CN210265770U - Robot joint stepless speed change device - Google Patents
Robot joint stepless speed change device Download PDFInfo
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- CN210265770U CN210265770U CN201921306336.5U CN201921306336U CN210265770U CN 210265770 U CN210265770 U CN 210265770U CN 201921306336 U CN201921306336 U CN 201921306336U CN 210265770 U CN210265770 U CN 210265770U
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Abstract
The utility model provides a robot joint infinitely variable device to being the frame by the mobilizable left socle of pneumatic cylinder drive and fixed right branch frame, on the right branch frame was located to the input eccentric shaft, on the output shaft was located the left socle, through planet reduction gears transmission power, through drive belt transmission between a pair of sun pulley of planet reduction gears and a pair of planet band pulley, left side sun pulley and right planet band pulley respectively with the left socle be connected, can be axial parallel along with the left socle together, realize that axial spacing is adjustable between a pair of sun pulley and a pair of planet band pulley. The utility model discloses can change the effective working radius of drive belt on a pair of sun belt wheel and a pair of planet band pulley, and then change the drive ratio, realize infinitely variable.
Description
Technical Field
The utility model relates to the field of mechanical equipment, the more specifically robot joint infinitely variable device that says so.
Background
The robot system is a whole formed by a robot, a working object and an environment, and comprises four parts, namely a mechanical system, a driving system, a control system and a sensing system. The robot is an automatic machine which has intelligent capabilities similar to those of a human or a living being, such as perception capability, planning capability, action capability and coordination capability, and is an automatic machine with high flexibility. The robot body mainly comprises three key parts, namely a speed reducer, a controller and a driving motor, which also occupy a large part of the industrial cost of the robot and jointly determine the performance, the quality and the price of a product.
Compared with a universal speed reducer, the robot speed reducer is required to have the characteristics of compact structure, large transmission power, low noise, stable transmission and the like. Due to the particularity of work, the output speed and the torque of the robot joint need to be changed frequently, when the robot joint works by carrying a reducer with a fixed speed ratio by a motor, the peak efficiency or the peak power of the motor can not be achieved by the joint work due to the fixed speed ratio, and the optimal performance of the motor is difficult to be exerted by the matching mode. Variable ratio reducers enable motors to operate at or near their peak efficiency or power, but have not been applied to robotic products due to their size, weight, and complex structure.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving above-mentioned technical problem to a certain extent at least. Therefore, the utility model provides a robot joint infinitely variable device, simple structure, overall arrangement are compact, can realize infinitely variable.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a robot joint stepless speed change device is structurally characterized in that:
the left bracket and the right bracket are oppositely arranged left and right, an input eccentric shaft arranged on the right bracket is used as an input end, an output shaft arranged on the left bracket is used as an output end, and the power of the input end is transmitted to the output end by the planetary reduction mechanism;
the planetary speed reducing mechanism comprises a left sun belt wheel and a right sun belt wheel which are opposite left and right and are respectively fixedly arranged on the left bracket and the right bracket, a left planetary belt wheel and a right planetary belt wheel which are coaxially sleeved to form a synchronous rotating component, and a transmission belt which is tensioned between the pair of sun belt wheels and the pair of planetary belt wheels and is used for transmission;
the pair of sun belt wheels and the output shaft are coaxially arranged, and the pair of planet belt wheels are positioned between the pair of sun belt wheels and eccentrically arranged in a radial area surrounded by the pair of sun belt wheel shaft holes; the left planetary belt wheel is coaxially sleeved on the shaft body of the input eccentric shaft through a bearing, the axial distance between the right planetary belt wheel and the left planetary belt wheel is adjustable, the pin movably penetrates through the left planetary belt wheel in the left-right direction, one end of the pin is fixedly connected with the right planetary belt wheel, the other end of the pin is assembled in a mounting hole in an output disc at the right end of the output shaft through a flange bearing, and the outer ring of the flange bearing is inscribed in the inner wall surface of the mounting hole; the transmission belt is an annular body with a radial section in a V-shaped structure with a closed end facing to the circle center, the axis direction of the annular body is parallel to the axis direction of the input eccentric shaft, the output shaft and the pin, and the pair of planet belt wheels and the pair of sun belt wheels are respectively contacted with two side faces of the closed end and two side faces of the open end of the transmission belt;
the right support is a fixed component, the left support can be driven by a hydraulic cylinder, and is guided by a guide rod to translate left and right to drive the left sun belt wheel and the right planet belt wheel to move axially, so that the axial distance between the pair of sun belt wheels and the axial distance between the pair of planet belt wheels can be adjusted.
The utility model discloses a structural feature also lies in:
the end surfaces of the opposite sides of the pair of planet belt wheels and the end surfaces of the opposite sides of the pair of sun belt wheels are in a wedge surface shape and are respectively and tightly contacted with two side surfaces of a closed end and two side surfaces of an open end of the transmission belt; the tail end of the closed end of the transmission belt is of a horizontal end face structure, the axle of the left planetary belt wheel extends rightwards from the left side of the horizontal end face and is exposed out of the right side of the horizontal end face, a gap is reserved between the outer circumference of the axle and the horizontal end face in the radial direction, and the right planetary belt wheel is sleeved on the exposed end of the right side of the axle of the left planetary belt wheel through a central axle hole.
The transmission belt is formed by assembling a plurality of metal sheets on a flexible annular metal ring in a sleeving manner along the circumferential direction, wherein a limiting pin is arranged between at least two metal sheets and the metal ring.
The pneumatic cylinder includes the annular cylinder that is concentric installation with a pair of sun pulley, encapsulates in the cylinder cap of annular cylinder tip and locates the piston push rod in the annular cylinder, be equipped with on the annular cylinder with the annular cylinder section of thick bamboo in left business turn over hydraulic fluid port and the right business turn over hydraulic fluid port of intercommunication, the piston push rod can be followed and is extended and drawn back to about, the rod end links firmly with the left socle, guide bar one end links firmly on the right branch frame, the other end is supported by the linear bearing on the left socle, the axis body of input eccentric shaft, planetary reduction mechanism and the right axle head of output shaft lie in the annular cylinder and enclose and establish the cavity.
The aperture D1 of the mounting hole, the outer diameter D2 of the flange bearing outer ring and the eccentricity a of the input eccentric shaft meet the following requirements: D1-D2 ═ 2 a.
The input eccentric shaft is supported on the right bracket by an input end bearing, a hole on the eccentric shaft is used as a mounting hole assembled with a motor shaft of the input motor, and the output shaft is supported on the left bracket by an output end bearing.
Compared with the prior art, the utility model discloses beneficial effect embodies:
1. the utility model utilizes the planetary reduction gear to realize the power transmission from the input end to the output end, wherein a pair of planetary belt wheels are arranged between a pair of sun belt wheels and eccentrically arranged in the radial area surrounded by the shaft holes of the pair of sun belt wheels, so that the device has simple integral structure and compact layout, and can better accord with the installation requirement of robot products;
2. the utility model can drive the left bracket to move linearly through the hydraulic cylinder, further drive the left sun belt wheel and the right planet belt wheel to move axially, and can simultaneously adjust the axial distance between the pair of planet belt wheels and the axial distance between the pair of sun belt wheels, thereby changing the effective working radius of the driving belt on the pair of sun belt wheels and the pair of planet belt wheels, further changing the transmission ratio and realizing stepless speed change;
3. the utility model discloses an effective working radius on adjusting a pair of planet band pulley and a pair of sun pulley can realize forward, neutral gear and reverse output.
Drawings
FIG. 1 is a schematic view of a half-section three-dimensional structure of the present invention;
FIG. 2 is a schematic sectional view of the present invention;
FIG. 3 is an enlarged partial schematic view at C of FIG. 2;
fig. 4a to 4d are schematic structural views showing the engagement state of the pair of sun pulleys, the pair of planet pulleys, and the transmission belt.
Reference numbers in the figures: 1, a right bracket; 2 inputting an eccentric shaft; 3 an input end bearing; 4a right planet pulley; 5, conveying a belt; 6 left planet belt wheel; 7, an annular cylinder barrel; 8 guide rings for the shaft; 9 piston push rod; 10 holes are used for sealing rings; 11 shaft seal rings; 12-hole guide rings; 13 cylinder cover sealing rings; 14, a cylinder cover; 15 a left bracket; 16 linear bearings; 17 a guide bar; 18 a flange bearing; 19 an output end bearing; 20 pins; 21 an output shaft; 22 an output tray cover plate; 23 an output tray; 24 left sun pulley; 25 right sun pulley; 26 a metal ring; 27 a metal sheet; 28 stop pin.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 and 3, the structure of the robot joint stepless speed change device of the present embodiment is as follows:
the left bracket 15 and the right bracket 1 are arranged oppositely left and right, an input eccentric shaft 2 arranged on the right bracket 1 is used as an input end, an output shaft 21 arranged on the left bracket 15 is used as an output end, and the power of the input end is transmitted to the output end by the planetary reduction mechanism;
the planetary speed reducing mechanism comprises a left sun belt wheel 24 and a right sun belt wheel 25 which are opposite left and right and are respectively fixedly arranged on the left bracket 15 and the right bracket 1, a left planetary belt wheel 6 and a right planetary belt wheel 4 which are coaxially sleeved to form a synchronous rotating component, and a transmission belt 5 which is tensioned between the pair of sun belt wheels and the pair of planetary belt wheels and is used for transmission;
the pair of sun belt wheels and the output shaft 21 are coaxially arranged, and the pair of planet belt wheels are positioned between the pair of sun belt wheels and eccentrically arranged in a radial area surrounded by the pair of sun belt wheel shaft holes; the left planetary belt wheel 6 is coaxially sleeved on the shaft body of the input eccentric shaft 2 through a bearing, the axial distance between the right planetary belt wheel 4 and the left planetary belt wheel 6 is adjustable, a pin 20 movably penetrates through the left planetary belt wheel 6 in the left-right direction, one end of the pin is fixedly connected with the right planetary belt wheel 4, the other end of the pin is assembled in a mounting hole in an output disc 23 at the right end of an output shaft 21 through a flange bearing 18, and the outer ring of the flange bearing 18 is inscribed in the inner wall surface of the mounting hole; the transmission belt 5 is an annular body with a radial section in a V-shaped structure with a closed end facing the center of a circle, the axial direction of the annular body is parallel to the axial direction of the input eccentric shaft 2, the output shaft 21 and the pin 20, and the pair of planet belt wheels and the pair of sun belt wheels are respectively contacted with two side faces of the closed end and two side faces of the open end of the transmission belt 5;
the right support 1 is a fixed component, the left support 15 can be driven by a hydraulic cylinder, and is guided by the guide rod 17 to translate left and right to drive the left sun belt wheel 24 and the right planet belt wheel 4 to move axially, so that the axial distance between the pair of sun belt wheels and the pair of planet belt wheels can be adjusted.
In specific implementation, the corresponding structural arrangement also includes:
the end surfaces of the opposite sides of the pair of planet belt wheels and the end surfaces of the opposite sides of the pair of sun belt wheels are in a wedge surface shape and are respectively and tightly contacted with two side surfaces of a closed end and two side surfaces of an open end of the transmission belt 5; the tail end of the closed end of the transmission belt 5 is of a horizontal end face structure, the axle of the left planetary pulley 6 extends rightwards from the left side of the horizontal end face and is exposed out of the right side of the horizontal end face, a gap is reserved between the outer circumference of the axle and the horizontal end face in the radial direction, and the right planetary pulley 4 is sleeved on the exposed right end of the axle of the left planetary pulley 6 through a central axle hole.
The transmission belt 5 is assembled by a plurality of metal sheets 27 sleeved on a flexible annular metal ring 26 along the circumferential direction, wherein a limiting pin 28 is arranged between at least two metal sheets and the metal ring to limit the metal ring to move left and right.
The pneumatic cylinder includes and is the annular cylinder 7 of concentric installation with a pair of sun pulley, encapsulate in the cylinder cap 14 of annular cylinder 7 tip and locate the piston push rod 9 in the annular cylinder 7, be equipped with on the annular cylinder 7 with the interior left side of intercommunication of annular cylinder 7 business turn over hydraulic fluid port and right business turn over hydraulic fluid port, piston push rod 9 can be followed and controlled to flexible, the rod end links firmly with left socle 15, guide bar 17 one end links firmly on right branch frame 1, the other end is supported by linear bearing 16 on the left socle 15, the axis body of input eccentric shaft 2, planetary reduction mechanism and output shaft 21's right axle head are located annular cylinder 7 and enclose and establish the cavity that forms.
The cylinder cover 14 and the annular cylinder barrel 7 are sealed through a cylinder cover sealing ring 13, the piston push rod 9 and the inner wall of the annular cylinder barrel 7 are sealed through a shaft sealing ring 11 and a hole sealing ring 10, and the piston push rod 9 is supported and guided by a shaft guide ring 8 and a hole guide ring 12.
The aperture D1 of the mounting hole on the output disc 23, the outer diameter D2 of the outer ring of the flange bearing 18 and the eccentricity a of the input eccentric shaft 2 should satisfy the following conditions: D1-D2 is 2a, so that the device can convert the rotation of the planet pulley into rotation concentric with the sun pulley, and the planet speed reduction mechanism takes the rotation of the planet pulley as an output part, namely, the rotation of the planet pulley can be converted into output concentric with the sun pulley after being converted by the device.
An output disc cover plate 22 is sandwiched between the output disc 23 and the right shaft end of the output shaft 21.
The input eccentric shaft 2 is supported on the right bracket 1 by an input end bearing 3, a hole on the eccentric shaft is used as a mounting hole assembled with a motor shaft of an input motor, and an output shaft 21 is supported on the left bracket 15 by an output end bearing 19.
The working process of the robot joint stepless speed change device with the structure is as follows:
the fixed right branch frame 1, the accessible is adjusted the hydraulic cylinder and is passed in and out the oil pressure of hydraulic cylinder left side oil inlet and right oil inlet and outlet, makes piston push rod 9 push to suitable position, adjusts the interval of the relative right branch frame 1 of left branch frame 15, also promptly, adjusts the axial relative interval of a pair of planet band pulley and a pair of sun band pulley. A motor shaft of an input motor is assembled on an eccentric hole of an input eccentric shaft 2, the input eccentric shaft 2 is driven to rotate by the input motor, then a pair of planet belt wheels are driven to revolve, a transmission belt 5 realizes transmission between the pair of planet belt wheels and the pair of sun belt wheels, so that the pair of planet belt wheels are driven to rotate, the pair of planet belt wheels drive an output disc 23 to rotate through a flange bearing 18, and then an output shaft 21 is driven to rotate.
In the above operation, as shown in fig. 4a, when the pair of planetary pulleys and the pair of sun pulleys are concentric, the pair of planetary pulleys and the pair of sun pulleys have the same effective working radius. In fig. 4c, there is some eccentricity between the pair of planet pulleys and the pair of sun pulleys, but the pair of planet pulleys and the pair of sun pulleys still have the same effective working radius, and the output of the device is neutral. In fig. 4b, the left sun pulley 24 and the right planet pulley 4 are moved to the left based on the respective positions in fig. 4c, and moved to extreme positions where the effective working radius of the pair of planet pulleys is larger than the effective working radius of the pair of sun pulleys, and the device is outputting in the forward direction. In fig. 4d, the left sun pulley 24 and the right planet pulley 4 move to the right based on the respective positions in fig. 4c and move to extreme positions where the effective working radius of the pair of planet pulleys is smaller than the effective working radius of the pair of sun pulleys and the device outputs in reverse.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A robot joint stepless speed change device is characterized in that:
the left bracket (15) and the right bracket (1) are arranged oppositely left and right, an input eccentric shaft (2) arranged on the right bracket (1) is used as an input end, an output shaft (21) arranged on the left bracket (15) is used as an output end, and the power of the input end is transmitted to the output end by the planetary reduction mechanism;
the planetary speed reducing mechanism comprises a left sun belt wheel (24) and a right sun belt wheel (25) which are opposite left and right and are respectively fixedly arranged on a left bracket (15) and a right bracket (1), a left planetary belt wheel (6) and a right planetary belt wheel (4) which are coaxially sleeved to form a synchronous rotating component, and a transmission belt (5) which is tensioned between the pair of sun belt wheels and the pair of planetary belt wheels and is used for transmission;
the pair of sun belt wheels and the output shaft (21) are coaxially arranged, and the pair of planet belt wheels are positioned between the pair of sun belt wheels and eccentrically arranged in a radial area surrounded by the pair of sun belt wheel shaft holes; the left planet belt wheel (6) is coaxially sleeved on the shaft body of the input eccentric shaft (2) through a bearing, the axial distance between the right planet belt wheel (4) and the left planet belt wheel (6) is adjustable, a pin (20) movably penetrates through the left planet belt wheel (6) in the left-right direction, one end of the pin is fixedly connected with the right planet belt wheel (4), the other end of the pin is assembled in a mounting hole in an output disc (23) at the right end of an output shaft (21) through a flange bearing (18), and the outer ring of the flange bearing (18) is internally tangent to the inner wall surface of the mounting hole; the transmission belt (5) is an annular body with a V-shaped structure, the radial section of the annular body is a closed end and faces the center of a circle, the axial direction of the annular body is parallel to the axial directions of the input eccentric shaft (2), the output shaft (21) and the pin (20), and the pair of planetary belt wheels and the pair of sun belt wheels are respectively contacted with two side faces of the closed end and two side faces of the open end of the transmission belt (5);
the right support (1) is a fixed component, the left support (15) can be driven by a hydraulic cylinder, and is guided by a guide rod (17) to translate left and right to drive the left sun belt wheel (24) and the right planet belt wheel (4) to move axially, so that the axial distance between the pair of sun belt wheels and the axial distance between the pair of planet belt wheels can be adjusted.
2. The robot joint continuously variable transmission according to claim 1, wherein: the end surfaces of the opposite sides of the pair of planet belt wheels and the end surfaces of the opposite sides of the pair of sun belt wheels are in a wedge surface shape and are respectively and tightly contacted with two side surfaces of a closed end and two side surfaces of an open end of the transmission belt (5); the tail end of the closed end of the transmission belt (5) is of a horizontal end face structure, the axle of the left planetary belt wheel (6) extends rightwards from the left side of the horizontal end face and is exposed out of the right side of the horizontal end face, a gap is reserved between the outer circumference of the axle and the horizontal end face in the radial direction, and the right planetary belt wheel (4) is sleeved on the exposed end of the right side of the axle of the left planetary belt wheel (6) through a central axle hole.
3. The robot joint continuously variable transmission according to claim 1 or 2, wherein: the transmission belt (5) is assembled by sleeving a plurality of metal sheets (27) on a flexible annular metal ring (26) along the circumferential direction, wherein a limiting pin (28) is arranged between at least two metal sheets and the metal ring.
4. The robot joint continuously variable transmission according to claim 1, wherein: the hydraulic cylinder comprises an annular cylinder barrel (7) which is concentrically installed with a pair of sun belt wheels, a cylinder cover (14) packaged at the end part of the annular cylinder barrel (7) and a piston push rod (9) arranged in the annular cylinder barrel (7), wherein a left oil inlet and a right oil inlet which are communicated with the interior of the annular cylinder barrel (7) are formed in the annular cylinder barrel (7), the piston push rod (9) can stretch out and draw back along the left-right direction, the rod end is fixedly connected with a left support (15), one end of a guide rod (17) is fixedly connected onto the right support (1), the other end of the guide rod is supported by a linear bearing (16) on the left support (15), and a shaft body of an input eccentric shaft (2), a planetary speed reducing mechanism and the right shaft end of an output shaft (21) are located in a cavity formed.
5. The robot joint continuously variable transmission according to claim 1, wherein: the aperture D1 of the mounting hole, the outer diameter D2 of the outer ring of the flange bearing (18) and the eccentricity a of the input eccentric shaft (2) meet the following requirements: D1-D2 ═ 2 a.
6. The robot joint continuously variable transmission according to claim 1, wherein: the input eccentric shaft (2) is supported on the right bracket (1) through an input end bearing (3), a hole in the eccentric shaft is used as a mounting hole assembled with a motor shaft of the input motor, and the output shaft (21) is supported on the left bracket (15) through an output end bearing (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921306336.5U CN210265770U (en) | 2019-08-13 | 2019-08-13 | Robot joint stepless speed change device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921306336.5U CN210265770U (en) | 2019-08-13 | 2019-08-13 | Robot joint stepless speed change device |
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| CN210265770U true CN210265770U (en) | 2020-04-07 |
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| CN201921306336.5U Active CN210265770U (en) | 2019-08-13 | 2019-08-13 | Robot joint stepless speed change device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345230A (en) * | 2019-08-13 | 2019-10-18 | 中国科学院合肥物质科学研究院 | A kind of joint of robot stepless speed change device |
| CN113374834A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Hydraulic drive robot joint infinitely variable device |
-
2019
- 2019-08-13 CN CN201921306336.5U patent/CN210265770U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345230A (en) * | 2019-08-13 | 2019-10-18 | 中国科学院合肥物质科学研究院 | A kind of joint of robot stepless speed change device |
| CN110345230B (en) * | 2019-08-13 | 2024-01-09 | 中国科学院合肥物质科学研究院 | Robot joint stepless speed change device |
| CN113374834A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Hydraulic drive robot joint infinitely variable device |
| CN113374834B (en) * | 2021-07-16 | 2024-02-23 | 中国科学院合肥物质科学研究院 | Hydraulic drive robot joint infinitely variable device |
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