CN211778837U - Speed reducer for robot - Google Patents
Speed reducer for robot Download PDFInfo
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- CN211778837U CN211778837U CN201922102749.8U CN201922102749U CN211778837U CN 211778837 U CN211778837 U CN 211778837U CN 201922102749 U CN201922102749 U CN 201922102749U CN 211778837 U CN211778837 U CN 211778837U
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Abstract
The utility model discloses a speed reducer for a robot, which comprises a shell, an input shaft, an output shaft, a small tooth difference mechanism and a power output mechanism, wherein the input shaft extends into the shell from one end of the shell; the output shaft extends into the shell from the other end of the shell; the small tooth difference mechanism comprises an outer gear and an inner gear ring which are meshed with each other, the inner gear ring is arranged on the inner wall of the shell, and the outer gear is eccentrically arranged on the input shaft; the power output mechanism comprises a connecting assembly and a clearance adjusting assembly, the connecting assembly is used for connecting the outer gear and the output shaft, and the clearance adjusting assembly is used for adjusting the connecting position of the outer gear and the connecting assembly. The utility model is simple to manufacture, does not need high-precision import equipment, and can be used by a common machine tool, thereby avoiding the size precision of the dead and knocked; the power output mechanism is provided with a clearance adjusting assembly, the connecting position of the outer gear and the connecting assembly can be adjusted, and the output precision is ensured.
Description
Technical Field
The utility model belongs to the technical field of the reduction gear, especially, relate to a reduction gear for robot.
Background
Nowadays, China is popularizing artificial intelligence robot energetically, and its key part reduction gear is mostly RV and harmonic reduction gear, has that the drive ratio scope is big, and the precision is high, and advantage that transmission efficiency is high, and its manufacturing needs the processing equipment of high accuracy, and china only imports the processing equipment, but still can not reach foreign precision, has that many investors blindly cause very big loss. Dozens of domestic manufacturers put into research on RV reducers and harmonic reducers, and although the precision of the manufacturers is within one arc minute, the precision maintaining service life is greatly different; domestic manufacturers are constant-temperature workshops, need to use imported production equipment, imported bearings and special materials for manufacturing, need to be killed and knocked to be precise, and have the problems of difficulty in processing, difficulty in assembling, high rejection rate, difficulty in mass production, high cost and the like.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a reduction gear for robot has high accuracy and high life, can replace RV and harmonic reduction gear.
A decelerator for robot includes a housing, and further includes:
an input shaft extending into the housing from one end of the housing;
an output shaft extending into the housing from the other end of the housing;
the small tooth difference mechanism comprises an outer gear and an inner gear ring which are meshed with each other, the inner gear ring is arranged on the inner wall of the shell, and the outer gear is eccentrically arranged on the input shaft;
the power output mechanism comprises a connecting assembly and a clearance adjusting assembly, the connecting assembly is used for connecting the outer gear and the output shaft, and the clearance adjusting assembly is used for adjusting the connecting position of the outer gear and the connecting assembly.
Above technical scheme is preferred, coupling assembling includes cross intermediate disc and first arch, first arch sets up the cross intermediate disc is close to one side of outer gear, the corresponding first recess that is equipped with of outer gear, clearance adjustment subassembly is used for adjusting first arch is in the position in the first recess, the opposite side of cross intermediate disc with output shaft.
Above technical scheme is preferred, first protruding with the cross intermediate disc passes through fixed screw connection, the cross intermediate disc with be equipped with on the first arch and be used for passing the centre bore of input shaft, one side or both sides of centre bore correspond first recess is equipped with clearance adjustment assembly, clearance adjustment assembly includes adjusting key and screw, be equipped with first connecting hole in the first arch, adjusting key locates in the first connecting hole, the eccentric department of adjusting key is equipped with the screw hole, the screw passes the cross intermediate disc with screw hole threaded connection.
Above technical scheme is preferred, the clearance adjustment subassembly still includes the operating parts, be equipped with the second connecting hole on the cross intermediate disk, the operating parts is located in the second connecting hole, the center department of operating parts is equipped with the third connecting hole, the adjusting key is close to one side of operating parts is equipped with to the convex connecting portion of operating parts direction, be close to on the operating parts the corresponding spread groove that is equipped with in one side of adjusting key, connecting portion stretch into in the spread groove, the screw passes the third connecting hole with screw hole threaded connection.
Preferably, an operation groove is formed in one side, far away from the adjusting key, of the operation piece.
Preferably, in the above technical solution, one side surface of the first protrusion is an inclined surface, and the other side surface of the first protrusion is a vertical surface.
According to the preferable technical scheme, the hole for installing the fixing screw on the first protrusion is a round hole, and the hole for installing the fixing screw on the cross-shaped middle disc is a long round hole.
According to the preferable technical scheme, a second groove is formed in one side, away from the outer gear, of the cross-shaped middle disc, the second groove and the first protrusion are arranged in a cross shape, a second protrusion is correspondingly arranged on the output shaft, and the second protrusion is arranged in the second groove.
In the preferable technical scheme, the input shaft is provided with a radial clearance adjusting component, the radial clearance adjusting component comprises a jackscrew, an adjusting sleeve and a radial moving block, the input shaft is provided with a bearing inner sleeve, a bearing is arranged outside the bearing inner sleeve, the bearing is provided with the external gear, the eccentric position of the input shaft is provided with an adjusting hole, the jackscrew is sleeved with the adjusting sleeve, the jackscrew and the adjusting sleeve are arranged in the adjusting hole, a through hole is arranged on the input shaft and is vertical to the adjusting hole, the radial moving block is arranged in the through hole, one end of the radial moving block is contacted with the inner wall of the bearing inner sleeve, the other end of the radial moving block is contacted with the adjusting sleeve, the surface of the adjusting sleeve, which is in contact with the radial moving block, is an inclined plane, and one side of the inclined plane, which is close to the output shaft, is lower than the other side of the inclined plane, which is far away from the output shaft.
Above technical scheme is preferred, the jackscrew with adjusting sleeve fixed connection, the jackscrew with adjust the hole threaded connection.
The utility model has the advantages and positive effects that: the utility model provides a speed reducer for a robot, which is simple to manufacture, does not need high-precision import equipment, and can be used by a common machine tool, thereby avoiding the dead and colliding size precision; the power output mechanism is provided with a clearance adjusting assembly, the connecting position of the outer gear and the connecting assembly can be adjusted, and the output precision is ensured; the outer gear and the inner gear ring are provided with radial clearance adjusting components, and high precision and zero error can be achieved through the meshing of the inner gear and the outer gear and grinding; the bearing is made of domestic bearing and domestic material, and the cost is low.
Drawings
Fig. 1 is a front view of a speed reducer according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating an installation of a first protrusion and an external gear according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating an installation of the cross-shaped middle plate and the first protrusion according to an embodiment of the present invention;
FIG. 4 is a left side view of FIG. 3;
fig. 5 is a front view of an adjustment key according to an embodiment of the present invention;
fig. 6 is a left side view of an adjustment key according to an embodiment of the present invention;
fig. 7 is a right side view of an adjustment key provided in accordance with an embodiment of the present invention;
FIG. 8 is a front view of an operating member according to an embodiment of the present invention;
FIG. 9 is a left side view of an operating member according to an embodiment of the present invention;
FIG. 10 is a right side view of an operating member provided in accordance with an embodiment of the present invention;
fig. 11 is a torque-rotation angle diagram detected according to an embodiment of the present invention.
Wherein: 1. a housing; 2. an input shaft; 3. an output shaft; 4. an outer gear; 5. an inner gear ring; 6. a cross-shaped middle disc; 7. a first protrusion; 8. a first groove; 9. fixing screws; 10. a central bore; 11. an adjustment key; 12. a screw; 13. a first connection hole; 14. a threaded hole; 15. an operating member; 16. a third connection hole; 17. a connecting portion; 18. connecting grooves; 19. an operation slot; 20. a bevel; 21. a circular hole; 22. a long round hole; 23. a second groove; 24. a second protrusion; 25. carrying out top thread; 26. an adjusting sleeve; 27. a radial moving block; 28. a bearing inner sleeve; 29. a bearing; 30. and adjusting the hole.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The present embodiment provides a speed reducer for a robot, as shown in fig. 1 to 10, including a housing 1, an input shaft 2, an output shaft 3, a small tooth difference mechanism, and a power output mechanism. Wherein the input shaft 2 extends into the shell 1 from one end of the shell 1; the output shaft 3 extends into the shell 1 from the other end of the shell 1; the small tooth difference mechanism comprises an outer gear 4 and an inner gear ring 5 which are mutually meshed, the inner gear ring 5 is arranged on the inner wall of the shell 1, and the outer gear 4 is eccentrically arranged on the input shaft 2; the small tooth difference mechanism consists of a pair of internal gear wheels with small difference of tooth numbers, and has the advantages of large transmission ratio, simple structure, low manufacturing cost and the like; the power output mechanism is arranged between the external gear 4 and the output shaft 3 and is used for transmitting power to the output shaft 3; the power output mechanism comprises a connecting assembly and a clearance adjusting assembly, the connecting assembly is used for connecting the outer gear 4 and the output shaft 3, and the clearance adjusting assembly is used for adjusting the connecting position of the outer gear and the connecting assembly.
Specifically, the power output mechanism comprises a cross-shaped middle disc 6, a first protrusion 7 and a gap adjusting assembly, the first protrusion 7 is arranged on one side, close to the outer gear 4, of the cross-shaped middle disc 6, the outer gear 4 is correspondingly provided with a first groove 8, the outer gear 4 is eccentrically arranged relative to the cross-shaped middle disc 6, in order to ensure that the first protrusion 7 is connected with the first groove 8, the gap adjusting assembly is arranged on the cross-shaped middle disc 6 and the first protrusion 7 and is used for adjusting the position of the first protrusion 7 in the first groove 8, so that the gap between the first protrusion 7 and the first groove 8 is adjusted, and the other side of the cross-shaped middle disc 6 is connected with the output shaft 3.
Further, the first protrusion 7 and the cross-shaped middle disc 6 are connected through a fixing screw 9, a central hole 10 for penetrating through the input shaft 2 is formed in the cross-shaped middle disc 6 and the first protrusion 7, a gap adjusting assembly is arranged on one side or two sides of the central hole 10 corresponding to the first groove 8, and gap adjusting assemblies are arranged on two sides of the central hole 10 in the embodiment. The clearance adjustment subassembly includes adjusting key 11 and screw 12, is equipped with first connecting hole 13 on the first arch 7, and adjusting key 11 is equipped with screw hole 14 in locating first connecting hole 13, adjusting key 11's eccentric department, and screw 12 passes cross intermediate disc 6 and screw hole 14 threaded connection.
In order to facilitate the adjustment operation, the gap adjustment assembly further comprises an operating part 15, only one adjusting key 11 in the embodiment is correspondingly provided with the operating part 15, for example, the lower adjusting key 11 in fig. 3 is correspondingly provided with the operating part 15, the lower screw 12 passes through the operating part 15 in the cross middle plate 6 to be connected with the threaded hole 14 of the adjusting key 11, the upper adjusting key 11 is not provided with the operating part 15, and the upper screw 12 passes through the cross middle plate 6 to be connected with the threaded hole 14 of the adjusting key 11; the operating member 15 is specifically configured to: a second connecting hole is formed in the cross middle disc 6, the operating part 15 is arranged in the second connecting hole, a third connecting hole 16 is formed in the center of the operating part 15, and the axes of the second connecting hole, the third connecting hole 16 and the threaded hole 14 are collinear; one side of the adjusting key 11 close to the operating part 15 is provided with a connecting part 17 protruding towards the operating part 15, one side of the operating part 15 close to the adjusting key 11 is correspondingly provided with a connecting groove 18, the connecting part 17 extends into the connecting groove 18, and the screw 12 passes through the third connecting hole 16 and is in threaded connection with the threaded hole 14.
Optionally, the operating member 15 is provided with an operating slot 19 on the side remote from the adjustment key 11. The operation groove 19 is in a line shape and is provided at the center of the end surface of the operation member 15 on the side away from the adjustment key 11. During the regulation, screw 12 and fixed screw 9 among the clearance adjustment subassembly are all not installed, rotate operating part 15 through operation groove 19 on the operating part 15 and finely tune, operating part 15 is connected with adjusting key 11 through spread groove 18, because adjusting key 11 is eccentric setting, adjusting key 11 eccentric rotation can drive first arch 7 and turn a little, and then realize the fine setting to first arch 7, for adjusting the back again with screw 12 and fixed screw 9 screw up, install first arch 7 on cross intermediate disk 6. In order to avoid interference of the side wall of the first groove 8 with the micro-rotation of the first protrusion 7, one side surface of the first protrusion 7 is a slope 20, and the other side surface of the first protrusion 7 is a vertical surface. In this embodiment, the second connecting hole of the upper cross-shaped middle plate 6 is a stepped hole for installing the screw 12; the lower second coupling hole is a stepped hole for mounting the operation element 15, the operation element 15 has a stepped outer shape, and the third coupling hole 16 inside the operation element 15 is a stepped hole for mounting the screw 12.
The adjusting key 11 is circular, and the distance between the center of the threaded hole 14 and the geometric center of the adjusting key 11 is 0.8-1.2 mm. Preferably, the center of the threaded hole 14 is spaced 1mm from the geometric center of the adjustment key 11. In this embodiment, the inclined surface 20 of the first protrusion 7 increases the width of the first protrusion 7 from top to bottom. Operating part 15 is changeed a little in one side of keeping away from outer gear 4, and operating part 15 drives adjusting key 11 eccentric rotation, and adjusting key 11 eccentric rotation drives first arch 7 and changes a little, realizes the fine setting of first arch 7 at first recess 8 internal position, does benefit to and installs first arch 7 in the suitable position of first recess 8, effectively improves the output precision.
In order to facilitate the installation of the fastening screws, the holes for installing the fixing screws 9 on the first bulges 7 are round holes 21, and the holes for installing the fixing screws 9 on the cross-shaped middle disc 6 are oblong holes 22.
One side of the cross-shaped middle disk 6, which is far away from the outer gear 4, is provided with a second groove 23, the second groove 23 and the first bulge 7 are arranged in a cross shape, a second bulge 24 is correspondingly arranged on the output shaft 3, and the second bulge 24 is arranged in the second groove 23. Alternatively, the second projection 24 can also be arranged on the cross-shaped intermediate disk 6, and the second recess 23 can be correspondingly arranged on the output shaft 3.
In order to further improve the transmission precision, a radial clearance adjusting assembly is arranged on the input shaft 2 and comprises a jackscrew 25, an adjusting sleeve 26 and a radial moving block 27, a bearing inner sleeve 28 is arranged on the input shaft 2, a bearing 29 is arranged outside the bearing inner sleeve 28, an outer gear 4 is arranged outside the bearing 29, an adjusting hole 30 is arranged at the eccentric position of the input shaft 2, the adjusting sleeve 26 is arranged outside the jackscrew 25, the jackscrew 25 and the adjusting sleeve 26 are arranged in the adjusting hole 30, a through hole is formed in the input shaft 2 and is perpendicular to the adjusting hole 30, the radial moving block 27 is arranged in the through hole, one end of the radial moving block 27 is in contact with the inner wall of the bearing inner sleeve 28, the other end of the radial moving block 27 is in contact with the adjusting sleeve 26, the surface of the adjusting sleeve 26 in contact with the radial moving block 27 is an inclined plane 20. The top thread 25 is fixedly connected with the adjusting sleeve 26, for example, welded, and the top thread 25 is in threaded connection with the adjusting hole 30. The jackscrew 25 is screwed, the jackscrew 25 drives the adjusting sleeve 26 to move axially, and the adjusting sleeve 26 drives the radial moving block 27 and the bearing inner sleeve 28 to move up and down, so that the radial clearance of the meshing of the external gear 4 and the internal gear ring 5 is adjusted.
The working process of the embodiment: power is input through the input shaft 2, the input shaft 2 drives the outer gear 4 to rotate, the outer gear 4 is meshed with the inner gear ring 5, the difference between the number of teeth of the outer gear 4 and the number of teeth of the inner gear ring 5 is small, so that the transmission ratio is large, the rotating speed is low, the first groove 8 of the outer gear 4 is connected with the cross-shaped middle disc 6 through the first bulge 7, and the second groove 23 on the cross-shaped middle disc 6 is connected with the second bulge 24 on the output shaft 3 so as to output. Wherein the clearance between the first groove 8 and the first protrusion 7 can be finely adjusted by screwing the operating element 15; the radial clearance between the outer gear 4 and the inner gear ring 5 can be finely adjusted by screwing the jackscrew 25.
Based on the embodiment, the reliability and environmental engineering center of the china saibao laboratory (the fifth research institute of electronics of the department of industry and informatization) was entrusted with reference to GB/T30819-. The highest precision of the parameter of the foreign similar products is 1-degree angle, and the precision of the embodiment is higher than that of the foreign similar products.
The utility model has the advantages and positive effects that: the utility model provides a speed reducer for a robot, which has large transmission ratio and simple manufacture, does not need high-precision import equipment, and can be used by a common machine tool to avoid the dead and knocked size precision; the gap adjusting assembly is arranged on the cross-shaped middle disc, so that the position of the first protrusion in the first groove can be adjusted, and the output precision is ensured; the outer gear and the inner gear ring are provided with radial clearance adjusting components, and high precision and zero error can be achieved through the meshing of the inner gear and the outer gear and grinding; the bearing is made of domestic bearing and domestic material, and the cost is low.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention, and should not be considered as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.
Claims (10)
1. The utility model provides a reduction gear for robot, includes the casing, its characterized in that still includes:
an input shaft extending into the housing from one end of the housing;
an output shaft extending into the housing from the other end of the housing;
the small tooth difference mechanism comprises an outer gear and an inner gear ring which are meshed with each other, the inner gear ring is arranged on the inner wall of the shell, and the outer gear is eccentrically arranged on the input shaft;
the power output mechanism comprises a connecting assembly and a clearance adjusting assembly, the connecting assembly is used for connecting the outer gear and the output shaft, and the clearance adjusting assembly is used for adjusting the connecting position of the outer gear and the connecting assembly.
2. The decelerator for a robot according to claim 1, wherein: coupling assembling includes cross intermediate disc and first arch, first arch sets up the cross intermediate disc is close to one side of outer gear, the outer gear is corresponding to be equipped with first recess, clearance adjustment assembly is used for adjusting first arch is in the position in the first recess, the opposite side of cross intermediate disc with output shaft.
3. A decelerator for robots according to claim 2 wherein: the first protrusion is connected with the cross intermediate disc through a fixing screw, the cross intermediate disc is connected with the first protrusion through a center hole, the center hole is used for penetrating through the input shaft, one side or two sides of the center hole correspond to the first groove, the gap adjusting assembly comprises an adjusting key and a screw, a first connecting hole is formed in the first protrusion, the adjusting key is arranged in the first connecting hole, a threaded hole is formed in the eccentric position of the adjusting key, and the screw penetrates through the cross intermediate disc and is in threaded connection with the threaded hole.
4. A decelerator for robots according to claim 3 wherein: the clearance adjustment subassembly still includes the operating parts, be equipped with the second connecting hole on the cross intermediate disk, the operating parts is located in the second connecting hole, the center department of operating parts is equipped with the third connecting hole, the adjusting key is close to one side of operating parts is equipped with to the convex connecting portion of operating parts direction, be close to on the operating parts the corresponding spread groove that is equipped with in one side of adjusting key, connecting portion stretch into in the spread groove, the screw passes the third connecting hole with screw hole threaded connection.
5. The decelerator for a robot according to claim 4, wherein: and an operation groove is formed in one side, far away from the adjusting key, of the operation piece.
6. A decelerator for robots according to claim 2 wherein: one side surface of the first protrusion is an inclined surface, and the other side surface of the first protrusion is a vertical surface.
7. A decelerator for robots according to claim 3 wherein: the hole used for installing the fixing screw on the first protrusion is a round hole, and the hole used for installing the fixing screw on the cross-shaped middle disc is a long round hole.
8. A decelerator for robots according to claim 2 wherein: one side of the cross-shaped middle disc, which is far away from the outer gear, is provided with a second groove, the second groove and the first bulge are arranged in a cross shape, the output shaft is correspondingly provided with a second bulge, and the second bulge is arranged in the second groove.
9. The decelerator for a robot according to claim 1, wherein: the input shaft is provided with a radial clearance adjusting component, the radial clearance adjusting component comprises a jackscrew, an adjusting sleeve and a radial moving block, the input shaft is provided with a bearing inner sleeve, a bearing is arranged outside the bearing inner sleeve, the bearing is provided with the external gear, the eccentric position of the input shaft is provided with an adjusting hole, the jackscrew is sleeved with the adjusting sleeve, the jackscrew and the adjusting sleeve are arranged in the adjusting hole, a through hole is arranged on the input shaft and is vertical to the adjusting hole, the radial moving block is arranged in the through hole, one end of the radial moving block is contacted with the inner wall of the bearing inner sleeve, the other end of the radial moving block is contacted with the adjusting sleeve, the surface of the adjusting sleeve, which is in contact with the radial moving block, is an inclined surface, and one side, close to the output shaft, of the inclined surface of the cross-shaped middle disc is lower than the other side, far away from the output shaft, of the inclined surface of the cross-shaped middle disc.
10. A decelerator for a robot as claimed in claim 9, wherein: the jackscrew with adjusting sleeve fixed connection, the jackscrew with adjust the hole threaded connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922102749.8U CN211778837U (en) | 2019-11-29 | 2019-11-29 | Speed reducer for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922102749.8U CN211778837U (en) | 2019-11-29 | 2019-11-29 | Speed reducer for robot |
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| Publication Number | Publication Date |
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| CN211778837U true CN211778837U (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922102749.8U Active CN211778837U (en) | 2019-11-29 | 2019-11-29 | Speed reducer for robot |
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| CN (1) | CN211778837U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112664631A (en) * | 2020-12-22 | 2021-04-16 | 杨桂金 | High-precision dislocation driving type gear transmission structure |
-
2019
- 2019-11-29 CN CN201922102749.8U patent/CN211778837U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112664631A (en) * | 2020-12-22 | 2021-04-16 | 杨桂金 | High-precision dislocation driving type gear transmission structure |
| CN112664631B (en) * | 2020-12-22 | 2024-05-28 | 佛山市联益丰五金制造有限公司 | High-precision dislocation driving type gear transmission structure |
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