be located in the second plane, external gear teeth group is integrally located between the first plane and the second plane.
Therefore peripheral wall deformation caused by flexible bearing can completely reflect in the deformation of external gear teeth group, guarantee outer
Sufficiently engaging between gear teeth group and interior gear teeth group.
Further embodiment is that retarder further includes harmonic oscillator, and harmonic oscillator includes rotating drive part and connection
In the cam of rotating drive part output end；Flexible bearing is sleeved on cam.
Further embodiment is, in the axial direction of flexbile gear, the first end of peripheral wall, the second end of peripheral wall is arranged in external gear teeth group
It is provided with flange.
Further embodiment is that firm gear and flexbile gear are connected with rigid bearing.
The robot of the offer of the second mesh of the utility model include the first component and relative to the first component rotation second
Component, robot further include such as above-mentioned retarder, and retarder is connected between the first component and second component.
By above scheme as it can be seen that being joint between the first component and second component, robot is in joint using above-mentioned
Retarder so that robot is had the characteristics that the operation is stable, accurate positioning and long service life.
Detailed description of the invention
Fig. 1 is the cross-sectional view of the utility model retarder first embodiment.
Fig. 2 is the partial sectional view of the utility model retarder first embodiment.
Fig. 3 is the partial sectional view of flexbile gear in the utility model retarder second embodiment.
Fig. 4 is the partial sectional view of flexbile gear in the utility model retarder 3rd embodiment.
The following is a further explanation of the present invention with reference to the accompanying drawings and embodiments.
Specific embodiment
It is the cross-sectional view of the utility model retarder first embodiment referring to Fig. 1, Fig. 1.Deceleration provided by the utility model
Device is applied to the harmonic speed reducer at joint of robot, and robot can be industrial machinery arm, and industrial machinery arm has first
Arm (first component) and the second arm (second component) have joint, harmonic reduction between the first arm and the second arm
Device, which is arranged between joint, the first arm and the second arm, realizes relative rotation by harmonic speed reducer.
Harmonic speed reducer includes flexbile gear 1, firm gear 2, flexible bearing 3, rigid bearing 5 and harmonic oscillator.Flexbile gear 1 is in cylinder
Shape, flexbile gear 1 have a cylindric peripheral wall 11, and peripheral wall 11 surrounds second of the axial ends through flexbile gear 1 with coincidence 10, peripheral wall 11
Inside be towards second match coincidence 10 inner peripheral surface 111, on the radial section of firm gear 2, inner peripheral surface 111 is parallel to firm gear 2
Axis；The outside of peripheral wall 11 is the outer peripheral surface 112 being oppositely arranged with inner peripheral surface 111.In the axial direction of flexbile gear 1, outer peripheral surface 112
First end on be provided with external gear teeth group 113, multiple external gear teeths of external gear teeth group 113 are arranged around the periphery of peripheral wall 11；Flexbile gear 1
Axial direction on, the second end of peripheral wall 11 is connected with flange 12, and flange 12 is looped around outside peripheral wall 11.Optionally, it is set on peripheral wall 11
Multiple through-holes through peripheral wall 11 are equipped with, multiple through-holes are uniformly arranged along the circumferential direction of peripheral wall.
Firm gear 2 is annular in shape, and firm gear 2, which is surrounded, matches coincidence through the first of 2 axial ends of firm gear, and the inside of firm gear 2 is arranged
There is the interior gear teeth group 21 for matching coincidence towards first.
Rotation connection is realized by rigid bearing 5 between flexbile gear 1 and firm gear 2.Rigid bearing 5 include rigid external collar 51, just
Property inner ring 52, further include the roller being arranged between rigid external collar 51 and rigid inner ring 52.Rigid external collar 51 is bolted
It is connected on the flange 12 of flexbile gear 1, rigid inner ring 52 is bolted to connection with firm gear 2.
Harmonic oscillator includes rotating drive part and the cam 4 for being connected to rotating drive part output end, and rotating drive part is
Motor, cam 4 are connected on the output shaft of motor by aligning coupling, and flexible bearing 3 is sleeved on cam 4.
Flexible bearing 3 includes flexible outer ring 31, flexible inner ring 32, further includes setting in flexible outer ring 31 and flexible inner ring 32
Between roller, since flexible bearing 3 has certain deformability, flexible bearing 3 is sleeved on cam 4 according to outside cam 4
Profile and generate deformation, after flexible bearing 3 is sleeved on cam 4, flexible outer ring 31 have ellipse circumferential profile.Flexible shaft
It holds 3 settings to match in coincidence 10 second, flexible bearing 3 and 11 transition fit of peripheral wall, the outer peripheral surface and inner peripheral surface of flexible outer ring 31
111 abut, peripheral wall 11 due to flexbile gear outer ring 31 abutting and generate expansion deformation.
It is the partial sectional view of the utility model retarder first embodiment in conjunction with Fig. 2, Fig. 2.In the axial direction of firm gear 2,
There is the tooth top 113a of external gear teeth group 113 first length d1, the tooth root 113b of external gear teeth group 113 to have the second length d2, lubrication groove
The tooth top of tooth group 21 has third length d3, and flexible outer ring 31 has the 4th length d4, and peripheral wall 11 has the 5th length d5, inner circumferential
There is diameter d6, the second length d2 to be all larger than the first length greater than third length d3, the second length d2 and third length d3 in face 111
D1, the 4th length d4 are greater than the second length d2, and in the present embodiment, the 4th length d4 is greater than the 0.3 of the diameter d6 of inner peripheral surface 111
Times, the 4th length d4 is greater than 0.5 times of the 5th length d5 and less than 0.6 times of the 5th length.
In the axial direction of firm gear 2, flexible bearing 3 has first end face L1 and second end face L2, radial from retarder
As it can be seen that external gear teeth group 113 is integrally located at the first plane and second end face where the first end face L1 of flexible bearing 3 in sectional view
In the space between the second plane where L2, the part on peripheral wall 11 where external gear teeth group 113 is in the cooperation with flexible bearing 3
Lower sufficiently expansion, and the biggish length of flexible bearing 3 can guarantee the installation concentricity of flexible bearing 3 with peripheral wall 11, peripheral wall 11 exists
Expansion deformation in circumferential direction is uniform, and engagement contacts sufficiently between external gear teeth group 113 and interior gear teeth group 21, effectively reduces driving error
With the service life for extending flexible bearing.
4th length d4 is bigger relative to the accounting of the 5th length d5, diameter of the 4th length d4 relative to inner peripheral surface 111
The accounting of d6 is bigger, and the deformation of peripheral wall 11 caused by the deformation of flexible bearing 3 itself, flexible bearing 3 then will be more uniform, flexible shaft
The maximum value of lower, the producible oscillating quantity of a possibility that 3 are held relative to the generation swing of peripheral wall 11 is smaller, is driven more stable, biography
Dynamic error is smaller, and the 4th length d4 does not answer installation that is excessive and increasing flexible bearing 3 difficult relative to the accounting of the 5th length d5
Degree.
It is the partial sectional view of flexbile gear in the utility model retarder second embodiment referring to Fig. 3, Fig. 3.In the present embodiment,
The peripheral wall 61 of flexbile gear 6 is provided with external gear teeth group 63 in axial first end, and peripheral wall 61 is connected with flange 62, peripheral wall in axial second end
61 internal diameter is gradually increased from the middle part of peripheral wall 61 to the axial second end close to flange 62, increases the gross area of peripheral wall 61 to mention
High deformability.
Referring to fig. 4, Fig. 4 is the partial sectional view of flexbile gear in the utility model retarder 3rd embodiment.In the present embodiment,
The peripheral wall 71 of flexbile gear 7 is provided with external gear teeth group 73 in axial first end, and peripheral wall 71 is connected with flange 72, peripheral wall in axial second end
71 internal diameter is gradually reduced from the middle part of peripheral wall 71 to the axial second end close to flange 72, after flexible bearing installation, internal diameter
The peripheral wall 71 being gradually reduced has the function of guide-localization, further ensures that the connection between flexible bearing and peripheral wall 71 is coaxial
Degree, further ensures that the uniformity of 71 deformation of peripheral wall.
Finally it is emphasized that the above is only the preferred embodiment of the present invention, it is not limited to this reality
With novel, for those skilled in the art, the utility model can have various change and change, all in the utility model
Spirit and principle within, any modification, equivalent substitution, improvement and etc. done should be included in the protection model of the utility model
Within enclosing.
Claims (14)
1. retarder, including firm gear, flexbile gear and flexible bearing；
The firm gear surrounds first with coincidence, and the firm gear is provided with the lubrication groove for matching coincidence towards described first in radial inside
Tooth group；
The flexbile gear has peripheral wall, and the peripheral wall surrounds second and matches coincidence, is provided with external gear teeth group on the outer peripheral surface of the peripheral wall,
The flexbile gear is provided with the inner peripheral surface for matching coincidence towards described second in radial inside；
The flexible bearing is installed on described second with abutting in coincidence and with the inner peripheral surface of the peripheral wall, and the flexbile gear is installed on
Described first in coincidence, and the external gear teeth group is engaged with the interior gear teeth group；
It is characterized by:
In the axial direction of the firm gear, the length of the tooth top of the external gear teeth group is the first length, the tooth root of the external gear teeth group
Length be the second length, the length of the tooth top of the interior gear teeth group is third length, and the length of the flexible bearing is the 4th
Length；
Second length and the third length are all larger than first length, and it is long that the 4th length is greater than described second
Degree.
2. retarder according to claim 1, it is characterised in that:
Second length is greater than the third length.
3. retarder according to claim 1, it is characterised in that:
In the axial direction of the firm gear, the length of the peripheral wall is the 5th length；
4th length is greater than 0.3 times of the 5th length and is less than 0.7 times of the 5th length.
4. retarder according to claim 3, it is characterised in that:
4th length is greater than 0.5 times of the 5th length and is less than 0.6 times of the 5th length.
5. retarder according to any one of claims 1 to 4, it is characterised in that:
4th length is greater than 0.2 times of the diameter of the inner peripheral surface.
6. retarder according to claim 5, it is characterised in that:
4th length is greater than 0.3 times of the diameter of the inner peripheral surface.
7. retarder according to any one of claims 1 to 4, it is characterised in that:
In the axial direction of the flexbile gear, the external gear teeth group is arranged in the first end of the peripheral wall, and the internal diameter of the peripheral wall is from institute
The middle part for stating peripheral wall is gradually reduced to the second end of the peripheral wall.
8. retarder according to any one of claims 1 to 4, it is characterised in that:
In the axial direction of the flexbile gear, the external gear teeth group is arranged in the first end of the peripheral wall, and the internal diameter of the peripheral wall is from institute
The middle part for stating peripheral wall is gradually increased to the second end of the peripheral wall.
9. retarder according to any one of claims 1 to 4, it is characterised in that:
On the radial section of the firm gear, the inner peripheral surface is parallel to the axis of the firm gear.
10. retarder according to any one of claims 1 to 4, it is characterised in that:
In the axial direction of the firm gear, the first end face of the flexible bearing is located in the first plane, and the second of the flexible bearing
End face is located in the second plane, and the external gear teeth group is between first plane and second plane.
11. retarder according to any one of claims 1 to 4, it is characterised in that:
The retarder further includes harmonic oscillator, and the harmonic oscillator includes that rotating drive part drives with the rotation is connected to
The cam of moving part output end；
The flexible bearing is sleeved on the cam.
12. retarder according to any one of claims 1 to 4, it is characterised in that:
In the axial direction of the flexbile gear, the first end of the peripheral wall is arranged in the external gear teeth group, and the second end of the peripheral wall is set
It is equipped with flange.
13. retarder according to any one of claims 1 to 4, it is characterised in that:
The firm gear and the flexbile gear are connected with rigid bearing.
14. robot, including the first component and relative to the second component of first component rotation, it is characterised in that:
The robot further includes such as the described in any item retarders of the claims 1 to 13, and the retarder is connected to institute
It states between the first component and the second component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821536061.XU CN208778633U (en) | 2018-09-19 | 2018-09-19 | Retarder and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821536061.XU CN208778633U (en) | 2018-09-19 | 2018-09-19 | Retarder and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208778633U true CN208778633U (en) | 2019-04-23 |
Family
ID=66162007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821536061.XU Withdrawn - After Issue CN208778633U (en) | 2018-09-19 | 2018-09-19 | Retarder and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208778633U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027180A (en) * | 2018-09-19 | 2018-12-18 | 珠海格力电器股份有限公司 | Retarder and robot |
| CN113685529A (en) * | 2021-09-28 | 2021-11-23 | 珠海格力节能环保制冷技术研究中心有限公司 | Harmonic speed reducer |
-
2018
- 2018-09-19 CN CN201821536061.XU patent/CN208778633U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027180A (en) * | 2018-09-19 | 2018-12-18 | 珠海格力电器股份有限公司 | Retarder and robot |
| WO2020056963A1 (en) * | 2018-09-19 | 2020-03-26 | 珠海格力电器股份有限公司 | Speed reducer and robot |
| EP3839294A4 (en) * | 2018-09-19 | 2021-08-18 | Gree Electric Appliances, Inc. of Zhuhai | Speed reducer and robot |
| US11648662B2 (en) | 2018-09-19 | 2023-05-16 | Gree Electric Appliances, Inc. Of Zhuhai | Speed reducer and robot |
| CN109027180B (en) * | 2018-09-19 | 2024-05-14 | 珠海格力电器股份有限公司 | Speed reducer and robot |
| CN113685529A (en) * | 2021-09-28 | 2021-11-23 | 珠海格力节能环保制冷技术研究中心有限公司 | Harmonic speed reducer |
| CN113685529B (en) * | 2021-09-28 | 2023-02-24 | 珠海格力节能环保制冷技术研究中心有限公司 | Harmonic speed reducer |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190423 Effective date of abandoning: 20240514 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190423 Effective date of abandoning: 20240514 |