WO2012075736A1 - Réducteur à vis sans fin, articulation de robot et robot - Google Patents

Réducteur à vis sans fin, articulation de robot et robot Download PDF

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Publication number
WO2012075736A1
WO2012075736A1 PCT/CN2011/071322 CN2011071322W WO2012075736A1 WO 2012075736 A1 WO2012075736 A1 WO 2012075736A1 CN 2011071322 W CN2011071322 W CN 2011071322W WO 2012075736 A1 WO2012075736 A1 WO 2012075736A1
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WO
WIPO (PCT)
Prior art keywords
worm
housing
wheel
bearing
disposed
Prior art date
Application number
PCT/CN2011/071322
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English (en)
Chinese (zh)
Inventor
孙尚传
王小椿
Original Assignee
配天(安徽)电子技术有限公司
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Publication of WO2012075736A1 publication Critical patent/WO2012075736A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears

Definitions

  • Embodiments of the present invention relate to the field of worm gear transmission technology, and in particular, to a worm reducer, and to a robot joint and a robot.
  • Tandem multi-joint robots have found wide application in the manufacturing industry due to their high flexibility and large working range.
  • the robot is an indispensable production tool.
  • the help of the robot is often required to improve work efficiency.
  • the cost of a joint reducer usually accounts for more than 50% of the total cost of the robot.
  • the gear units currently used on articulated robots are mainly special harmonic reducers and cycloidal pinwheel reducers.
  • the inventors of the present invention found that in the prior art, the harmonic reducer has high requirements on material properties, resulting in an increase in manufacturing cost.
  • the cycloidal pinwheel speed reducer is difficult to reduce due to the complicated structure, the large number of parts, and the high processing precision.
  • the transmission components of the reducer are difficult to repair after being worn, resulting in an increase in the backlash of the joint and a decrease in the execution accuracy of the robot.
  • planar envelope toroidal worm reducer has a wide range of applications in modern industrial production due to its unique advantages such as high load carrying capacity, high transmission efficiency and longest service life.
  • planar envelope toroidal worm reducer is bulky and heavy, it is difficult to apply to robot joints.
  • the embodiment of the invention provides a worm reducer, a robot joint and a robot, and solves the worm deceleration.
  • the technical solution adopted by the embodiment of the invention to solve the above technical problem is to provide a worm reducer.
  • the worm wheel includes a worm gear and a worm wheel, and a worm wheel bearing supporting the worm wheel.
  • the worm wheel includes a wheel body and a gear tooth portion connected to the wheel body, wherein the inner side of the wheel body has a hollow structure, and the worm wheel bearing is disposed on the wheel The outer side of the body is disposed adjacent to the tooth portion.
  • Embodiments of the present invention also provide a robot joint including the worm reducer as described above, the robot joint further comprising a power output arm for outputting power, the power output arm and a left side and/or a right side of the worm wheel The end faces are connected.
  • Embodiments of the present invention also provide a robot including the robot joint as described above.
  • the worm reducer provided by the embodiment of the invention adopts a hollow structure wheel body and the worm wheel bearing is disposed on the outer side of the wheel body, so that the weight of the worm wheel is greatly reduced, and the volume of the worm wheel and the entire worm reducer is reduced. .
  • FIG. 1 is a perspective view showing the structure of a worm reducer according to an embodiment of the present invention.
  • Figure 2 shows a front view of the worm reducer shown in Figure 1.
  • Figure 3a shows a schematic cross-sectional view of the worm reducer of Figure 1, which is perpendicular to the axis of the worm and generally along the central axis of the worm gear.
  • Figure 3b shows a schematic cross-sectional view of the worm reducer of Figure 1, which is perpendicular to the axis of the worm gear and generally along the central axis of the worm.
  • Fig. 4 is a perspective view showing the eccentric structure of the eccentric sleeve of the worm reducer shown in Fig. 1.
  • Figure 5 shows a front view of the eccentric sleeve shown in Figure 4.
  • Figure 6 shows a schematic cross-sectional view of the SS of the eccentric sleeve of Figure 4, while illustrating the centerline offset of the axis of the eccentric sleeve from the second housing of the worm reducer of Figure 1.
  • Figures 7a and 8a show the state before and after adjustment of the eccentric sleeve of Figure 4, respectively.
  • Figures 7b and 8b respectively show an enlarged state of the meshing backlash between the worm gear teeth and the worm gear teeth before and after the adjustment of the eccentric sleeve of Figure 4.
  • Fig. 9 is a view showing the engagement of a plan envelope toroidal worm gear for a worm reducer according to another embodiment of the present invention.
  • Figure 10 is a cross-sectional view showing a worm reducer in accordance with still another embodiment of the present invention.
  • Figure 11 is a cross-sectional view showing a worm reducer in accordance with still another embodiment of the present invention.
  • Figure 12 shows a perspective view of a robot joint in accordance with an embodiment of the present invention.
  • Figure 13 shows a front view of the robot joint shown in Figure 12.
  • the embodiment of the invention discloses a worm reducer comprising a worm and a worm wheel meshing with each other and a worm wheel bearing supporting the worm wheel, the worm wheel comprising a wheel body and a gear tooth portion connected to the wheel body, wherein the wheel body
  • the inner side has a hollow structure
  • the worm wheel bearing is disposed on the outer side of the wheel body and disposed adjacent to the gear tooth portion.
  • the worm reducer provided in this embodiment adopts a hollow structure wheel body and the worm wheel bearing is disposed on the outer side of the wheel body, so that the weight of the worm wheel is greatly reduced, and the volume of the worm wheel and the entire worm reducer is reduced.
  • a worm reducer comprising a housing structure, an eccentric sleeve, an intermeshing worm and a worm wheel, and a worm bearing supporting the worm.
  • the eccentric sleeve is rotatably disposed on the housing structure, the worm is disposed in the eccentric sleeve through the worm bearing, and the angle of the eccentric sleeve is adjusted by rotation to adjust the gear teeth of the worm and the worm wheel The backlash between the teeth.
  • the worm reducer provided in this embodiment can easily adjust the backlash of the worm wheel pair by adjusting the eccentric angle of the eccentric sleeve.
  • a worm reducer comprising a housing structure and a meshing worm and a worm gear.
  • the housing structure includes a first housing, a second housing, and a buckle, the worm gear is disposed in the first housing, the worm is disposed in the second housing, and the first housing and the second The side portions of the housing are respectively formed with a buckle groove, and the buckle is fastened into the buckle groove such that the first housing and the second housing are connected to each other.
  • the worm reducer provided in this embodiment realizes a compact fit of the first housing and the second housing through the buckle, and the buckle also functions as a labyrinth seal of the reducer.
  • the embodiment of the invention also discloses a robot joint, which comprises a worm reducer and a power output arm for outputting power, and the power output arm is connected with the left and right end faces of the worm wheel.
  • Embodiments of the present invention also disclose a robot including the robot joint described above.
  • the worm reducer for a robot of the embodiment of the present invention has a small number of parts, so that the production and assembly cost of the robot are also low.
  • Embodiment 1 A worm reducer
  • the worm reducer 100 of the present embodiment includes a worm gear 110 and a worm wheel 120 that mesh with each other and a worm wheel bearing 180 that supports the worm wheel 120.
  • the worm wheel 120 includes a wheel body 122 and The wheel body 122 is connected to the gear tooth portion 123, wherein the inner side of the wheel body 122 (herein “inside” refers to a region near the center axis of rotation of the worm wheel, hereinafter synonymous) has a hollow structure 125, the worm wheel bearing 180
  • the outer side of the wheel body 122 (herein “outer side” refers to the area near the worm wheel tooth portion 123, hereinafter synonymous) and is disposed adjacent to the tooth portion 123.
  • the hollow structure 125 referred to herein means a through hole that is hollow around the central axis of rotation of the worm wheel 120.
  • the hollow structure 125 is different from the prior art structure in which a rotating shaft is mounted in the middle of the worm wheel.
  • the diameter of the hollow structure 125 can be increased as needed to minimize the weight of the worm gear 120.
  • the worm reducer 100 of the present embodiment adopts the wheel body 122 of the hollow structure 125 and the worm wheel bearing 180 is disposed outside the wheel body 122, so that the weight of the worm wheel 120 is greatly reduced, and the volume of the worm wheel 120 and the entire worm reducer 100 is reduced. .
  • a gap 138 is formed between the wheel body 122 and the gear portion 123, and the worm gear bearing 180 is disposed within the gap 138.
  • a connecting portion 126 may be provided between the wheel body 122 of the worm wheel 120 and the gear tooth portion 123.
  • the connecting portion 126 is oriented in the radial direction of the worm wheel 120 (herein, the "radial direction" refers to the direction of the center axis of the worm wheel rotation.
  • the vertical direction is extended, and at this time, the gap 138 is formed between the connecting portion 126, the wheel body 122, and the gear portion 123, as shown in Fig. 3a.
  • the worm reducer 100 further includes a housing structure 130 for securing the worm reducer 100, the housing structure 130 includes a bearing ring 136, and the inner bore 181 of the worm bearing 180 is supported on the bearing ring 136.
  • the outer bore 182 of the worm wheel bearing 180 is supported on the worm gear 120.
  • the worm wheel bearing 180 may be a radial thrust bearing disposed in pairs, and the worm gear bearing 180 may be selected as a back-to-back or face-to-face bearing to accommodate the bearing joint distance requirements of the transmission mechanism such as the robot.
  • the back-to-back arrangement of the radial thrust angular contact bearing can provide a larger surface bearing for the worm gear 120 to reduce the bearing distance of the worm wheel 120, and thus the arm of the robot rotates around its own axis and has an auxiliary support at its front end. Internal stresses due to manufacturing and assembly errors can be avoided or reduced.
  • the outer bore 182 of the worm gear bearing 180 is supported on the joint portion 126 and the gear tooth portion 123, and the inner bore 181 of the worm wheel bearing 180 is supported on the housing structure 130. It is of course also possible to provide that the outer rim 182 of the worm wheel bearing 180 is only supported on the connecting portion 126 or the tooth portion 123.
  • the inner bore 181 of the worm wheel bearing 180 is integrated with the bearing ring 136 of the housing structure 130, the outer bore 182 is integrated with the connecting portion 126 and the gear tooth portion 123, the axial dimension of the speed reducer 100 can be reduced, and The number of rolling elements in the worm wheel bearing 180 can be increased in a limited space to improve the bearing capacity of the bearing.
  • the housing structure 130 can include a first housing 150, a second housing 160, and a flange 159.
  • the worm gear 120 is disposed in the first housing 150
  • the worm 110 is disposed in the second housing 160.
  • the flange 159 is disposed on the first housing 150 and the second housing 160. It should be noted that the flange 159 may be disposed only on the first housing 150 or the second housing 160 according to the overall size of the worm reducer 100.
  • the flange 159 is used to connect to a bracket or bracket as will be mentioned below.
  • the flange 159 is provided as an incomplete flange 159. The flange 159 is prevented from interfering with the second housing 160 at the periphery of the worm 110.
  • first housing 150 and the second housing 160 may be configured to be integrally formed as separate mechanisms.
  • first housing 150 and the second housing 160 can be connected to each other by snaps, screws or rivets.
  • the housing structure 130 further includes a buckle 170, and a buckle groove 127 is formed at a side portion of the first housing 150 and the second housing 160, and the buckle 170 is buckled into the buckle groove 170 such that the first housing 150 and the first housing 150
  • the two shells 160 are connected to each other.
  • a fixing screw 171 may be provided to further fix the buckle 170 to the first housing 150 and the second housing 160.
  • the buckle 170 illustrated in this embodiment is an integral ring shape, but the practice is not limited thereto, and the buckle 170 may be set to a square shape or other suitable shape as needed.
  • the worm reducer 100 further includes an oil seal 186 between the wheel body 122 and the first and second housings 150/160, one side of the oil seal 186 abutting the buckle 170.
  • the worm reducer provided in this embodiment realizes a compact fit of the first housing 150 and the second housing 160 through the buckle 170, and the buckle 170 also functions as a labyrinth seal of the speed reducer 100.
  • the left end face LL and the right end face RR of the wheel body 122 protrude beyond the first housing 150 as a connecting end face for the power output of the worm reducer 100. It should be noted that only the left end face LL or the right end face RR of the wheel body 122 may be disposed outside the first housing 150 such that only one end face outputs power.
  • the worm reducer 100 further includes an eccentric sleeve 140 and a worm bearing 190 (see FIG. 3b for details), and the eccentric sleeve 140
  • the worm 110 is rotatably disposed on the housing structure 130.
  • the worm 110 is disposed in the eccentric sleeve 140 through the worm bearing 190 disposed at one end or one end thereof, and the angle of the eccentric sleeve 140 is adjusted by rotation to adjust the teeth 112 of the worm 110.
  • the eccentric sleeve 140 is rotatably disposed in the second housing 160, and the center axis R1 of the eccentric sleeve 140 is offset by a specific distance e from the center line R2 of the second housing 160 (see FIG. 6 for details).
  • the wall thickness of the side 148 is greater than the wall thickness of the other side 147 to achieve the desired offset setting. Referring to FIG. 7a, FIG. 7b, FIG. 8a and FIG.
  • the wall thickness of the eccentric sleeve 140 in contact with the 160 1 ⁇ 2 portion of the second casing is A, and the rotation center axis of the worm 110 is away from the central axis of the worm wheel rotation.
  • the distance is B, and the backlash between the teeth 112 of the worm 110 and the teeth 129 of the worm gear 120 is C.
  • the wall thickness of the eccentric sleeve 140 in contact with the bottommost portion of the second housing 160 is ⁇ + ⁇ , and the distance between the central axis of rotation of the worm 110 and the central axis of the worm wheel is ⁇ - ⁇ , the teeth of the worm 110
  • the backlash between 112 and the teeth 129 of the worm gear 120 is C-AC, which in turn enables adjustment of the backlash.
  • the angle at which the eccentric sleeve 140 rotates in the clockwise direction is ⁇ . Therefore, the worm reducer 100 can be easily adjusted and compensated after a small amount of wear in use, so it is relatively easy to maintain the execution accuracy of the worm reducer.
  • the worm 210 can be selected to be a planar envelope toroidal worm 210, and the worm gear 220 is a planar worm gear 220.
  • Figure 9 illustrates the meshing state of the planar envelope toroidal worm 210 and the planar worm gear 220. Due to the same volume, the planar envelope toroidal worm reducer can increase the load carrying capacity by 40% to 80% compared to other types of worm reducers. Therefore, with the planar envelope toroidal worm reducer according to the present embodiment, it is possible to realize a transmission request of a small volume and a high load carrying capacity.
  • the rolling bodies of the worm wheel bearings may be spherical rollers, conical rollers or cylindrical rollers.
  • Figures 3a, 10 and 11 show an embodiment in which the rolling elements are a spherical roller, a conical roller and a cylindrical roller, respectively.
  • the worm wheel bearing 380 of the worm reducer 300 includes an outer bore 382, an inner bore 381, and a conical roller 383 disposed between the outer bore 382 and the inner bore 381.
  • Worm gear bearings with tapered roller 383 can be used for robot joints that require high rigidity and high load carrying capacity.
  • the worm wheel bearing 480 of the worm reducer 400 includes a yoke 481, an inner bore 482, and a cylindrical roller body 483 disposed between the outer bore 481 and the inner bore 482. It should be noted that, as shown in the figure, the outer diameter of the worm wheel bearing can be set to be larger or smaller than the inner thickness of the worm wheel bearing.
  • Embodiment 2 A worm reducer
  • the worm reducer 100 of the present embodiment includes a housing structure 130.
  • the eccentric sleeve The worm 110 is rotatably disposed on the housing structure 130.
  • the worm 110 is disposed in the eccentric sleeve 140 through the worm bearing 190.
  • the angle of the eccentric sleeve 140 is adjusted by rotation to adjust the teeth 112 of the worm 110 and the teeth 129 of the worm gear 120. The backlash between.
  • the housing structure 130 includes a first housing 150 and a second housing 160.
  • the eccentric sleeve 140 is rotatably disposed in the second housing 160, and the center axis R1 of the eccentric sleeve 140 is offset by a specific distance e from the center line R2 of the second housing 160 (see FIG. 6 for details).
  • the wall thickness of the eccentric sleeve 140 - side 148 may be greater than the wall thickness of the other side 147 to achieve the desired offset setting.
  • the wall thickness of the eccentric sleeve 140 in contact with the bottommost portion of the second housing 160 is A, and the central axis of rotation of the worm 110 is from the central axis of the worm wheel rotation.
  • the distance is B, and the backlash between the teeth 112 of the worm 110 and the teeth 129 of the worm gear 120 is C.
  • the wall thickness of the eccentric sleeve 140 at the bottommost contact with the second housing inner 160 is ⁇ + ⁇
  • the distance between the central axis of rotation of the worm 110 and the central axis of the worm wheel rotation is ⁇ - ⁇
  • the backlash between the teeth 112 of the worm 110 and the teeth 129 of the worm wheel 120 is C-AC, which enables adjustment of the backlash.
  • the worm reducer 100 provided in this embodiment can adjust the eccentricity of the worm wheel pair easily by adjusting the eccentric angle of the eccentric sleeve 140. It is easy to adjust and compensate after a small amount of wear in use, so it is easier to maintain the worm. The accuracy of the speed reducer.
  • the worm gear 120 is disposed within the first housing 150 and the worm 110 is disposed within the second housing 160.
  • the wall thickness of the eccentric sleeve 140 - side 148 can be set larger than the wall thickness of the other side 147 to achieve the desired offset setting.
  • the backlash adjustment structure of the worm reducer 100 of the present embodiment is relatively simple, and the backlash can be adjusted at any time to reduce the manufacturing and maintenance cost of the robot.
  • the worm reducer 100 further includes a worm gear bearing 180 that supports the worm gear 120.
  • the worm gear 120 includes a wheel body 122 and a gear tooth portion 123 coupled to the wheel body 122.
  • the inner side of the wheel body 122 has a hollow structure 125, a worm gear
  • the bearing 180 is provided on the outer side of the wheel body 122 and disposed adjacent to the gear tooth portion 123. Since the worm wheel bearing 180 is integrated with the housing structure 130, the axial dimension of the speed reducer 100 can be reduced, and the number of rolling elements in the worm wheel bearing 180 can be increased in a limited space to improve the bearing capacity of the bearing.
  • the worm wheel bearing 180 may be a radial thrust bearing disposed in pairs on the left and right, as needed.
  • the worm gear bearing 180 is selected to be a back-to-back or face-to-face bearing to accommodate the bearing support distance requirements of different joints of the transmission mechanism such as the robot.
  • the back-to-back arrangement of the radial thrust angular contact bearing can provide a large support distance for the worm wheel 120, and can provide a good torsional rigidity to the arm of the robot on the Anji.
  • the bearing disposed face to face can reduce the bearing distance of the worm wheel 120, so that the internal stress caused by the manufacturing and assembly errors can be avoided or reduced in the joint in which the arm of the robot rotates around its own axis and has an auxiliary support at its front end.
  • the worm gear 120 further includes a connecting portion 126 that connects the wheel body 122 and the gear portion 123.
  • the connecting portion 126 extends in the radial direction of the worm wheel 120, and the connecting portion 126, the wheel body 122, and the gear portion 123 A gap 138 is formed therebetween, and the worm wheel bearing 180 is disposed in the gap 138.
  • the housing structure 130 further includes a bearing ring 136 and a flange 159.
  • the inner bore 181 of the worm bearing 180 is supported on the bearing ring 180, and the outer bore 182 of the worm bearing 180 is supported on the worm gear 120.
  • a flange 159 is provided on the first housing 150 and the second housing 160. Flange 159 is used to connect to a bracket or bracket as will be mentioned below. In the preferred embodiment, the flange 159 is provided as an incomplete flange 159. The flange 159 is prevented from interfering with the second housing 160 on the periphery of the worm 110.
  • the housing structure 130 further includes a buckle 170, and a buckle groove 127 is formed at a side portion of the first housing 150 and the second housing 160, and the buckle 170 is buckled into the buckle groove 170 such that the first housing 150 and the first housing 150
  • the two shells 160 are connected to each other.
  • a fixing screw 171 may be provided to further fix the buckle 170 to the first housing 150 and the second housing 160.
  • the buckle 170 illustrated in this embodiment is an integral ring shape, but the practice is not limited thereto, and the buckle 170 may be set to a square shape or other suitable shape as needed.
  • the worm reducer 100 further includes an oil seal 186 that is not between the wheel body 122 and the first and second housings 150/160. One side of the oil seal 186 abuts the buckle 170.
  • the worm reducer provided in this embodiment realizes a compact fit of the first housing 150 and the second housing 160 through the buckle 170, and the buckle 170 also functions as a shackle of the reducer 100.
  • Embodiment 3 A worm reducer
  • the worm reducer 100 of the present embodiment includes a housing structure 130 and a meshing worm 110 and a worm gear 120.
  • the housing structure 130 includes a first housing 150, a second housing 160, and a buckle 170.
  • the worm gear 120 is disposed in the first housing 150.
  • the worm 110 is disposed in the second housing 160.
  • a buckle groove 127 is formed in a side portion of the first housing 150 and the second housing 160, and the buckle 170 is fastened into the buckle groove 127 such that the first housing 150 and the second housing 160 are mutually coupled to each other. connection.
  • a set screw 171 can also be provided to further secure the buckle 170 to the first housing 150 and the second housing 160.
  • the buckle 170 illustrated in this embodiment is an overall ring shape, but the practice is not limited thereto, and the buckle 170 may be set to a square shape or other suitable shape as needed.
  • the worm reducer 100 further includes an oil seal 186 between the wheel body 122 and the first and second housings 150/160, one side of the oil seal 186 abutting the buckle 170.
  • the worm reducer provided in this embodiment realizes a compact fit of the first housing 150 and the second housing 160 through the buckle 170, and the buckle 170 also functions as a labyrinth seal of the speed reducer 100.
  • the left end face LL and the right end face RR of the wheel body 122 protrude beyond the first housing 150 as a connecting end face for the power output of the worm reducer 100. It should be noted that only the left end face LL or the right end face RR of the wheel body 122 may protrude beyond the first casing 150 such that only one end face outputs power.
  • the worm reducer 100 further includes an eccentric sleeve 140 and a worm bearing 190 (see FIG. 3b for details), and the eccentric sleeve 140
  • the worm 110 is rotatably disposed on the housing structure 130.
  • the worm 110 is disposed in the eccentric sleeve 140 through the worm bearing 190 disposed at one end or one end thereof, and the angle of the eccentric sleeve 140 is adjusted by rotation to adjust the teeth 112 of the worm 110.
  • the eccentric sleeve 140 is rotatably disposed in the second housing 160, and the center axis R1 of the eccentric sleeve 140 is offset by a specific distance e from the center line R2 of the second housing 160 (see FIG. 6 for details).
  • the eccentric sleeve 140 can be provided with the wall thickness of the side 148 being greater than the wall thickness of the other side 147, thereby achieving the desired offset setting.
  • the wall thickness of the eccentric sleeve 140 in contact with the 160 1 ⁇ 2 portion of the second housing is A, and the central axis of rotation of the worm 110 is away from the central axis of the worm wheel rotation.
  • the distance is B, and the backlash between the teeth 112 of the worm 110 and the teeth 129 of the worm wheel 120 is C.
  • the wall thickness of the eccentric sleeve 140 in contact with the bottommost portion of the second housing 160 is ⁇ + ⁇ , and the distance between the central axis of rotation of the worm 110 and the central axis of the worm wheel is ⁇ - ⁇ , the teeth of the worm 110
  • the backlash between 112 and the teeth 129 of the worm gear 120 is C-AC, which in turn enables adjustment of the backlash.
  • the angle at which the eccentric sleeve 140 rotates in the clockwise direction is ⁇ . Therefore, the worm reducer 100 can be easily adjusted and compensated after a small amount of wear in use, so it is relatively easy to maintain the execution accuracy of the worm reducer.
  • the worm reducer 100 further includes a worm gear bearing 180 that supports the worm gear 120.
  • the worm gear 120 includes a wheel body 122 and a gear tooth portion 123 coupled to the wheel body 122.
  • the inner side of the wheel body 122 has a hollow structure 125, a worm gear
  • the shaft 7 180 is disposed on the outer side of the wheel body 122 and disposed adjacent to the gear tooth portion 123.
  • the worm gear 120 further includes a connecting portion 126 that connects the wheel body 122 and the gear portion 123.
  • the connecting portion 126 extends in the radial direction of the worm wheel 120, and the connecting portion 126, the wheel body 122, and the gear portion 123 A gap 138 is formed therebetween, and the worm wheel bearing 180 is disposed in the gap 138.
  • the housing structure 130 further includes a bearing ring 136 and a flange 159.
  • the inner bore 181 of the worm bearing 180 is supported on the bearing ring 180, and the outer bore 182 of the worm bearing 180 is supported on the worm gear 120.
  • the flange 159 is disposed on the first housing 150 and the second housing 160. Flange 159 is used to connect to a bracket or bracket as will be mentioned below. In the preferred embodiment, the flange 159 is provided as an incomplete flange 159. The flange 159 is prevented from interfering with the second housing 160 on the periphery of the worm 110.
  • the worm 210 can be selected to be a planar envelope toroidal worm 210, and the worm gear 220 is a planar worm gear 220.
  • Figure 9 illustrates the meshing state of the planar envelope toroidal worm 210 and the planar worm gear 220. Due to the same volume, the planar envelope toroidal worm reducer can increase the load carrying capacity by 40% to 80% compared to other types of worm reducers. Therefore, with the planar envelope toroidal worm reducer according to the present embodiment, it is possible to realize a transmission request of a small volume and a high load carrying capacity.
  • Embodiment 4 A robot joint
  • the robot joint 500 of the present embodiment includes a worm reducer and a power output arm 710 for outputting power, and the power output arm 710 is connected to the left and right end faces of the worm wheel 520.
  • the power output of the worm reducer is used as the slewing bearing of the driven power output arm 710. among them,
  • the worm reducer can adopt the specific structure of the worm reducer mentioned in the above embodiment.
  • the power output arm 710 is connected to the left and right end faces of the worm wheel 520 at the same time. The practice is not limited thereto, and the power output arm 710 may be provided only to be connected to the left or right end surface of the worm wheel 520.
  • power take-off arm 710 is a forked structure that includes two ends 720, and both ends 720 of the forked structure are coupled to the left and right end faces of the worm gear, respectively. Therefore, the load of the bearing is greatly reduced, and the torsional deformation of the power output arm 710 is avoided, which is important for reducing the structural weight of the robot joint and improving the rigidity and execution accuracy of the robot joint.
  • the worm 510 of the worm reducer is connected to an external power source such as a motor or a horse for inputting power.
  • the flange 559 is attached to the mounting bracket or bracket 610 to secure the robot joint 500.
  • the other end of the mount or bracket 610 can be connected to an external console or robot body.
  • a robotic human joint may be multiple, and a plurality of robot joints are connected in series.
  • the robot may further include a drive motor, and the output shaft of the drive motor is coupled to the worm.
  • the worm reducer for a robot of the embodiment of the present invention has a small number of parts, so that the production and assembly costs are also low.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Gear Transmission (AREA)

Abstract

L'invention concerne un réducteur à vis sans fin. Le réducteur à vis sans fin comprend une vis sans fin (110) et une roue (120) engrenées l'une dans l'autre, un support (180) soutenant la roue à vis sans fin (120). La roue à vis sans fin (120) comprend un corps (122) auquel est raccordée une partie dentée (123) de la roue. L'intérieur du corps (122) de la roue présente une structure creuse (125), et le support (180) de la roue à vis sans fin est placé à l'extérieur du corps (122) de la roue et est adjacent à la partie dentée (123) de la roue. Le corps (122) de la roue du réducteur à vis sans fin présente une structure creuse, et le support (180) de la roue à vis sans fin est placé à l'extérieur du corps (122) de la roue, ce qui réduit considérablement le poids et les dimensions de la roue à vis sans fin, ainsi que la totalité du réducteur à vis sans fin. L'invention concerne également une articulation de robot et un robot doté du réducteur à vis sans fin.
PCT/CN2011/071322 2010-12-07 2011-02-25 Réducteur à vis sans fin, articulation de robot et robot WO2012075736A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2010105787369A CN102072281B (zh) 2010-12-07 2010-12-07 蜗杆减速器、机器人关节及机器人
CN201010578736.9 2010-12-07

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