WO2012075737A1 - Worm reducer, robot joint and robot - Google Patents

Worm reducer, robot joint and robot Download PDF

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Publication number
WO2012075737A1
WO2012075737A1 PCT/CN2011/071336 CN2011071336W WO2012075737A1 WO 2012075737 A1 WO2012075737 A1 WO 2012075737A1 CN 2011071336 W CN2011071336 W CN 2011071336W WO 2012075737 A1 WO2012075737 A1 WO 2012075737A1
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WO
WIPO (PCT)
Prior art keywords
worm
housing
bearing
wheel
reducer
Prior art date
Application number
PCT/CN2011/071336
Other languages
French (fr)
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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Filing date
Publication date
Application filed by 配天(安徽)电子技术有限公司 filed Critical 配天(安徽)电子技术有限公司
Publication of WO2012075737A1 publication Critical patent/WO2012075737A1/en

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Classifications

    • 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
    • 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

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.
  • Embodiments of the present invention provide a worm reducer, a robot joint, and a robot.
  • a worm reducer comprising a housing structure and a meshing worm and a worm wheel.
  • the shell structure package
  • the first housing, the second housing and the buckle are disposed in the first housing
  • the worm is disposed in the second housing
  • the sides of the first housing and the second housing are respectively
  • a buckle groove is formed, and the buckle is buckled into the buckle groove such that the first casing and the second casing are connected to each other.
  • 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 achieves a compact fit of the first housing and the second housing through the buckle, so that the weight of the worm wheel is reduced, the structure is compact, and the worm gear and the entire worm reducer are reduced. volume of.
  • 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

A worm reducer, a robot joint and a robot are disclosed. The worm reducer comprises a case structure (130), as well as a worm (110) and a worm wheel (120) meshed with each other. The case structure comprises a first case (150), a second case (160) and a buckle (170). The worm wheel is arranged in the first case, and the worm is arranged in the second case. Buckle grooves are formed on the sidepieces of the first case and the second case, respectively. The buckle is buckled into the buckle grooves to make the first case and the second case connect with each other. The worm reducer realizes the compact cooperation between the first case and the second case by the buckle. Meanwhile, the buckle also serves as a labyrinth seal of the reducer.

Description

蜗杆减速器、 机器人关节及机器人  Worm reducer, robot joint and robot
【技术领域】  [Technical Field]
本发明实施例涉及蜗轮蜗杆传动技术领域， 特别涉及一种蜗杆减速器， 还 涉及一种机器人关节及一种机器人。  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.
【背景技术】 【Background technique】
串联式多关节机器人以其高柔性和较大的工作范围在制造行业中获得了广 泛的应用。 比如在汽车生产线上， 机器手为不可缺少的生产工具， 在焊接、 喷 涂及自动装配等领域， 也常常需要机器手的帮助来提高工作效率。 作为多关节 机器人的关键部件一一关节减速器的成本通常占到机器人总成本的 50 %以上。 目前在多关节机器人上使用的减速器主要是特制的谐波减速器和摆线针轮减速 器。  Tandem multi-joint robots have found wide application in the manufacturing industry due to their high flexibility and large working range. For example, in the automobile production line, the robot is an indispensable production tool. In the fields of welding, painting and automatic assembly, the help of the robot is often required to improve work efficiency. As a key component of a multi-joint robot, 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.
在对现有技术的研究和实践过程中，本发明的发明人发现，在现有技术中， 谐波减速器对材料性能的要求很高， 导致制造成本的上升。 此外， 摆线针轮减 速器因结构复杂、 零件数量多、 加工精度要求高而使得制造成本难以降低。 而 且减速器的传动部件磨损之后难以修复， 导致关节的反向间隙加大， 机器人的 执行精度下降。  In the research and practice of the prior art, 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. In addition, the cycloidal pinwheel speed reducer is difficult to reduce due to the complicated structure, the large number of parts, and the high processing precision. Moreover, 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.
此外， 平面包络环面蜗杆减速器以其承载能力大、 传动效率高、 使用寿命 最长等独特的优点， 在现代工业生产中应用广泛。 但是， 由于平面包络环面蜗 杆减速器体积大且较重而难以应用于机器人关节上。  In addition, the 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. However, because the planar envelope toroidal worm reducer is bulky and heavy, it is difficult to apply to robot joints.
【发明内容】 [Summary of the Invention]
本发明实施例提供了蜗杆减速器、 机器人关节及机器人。  Embodiments of the present invention provide a worm reducer, a robot joint, and a robot.
本发明实施例解决上述技术问题所采取的技术方案是提供一种蜗杆减速器, 该蜗杆减速器包括壳体结构以及相互啮合的蜗杆和蜗轮。 其中， 该壳体结构包 括第一壳体、 第二壳体以及扣环， 该蜗轮设置于该第一壳体内， 该蜗杆设置于 该第二壳体内， 在该第一壳体和该第二壳体的侧部分别形成有扣环槽， 该扣环 扣入该扣环槽使得该第一壳体和该第二壳相互连接。 The technical solution adopted by the embodiment of the present invention to solve the above technical problem is to provide a worm reducer comprising a housing structure and a meshing worm and a worm wheel. Wherein, the shell structure package The first housing, the second housing and the buckle are disposed in the first housing, the worm is disposed in the second housing, and the sides of the first housing and the second housing are respectively A buckle groove is formed, and the buckle is buckled into the buckle groove such that the first casing and the second casing are connected to each other.
本发明实施例还提供一种机器人关节， 其包括如上所述的蜗杆减速器， 该 机器人关节还包括用于输出动力的动力输出臂， 该动力输出臂与该蜗轮的左侧 和 /或右侧端面相连接。  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.
本发明实施例还提供一种机器人， 其包括如上所述的机器人关节。  Embodiments of the present invention also provide a robot including the robot joint as described above.
与现有技术相比较， 本发明实施例提供的蜗杆减速器通过扣环实现第一壳 体、 第二壳体的紧凑配合， 使得蜗轮重量降低、 结构紧凑， 同时降低了蜗轮及 整个蜗杆减速器的体积。  Compared with the prior art, the worm reducer provided by the embodiment of the invention achieves a compact fit of the first housing and the second housing through the buckle, so that the weight of the worm wheel is reduced, the structure is compact, and the worm gear and the entire worm reducer are reduced. volume of.
【附图说明】 [Description of the Drawings]
为了更清楚地说明本发明实施例中的技术方案， 下面将对实施例描述中所 需要使用的附图作筒单地介绍， 显而易见地， 下面描述中的附图仅仅是本发明 的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下， 还可以根据这些附图获得其他的附图。  In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.
图 1显示了根据本发明一实施例的蜗杆减速器的立体结构示意图。  1 is a perspective view showing the structure of a worm reducer according to an embodiment of the present invention.
图 2显示了图 1所示蜗杆减速器的主视图。  Figure 2 shows a front view of the worm reducer shown in Figure 1.
图 3a显示了图 1所示蜗杆减速器的截面示意图， 该截面方向与蜗杆的轴线 方向垂直， 并大致沿蜗轮的中轴线方向。  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.
图 3b显示了图 1所示蜗杆减速器的截面示意图， 该截面方向与蜗轮的轴线 方向垂直， 并大致沿蜗杆的中轴线方向。  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.
图 4显示了图 1所示蜗杆减速器的偏心套筒的立体结构示意图。  Fig. 4 is a perspective view showing the eccentric structure of the eccentric sleeve of the worm reducer shown in Fig. 1.
图 5显示了图 4所示偏心套筒的主视图。  Figure 5 shows a front view of the eccentric sleeve shown in Figure 4.
图 6显示了图 4所示偏心套筒的 S-S截面示意图，同时示意了偏心套筒的轴 线与图 1所示蜗杆减速器的第二壳体的中心线偏移设置。 图 7a和 8a分别显示了图 4的偏心套筒调整前后的状态。 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.
图 7b和 8b分别放大显示了图 4的偏心套筒调整前后蜗轮轮齿和蜗杆轮齿 之间的啮合侧隙的变化状态。  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.
图 9显示了用于根据本发明另一实施例的蜗杆减速器的平面包络环面蜗轮 蜗杆的啮合示意图。  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.
图 10显示了根据本发明又一实施例的蜗杆减速器的截面示意图。  Figure 10 is a cross-sectional view showing a worm reducer in accordance with still another embodiment of the present invention.
图 11显示了根据本发明又一实施例的蜗杆减速器的截面示意图。  Figure 11 is a cross-sectional view showing a worm reducer in accordance with still another embodiment of the present invention.
图 12显示了根据本发明一实施例的机器人关节的立体示意图。  Figure 12 shows a perspective view of a robot joint in accordance with an embodiment of the present invention.
图 13显示了图 12所示机器人关节的主视图。  Figure 13 shows a front view of the robot joint shown in Figure 12.
【具体实施方式】  【detailed description】
下面将结合本发明实施例中的附图， 对本发明实施例中的技术方案进行清 楚、 完整地描述， 显然， 所描述的实施例仅是本发明的一部分实施例， 而不是 全部的实施例。 基于本发明中的实施例， 本领域普通技术人员在没有作出创造 性劳动前提下所获得的所有其他实施例， 都属于本发明保护的范围。  The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative work are within the scope of the present invention.
本发明实施例公开了一种蜗杆减速器， 其包括相互啮合的蜗杆和蜗轮以及 支撑蜗轮的蜗轮轴承， 该蜗轮包括轮体和与该轮体相连接的轮齿部， 其中， 该 轮体的内侧具有中空结构， 该蜗轮轴承设于该轮体的外侧并邻近该轮齿部设置。 本实施例提供的蜗杆减速器采用中空结构的轮体且将蜗轮轴承设于轮体的外侧, 使得蜗轮重量大大降低， 同时降低了蜗轮及整个蜗杆减速器的体积。  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, and 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.
本发明实施例还公开了另一种蜗杆减速器， 该蜗杆减速器包括壳体结构、 偏心套筒、 相互啮合的蜗杆和蜗轮以及支撑蜗杆的蜗杆轴承。 其中， 该偏心套 筒可旋转设置于该壳体结构上， 该蜗杆通过该蜗杆轴承设置在该偏心套筒内， 通过旋转调整该偏心套筒的角度， 进而调整该蜗杆的轮齿与该蜗轮的轮齿之间 的侧隙。 本实施例提供的蜗杆减速器通过调整偏心套筒的偏心角， 可以很容易 地调整蜗轮副的侧隙， 在使用中有少量磨损后也很容易予以调整补偿， 故比较 容易保持蜗杆减速器及机器人的执行精度。 本发明实施例还公开了另一种蜗杆减速器， 该蜗杆减速器包括壳体结构以 及相互啮合的蜗杆和蜗轮。 其中， 该壳体结构包括第一壳体、 第二壳体以及扣 环， 该蜗轮设置于该第一壳体内， 该蜗杆设置于该第二壳体内， 在该第一壳体 和该第二壳体的侧部分别形成有扣环槽， 该扣环扣入该扣环槽使得该第一壳体 和该第二壳相互连接。 本实施例提供的蜗杆减速器通过扣环实现第一壳体、 第 二壳体的紧凑配合， 同时扣环也充当了减速器的迷宫密封。 Another embodiment of the invention also discloses 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. It is easy to adjust and compensate after a small amount of wear in use, so it is easier to maintain the worm reducer and The execution accuracy of the robot. Another embodiment of the invention also discloses 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.
本发明实施例还公开了一种机器人关节， 该机器人关节包括蜗杆减速器和 用于输出动力的动力输出臂， 动力输出臂与蜗轮的左侧和右侧端面相连接。  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.
本发明实施例还公开了一种机器人， 该机器人包括上文所述的机器人关节。 本发明实施例的用于机器人的蜗杆减速器的零件数量少， 故机器人的生产和装 配成本也较低。  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.
下面将结合具体实施例对本发明进行详细描述。  The invention will now be described in detail in connection with the specific embodiments.
实施例一 一种蜗杆减速器  Embodiment 1 A worm reducer
请一并参见图 1、 图 2、 图 3a和图 3b, 本实施例蜗杆减速器 100包括相互 啮合的蜗杆 110和蜗轮 120以及支撑蜗轮 120的蜗轮轴承 180,该蜗轮 120包括 轮体 122和与该轮体 122相连接的轮齿部 123 , 其中， 该轮体 122的内侧（此处 的"内侧"指靠近蜗轮旋转中心轴线附近的区域，下文同义）具有中空结构 125 , 该蜗轮轴承 180设于该轮体 122的外侧（此处的 "外侧"指靠近蜗轮轮齿部 123 的区域， 下文同义）并邻近该轮齿部 123设置。 此处提到的中空结构 125是指 在蜗轮 120的旋转中心轴线周围为中空的通孔。 该中空结构 125不同于在蜗轮 中间安装旋转轴的现有技术常见的结构。 可以根据需要加大中空结构 125 的孔 径， 进而最大限度地减少蜗轮 120的重量。  Referring to FIG. 1, FIG. 2, FIG. 3a and FIG. 3b together, 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.
本实施例提供的蜗杆减速器 100采用中空结构 125的轮体 122且将蜗轮轴 承 180设于轮体 122的外侧， 使得蜗轮 120重量大大降低， 同时降低了蜗轮 120 及整个蜗杆减速器 100的体积。  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. .
下面将介绍本实施例的一些变型。 在优选实施例中， 轮体 122和轮齿部 123之间形成有间隙 138, 蜗轮轴承 180 设于间隙 138内。此外，还可以在蜗轮 120的轮体 122和轮齿部 123之间设置连接部 126, 连接部 126沿蜗轮 120的径向方向（此处的 "径向方向"指与蜗轮旋转中心轴 线方向相垂直的方向）延伸设置， 此时， 间隙 138形成于连接部 126、 轮体 122和轮 齿部 123之间， 如图 3a所示。 Some variations of this embodiment will be described below. In the preferred embodiment, 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. Further, 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.
在优选实施例中， 蜗杆减速器 100还包括用于固定蜗杆减速器 100的壳体 结构 130, 壳体结构 130包括承力环 136, 蜗轮轴承 180的内圏 181支撑于承力 环 136上， 蜗轮轴承 180的外圏 182支撑于蜗轮 120上。 此外， 蜗轮轴承 180 可为左右成对设置的向心推力轴承， 根据需要可选择蜗轮轴承 180 为背对背设 置或面对面设置的轴承， 以适应传动机构比如机器人不同的关节对轴承支承距 离的要求。 其中， 背对背布置的向心推力角接触轴承可为蜗轮 120提供了较大 面设置的轴承可以缩小蜗轮 120 的轴承距离， 因而在机器人的手臂绕自身轴线 回转并在其前端具有辅助支承的关节中可以避免或减少因制造和装配误差导致 的内应力。  In a preferred embodiment, 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. In addition, 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. Wherein, 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.
在优选实施例中，蜗轮轴承 180的外圏 182支撑于连接部 126和轮齿部 123上， 蜗轮轴承 180的内圏 181支撑于壳体结构 130上。 当然也可以设置使得蜗轮轴承 180的外圏 182仅支撑于连接部 126或轮齿部 123上。  In the preferred embodiment, 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.
由于蜗轮轴承 180的内圏 181与壳体结构 130的承力环 136集成在一起， 外圏 182与连接部 126和轮齿部 123集成在一起， 可以减小减速器 100的轴向尺寸， 并 可在有限的空间内增加蜗轮轴承 180中滚动体的数量， 提高轴承的承载能力。  Since 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.
在优选实施例中， 壳体结构 130可包括第一壳体 150、 第二壳体 160和法兰盘 159,蜗轮 120设置于第一壳体 150内，蜗杆 110设置于第二壳体 160内。法兰盘 159 设于第一壳体 150和第二壳体 160上。需要说明的是，根据蜗杆减速器 100的整体尺 寸需要， 也可以将法兰盘 159仅设于第一壳体 150或第二壳体 160上。 法兰盘 159 用于与下文将提到的连接架或固定架相连接。 在优选实施例中， 设置法兰盘 159为不完整的法兰盘 159。 以避免法兰盘 159 与蜗杆 110***的第二壳体 160相干涉。 In a preferred embodiment, 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, and 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. In a preferred embodiment, 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.
在优选实施例中， 可以设置第一壳体 150和第二壳体 160—体成型设置成分离 的机构。对于分离的机构，可以通过卡扣、螺釘或铆釘使得第一壳体 150和第二壳体 160相互连接。  In a preferred embodiment, the first housing 150 and the second housing 160 may be configured to be integrally formed as separate mechanisms. For the separate mechanism, the first housing 150 and the second housing 160 can be connected to each other by snaps, screws or rivets.
下面介绍通过扣环结构实现第一壳体 150和第二壳体 160接合的一个优选实施例。 壳体结构 130还包括扣环 170,在第一壳体 150和第二壳体 160的侧部分别形成 有扣环槽 127, 扣环 170扣入扣环槽 170使得第一壳体 150和第二壳 160相互连接。 同时，可以设置固定螺釘 171来进一步将扣环 170固定于第一壳体 150和第二壳 160 上。需要说明的是，本实施例示意的扣环 170为整体的环形，但是，实务中不限于此， 根据需要也可以将扣环 170设置为方形或其他合适的形状。  A preferred embodiment of engaging the first housing 150 and the second housing 160 by the buckle structure is described below. 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. At the same time, a fixing screw 171 may be provided to further fix the buckle 170 to the first housing 150 and the second housing 160. It should be noted that 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.
此外，蜗杆减速器 100还包括 i殳于轮体 122和第一、 第二壳体 150/160之间的油 封 186, 油封 186的一侧抵靠扣环 170。 本实施例提供的蜗杆减速器通过扣环 170 实现第一壳体 150、 第二壳体 160的紧凑配合， 同时扣环 170也充当了减速器 100的迷宫密封。  In addition, 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.
在优选实施例中，轮体 122的左侧端面 LL和右侧端面 RR突出于第一壳体 150 之外，作为蜗杆减速器 100动力输出的连接端面。需要说明的是，也可以设置好仅轮 体 122的左侧端面 LL或右侧端面 RR突出于第一壳体 150之外， 使得仅一个端面输 出动力。  In the preferred embodiment, 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.
下面将介绍通过偏心套筒实现蜗杆副侧隙可调的一个优选实施例。请一并参见图 4、 图 5、 图 6、 图 7a、 图 7b、 图 8a和图 8b, 蜗杆减速器 100还包括偏心套筒 140 和蜗杆轴承 190 (详见图 3b ),偏心套筒 140可旋转设置于壳体结构 130上，蜗杆 110 通过设于其两端或一端的蜗杆轴承 190设置在偏心套筒内 140,通过旋转调整偏心套 筒 140的角度， 进而调整蜗杆 110的轮齿 112与蜗轮 120的轮齿 129之间的侧隙。  A preferred embodiment in which the worm secondary backlash can be adjusted by the eccentric sleeve will be described below. Referring to FIG. 4, FIG. 5, FIG. 6, FIG. 7a, FIG. 7b, FIG. 8a and FIG. 8b, 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. A backlash between the teeth 129 of the worm gear 120.
具体的来讲， 偏心套筒 140可旋转设置于第二壳体内 160, 偏心套筒 140中轴线 R1相对于第二壳体 160中心线 R2偏移特定距离 e (详见图 6)。 在优选实施例中， 可 以设置偏心套筒 140—侧 148的壁厚大于另一侧 147的壁厚， 进而实现所需的 偏移设置。 参见图 7a、 图 7b、 图 8a和图 8b, 在侧隙调整前， 偏心套筒 140与第二 壳体内 160 ½部接触处的壁厚为 A,蜗杆 110旋转中心轴线距离蜗轮旋转中心轴线 的距离为 B,蜗杆 110的轮齿 112与蜗轮 120的轮齿 129之间的侧隙为 C。在侧隙调 整后， 偏心套筒 140与第二壳体内 160最底部接触处的壁厚为 Α+ ΔΑ, 蜗杆 110旋 转中心轴线距离蜗轮旋转中心轴线的距离为 Β- ΔΒ, 蜗杆 110的轮齿 112与蜗轮 120 的轮齿 129之间的侧隙为 C- AC, 进而实现了侧隙的调节。 其中，偏心套筒 140沿顺 时针方向旋转的角度为 Δφ。 因此， 蜗杆减速器 100在使用中有少量磨损后也很容 易予以调整补偿， 故比较容易保持蜗杆减速器的执行精度。 Specifically, 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). In a preferred embodiment, To set the eccentric sleeve 140 - 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. 8b, before the backlash adjustment, 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. After the backlash adjustment, the wall thickness of the eccentric sleeve 140 in contact with the bottommost portion of the second housing 160 is Α+ΔΑ, and the distance between the central axis of rotation of the worm 110 and the central axis of the worm wheel is Β-ΔΒ, 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 Δφ. 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.
在优选实施例中， 可以选择蜗杆 210为平面包络环面蜗杆 210, 蜗轮 220为平 面蜗轮 220。 图 9示意出了平面包络环面蜗杆 210和平面蜗轮 220的啮合状态。 由于 平面包络环面蜗杆减速器在同样体积下,承载能力较其他类型的蜗杆减速器可以提高 40%至 80%。 因此， 采用根据本实施例的平面包络环面蜗杆减速器， 可以实现小体积 高承载能力的传动要求。  In a preferred embodiment, 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.
在优选实施例中，蜗轮轴承的滚动体可为球形滚体、圓锥形滚体或圓柱形滚体。 图 3a、 图 10和图 11分别显示了滚动体为球形滚体、 圓锥形滚体和圓柱形滚体的实 施例。 在图 10中， 蜗杆减速器 300的蜗轮轴承 380包括外圏 382、 内圏 381和设于 外圏 382及内圏 381间的圓锥形滚体 383。采用圓锥滚体 383的蜗轮轴承可用于需要 高刚性和高承载能力的机器人关节。 在图 11中， 蜗杆减速器 400的蜗轮轴承 480包 括夕卜圏 481、 内圏 482和设于外圏 481及内圏 482间的圓柱形滚体 483。 需要说明的 是，如图所示，可以根据需要设置蜗轮轴承的外圏厚度大于或小于蜗轮轴承的内圏厚 度。  In a preferred embodiment, 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. In Fig. 10, 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. In Fig. 11, 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.
实施例二 一种蜗杆减速器  Embodiment 2 A worm reducer
请一并参见图 1、 图 2、 图 3a、 图 3b、 图 4、 图 5、 图 6、 图 7a、 图 7b、 图 8a和图 8b, 本实施例的蜗杆减速器 100包括壳体结构 130、 偏心套筒 140、 相互 啮合的蜗杆 110和蜗轮 120以及支撑蜗杆 110的蜗杆轴承 190。 其中， 偏心套筒 140可旋转设置于壳体结构 130上，蜗杆 110通过蜗杆轴承 190设置在偏心套筒 140内， 通过旋转调整偏心套筒 140的角度， 进而调整蜗杆 110的轮齿 112与蜗 轮 120的轮齿 129之间的侧隙。 Referring to FIG. 1, FIG. 2, FIG. 3a, FIG. 3b, FIG. 4, FIG. 5, FIG. 6, FIG. 7a, FIG. 7b, FIG. 8a and FIG. 8b, the worm reducer 100 of the present embodiment includes a housing structure 130. The eccentric sleeve 140, the meshing worm 110 and the worm wheel 120, and the worm bearing 190 supporting the worm 110. Where, 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.
在优选实施例中， 壳体结构 130包括第一壳体 150和第二壳体 160。 偏心套筒 140可旋转设置于第二壳体内 160, 偏心套筒 140中轴线 R1相对于第二壳体 160中 心线 R2偏移特定距离 e (详见图 6)。 在优选实施例中， 可以设置偏心套筒 140—侧 148的壁厚大于另一侧 147的壁厚，进而实现所需的偏移设置。参见图 7a、图 7b、 图 8a和图 8b, 在侧隙调整前， 偏心套筒 140与第二壳体内 160最底部接触处的壁厚 为 A, 蜗杆 110旋转中心轴线距离蜗轮旋转中心轴线的距离为 B, 蜗杆 110的轮齿 112与蜗轮 120的轮齿 129之间的侧隙为 C。在使得偏心套筒 140沿顺时针方向旋转 Δφ角度之后， 偏心套筒 140与第二壳体内 160最底部接触处的壁厚为 Α+ ΔΑ, 蜗 杆 110旋转中心轴线距离蜗轮旋转中心轴线的距离为 Β- ΔΒ,蜗杆 110的轮齿 112与 蜗轮 120的轮齿 129之间的侧隙为 C- AC, 实现了侧隙的调节。 本实施例提供的蜗 杆减速器 100通过调整偏心套筒 140的偏心角， 可以^艮容易地调整蜗轮副的侧 隙， 在使用中有少量磨损后也很容易予以调整补偿， 故比较容易保持蜗杆减速 器的执行精度。  In a preferred embodiment, 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). In a preferred embodiment, 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. Referring to Figures 7a, 7b, 8a and 8b, before the backlash adjustment, 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. After the eccentric sleeve 140 is rotated by a Δφ angle in the clockwise direction, the wall thickness of the eccentric sleeve 140 at the bottommost contact with the second housing inner 160 is Α+ΔΑ, and the distance between the central axis of rotation of the worm 110 and the central axis of the worm wheel rotation is Β-ΔΒ, 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.
在优选实施例中， 蜗轮 120设置于第一壳体 150内， 蜗杆 110设置于第二壳体 160内。 可以设置偏心套筒 140—侧 148的壁厚大于另一侧 147的壁厚， 进而实现 所需的偏移设置。 本实施例的蜗杆减速器 100的侧隙调节结构比较筒单， 并可以 随时调整反向间隙， 以降低机器人的制造和维护成本  In a preferred embodiment, 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.
在优选实施例中， 蜗杆减速器 100还包括支撑蜗轮 120的蜗轮轴承 180, 蜗轮 120包括轮体 122和与轮体 122相连接的轮齿部 123 , 轮体 122的内侧具有中空结构 125 , 蜗轮轴承 180设于轮体 122的外侧并邻近轮齿部 123设置。 由于蜗轮轴承 180 与壳体结构 130集成在一起， 可以减小减速器 100的轴向尺寸， 并可在有限的空间 内增加蜗轮轴承 180中滚动体的数量， 提高轴承的承载能力。  In a preferred embodiment, 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.
在优选实施例中，蜗轮轴承 180可为左右成对设置的向心推力轴承，根据需要可 选择蜗轮轴承 180为背对背设置或面对面设置的轴承， 以适应传动机构比如机器人不 同的关节对轴承支承距离的要求。其中，背对背布置的向心推力角接触轴承可为蜗轮 120提供了较大的支承距离，可以给安 其上的机器人的手臂提供良好的扭转刚度。 而面对面设置的轴承可以缩小蜗轮 120的轴承距离， 因而在机器人的手臂绕自身轴线 回转并在其前端具有辅助支承的关节中可以避免或减少因制造和装配误差导致的内 应力。 In a preferred embodiment, 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. Among them, 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.
在优选实施例中，蜗轮 120还包括连接轮体 122和轮齿部 123的连接部 126, 连 接部 126沿蜗轮 120的径向方向延伸设置， 连接部 126、 轮体 122和轮齿部 123之间 形成有间隙 138, 蜗轮轴承 180设于间隙 138内。  In a preferred embodiment, 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.
在优选实施例中， 壳体结构 130还包括承力环 136和法兰盘 159,蜗轮轴承 180 的内圏 181支撑于承力环 180上， 蜗轮轴承 180的外圏 182支撑于蜗轮 120上。 法兰 盘 159设于第一壳体 150和第二壳体 160上。 法兰盘 159用于与下文将提到的连接架 或固定架相连接。 在优选实施例中， 设置法兰盘 159为不完整的法兰盘 159。 以避免 法兰盘 159与蜗杆 110***的第二壳体 160相干涉。  In a preferred embodiment, 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.
下面介绍通过扣环结构实现第一壳体 150和第二壳体 160接合的一个优选实施例。 壳体结构 130还包括扣环 170,在第一壳体 150和第二壳体 160的侧部分别形成 有扣环槽 127, 扣环 170扣入扣环槽 170使得第一壳体 150和第二壳 160相互连接。 同时，可以设置固定螺釘 171来进一步将扣环 170固定于第一壳体 150和第二壳 160 上。需要说明的是，本实施例示意的扣环 170为整体的环形，但是，实务中不限于此， 根据需要也可以将扣环 170设置为方形或其他合适的形状。  A preferred embodiment of engaging the first housing 150 and the second housing 160 by the buckle structure is described below. 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. At the same time, a fixing screw 171 may be provided to further fix the buckle 170 to the first housing 150 and the second housing 160. It should be noted that 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.
此外， 蜗杆减速器 100还包括没于轮体 122和第一、 第二壳体 150/160之间的油封 186, 油封 186的一侧抵靠扣环 170。 本实施例提供的蜗杆减速器通过扣环 170实现 第一壳体 150、 第二壳体 160的紧凑配合， 同时扣环 170也充当了减速器 100的迷 宫密封。  In addition, 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.
实施例三 一种蜗杆减速器  Embodiment 3 A worm reducer
请一并参见图 1、 图 2、 图 3a、 图 3b、 图 4、 图 5、 图 6、 图 7a、 图 7b、 图 8a和 图 8b, 本实施例的蜗杆减速器 100包括壳体结构 130以及相互啮合的蜗杆 110和蜗 轮 120。 其中， 该壳体结构 130包括第一壳体 150、 第二壳体 160以及扣环 170, 该 蜗轮 120设置于该第一壳体 150内， 该蜗杆 110设置于该第二壳体 160内， 在该第 一壳体 150和该第二壳体 160的侧部分别形成有扣环槽 127, 该扣环 170扣入该扣 环槽 127使得该第一壳体 150和该第二壳 160相互连接。在优选实施中，还可以设置 固定螺釘 171来进一步将扣环 170固定于第一壳体 150和第二壳 160上。 需要说明的是， 本实施例示意的扣环 170为整体的环形， 但是， 实务中不限于此， 根据需要也可以将 扣环 170设置为方形或其他合适的形状。 Please refer to Figure 1, Figure 2, Figure 3a, Figure 3b, Figure 4, Figure 5, Figure 6, Figure 7a, Figure 7b, Figure 8a and 8b, 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. In a preferred implementation, a set screw 171 can also be provided to further secure the buckle 170 to the first housing 150 and the second housing 160. It should be noted that 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.
此外，蜗杆减速器 100还包括 i殳于轮体 122和第一、 第二壳体 150/160之间的油 封 186, 油封 186的一侧抵靠扣环 170。 本实施例提供的蜗杆减速器通过扣环 170 实现第一壳体 150、 第二壳体 160的紧凑配合， 同时扣环 170也充当了减速器 100的迷宫密封。  In addition, 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.
在优选实施中， 轮体 122的左侧端面 LL和右侧端面 RR (详见图 3a ) 突出于第一 壳体 150之外，作为蜗杆减速器 100动力输出的连接端面。需要说明的是，也可以设置 好仅轮体 122的左侧端面 LL或右侧端面 RR突出于第一壳体 150之外， 使得仅一个端面 输出动力。  In a preferred embodiment, the left end face LL and the right end face RR of the wheel body 122 (see Fig. 3a for details) 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.
下面将介绍通过偏心套筒实现蜗杆副侧隙可调的一个优选实施例。请一并参见图 4、 图 5、 图 6、 图 7a、 图 7b、 图 8a和图 8b, 蜗杆减速器 100还包括偏心套筒 140 和蜗杆轴承 190 (详见图 3b ),偏心套筒 140可旋转设置于壳体结构 130上，蜗杆 110 通过设于其两端或一端的蜗杆轴承 190设置在偏心套筒内 140,通过旋转调整偏心套 筒 140的角度， 进而调整蜗杆 110的轮齿 112与蜗轮 120的轮齿 129之间的侧隙。  A preferred embodiment in which the worm secondary backlash can be adjusted by the eccentric sleeve will be described below. Referring to FIG. 4, FIG. 5, FIG. 6, FIG. 7a, FIG. 7b, FIG. 8a and FIG. 8b, 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. A backlash between the teeth 129 of the worm gear 120.
具体的来讲， 偏心套筒 140可旋转设置于第二壳体内 160, 偏心套筒 140中轴线 R1相对于第二壳体 160中心线 R2偏移特定距离 e (详见图 6)。 在优选实施例中， 可 以设置偏心套筒 140—侧 148的壁厚大于另一侧 147的壁厚， 进而实现所需的 偏移设置。 参见图 7a、 图 7b、 图 8a和图 8b, 在侧隙调整前， 偏心套筒 140与第二 壳体内 160 ½部接触处的壁厚为 A,蜗杆 110旋转中心轴线距离蜗轮旋转中心轴线 的距离为 B,蜗杆 110的轮齿 112与蜗轮 120的轮齿 129之间的侧隙为 C。在侧隙调 整后， 偏心套筒 140与第二壳体内 160最底部接触处的壁厚为 Α+ ΔΑ, 蜗杆 110旋 转中心轴线距离蜗轮旋转中心轴线的距离为 Β- ΔΒ, 蜗杆 110的轮齿 112与蜗轮 120 的轮齿 129之间的侧隙为 C- AC, 进而实现了侧隙的调节。 其中，偏心套筒 140沿顺 时针方向旋转的角度为 Δφ。 因此， 蜗杆减速器 100在使用中有少量磨损后也很容 易予以调整补偿， 故比较容易保持蜗杆减速器的执行精度。 Specifically, 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). In a preferred embodiment, 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. Referring to Figures 7a, 7b, 8a and 8b, before the backlash adjustment, 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. After the backlash adjustment, the wall thickness of the eccentric sleeve 140 in contact with the bottommost portion of the second housing 160 is Α+ΔΑ, and the distance between the central axis of rotation of the worm 110 and the central axis of the worm wheel is Β-ΔΒ, 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 Δφ. 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.
在优选实施例中， 蜗杆减速器 100还包括支撑蜗轮 120的蜗轮轴承 180, 蜗轮 120包括轮体 122和与轮体 122相连接的轮齿部 123 , 轮体 122的内侧具有中空结构 125 , 蜗轮轴 7 180设于轮体 122的外侧并邻近轮齿部 123设置。  In a preferred embodiment, 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.
在优选实施例中，蜗轮 120还包括连接轮体 122和轮齿部 123的连接部 126, 连 接部 126沿蜗轮 120的径向方向延伸设置， 连接部 126、 轮体 122和轮齿部 123之间 形成有间隙 138, 蜗轮轴承 180设于间隙 138内。  In a preferred embodiment, 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.
在优选实施例中， 壳体结构 130还包括承力环 136和法兰盘 159, 蜗轮轴承 180的内圏 181支撑于承力环 180上， 蜗轮轴承 180的外圏 182支撑于蜗轮 120 上。 法兰盘 159设于第一壳体 150和第二壳体 160上。 法兰盘 159用于与下文将 提到的连接架或固定架相连接。 在优选实施例中， 设置法兰盘 159为不完整的法兰 盘 159。 以避免法兰盘 159与蜗杆 110***的第二壳体 160相干涉。  In a preferred embodiment, 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.
在优选实施例中， 可以选择蜗杆 210为平面包络环面蜗杆 210, 蜗轮 220为平 面蜗轮 220。 图 9示意出了平面包络环面蜗杆 210和平面蜗轮 220的啮合状态。 由于 平面包络环面蜗杆减速器在同样体积下,承载能力较其他类型的蜗杆减速器可以提高 40%至 80%。 因此， 采用根据本实施例的平面包络环面蜗杆减速器， 可以实现小体积 高承载能力的传动要求。  In a preferred embodiment, 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.
实施例四 一种机器人关节  Embodiment 4 A robot joint
请一并参见图 12和图 13,本实施例的机器人关节 500包括蜗杆减速器和用于输 出动力的动力输出臂 710,动力输出臂 710与蜗轮 520的左侧和右侧端面相连接， 用 于蜗杆减速器的动力输出， 并作为所驱动之动力输出臂 710的回转支承。 其中， 蜗杆减速器可以采用上文实施例所提到的蜗杆减速器的具体结构。需要说明的是，图 中显示了动力输出臂 710与蜗轮 520的左侧和右侧端面同时相连接。实务中不受限于 此， 可以设置动力输出臂 710仅与蜗轮 520的左侧或右侧端面相连接。 Referring to FIG. 12 and FIG. 13 together, 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. It should be noted that 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.
在优选实施例中， 动力输出臂 710为包括两个端部 720的叉形结构， 且叉形结 构的两端部 720分别与蜗轮的左侧和右侧端面相连接。从而大幅度减轻轴承的载荷, 避免动力输出臂 710的扭转变形， 对于减轻机器人关节的结构重量， 提高机器人 关节的刚度和执行精度具有重要的意义。  In the preferred embodiment, 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.
此外，在本实施例中，蜗杆减速器的蜗杆 510与外部动力源比如电机或马 目连 接，用于输入动力。 法兰盘 559连接到固定架或者连接架 610上，起到固定机器人关 节 500的作用。固定架或者连接架 610的另一端可以连接到外部操作台或者机器人主 体。  Further, in the present embodiment, 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.
实施例四 一种机器人 器人关节可以为多个， 且多个机器人关节串联式连接。 此外， 机器人还可包括 驱动电机， 驱动电机的输出轴与蜗杆相连接。 本发明实施例的用于机器人的蜗 杆减速器的零件数量少， 故生产和装配成本也较低。  Embodiment 4 A robotic human joint may be multiple, and a plurality of robot joints are connected in series. In addition, 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.
在上述实施例中， 仅对本发明进行了示范性描述， 但是本领域技术人员在 阅读本专利申请后可以在不脱离本发明的精神和范围的情况下对本发明进行各 种修改。  In the above-described embodiments, the present invention has been exemplarily described, and various modifications of the present invention can be made without departing from the spirit and scope of the invention.

Claims

权利要求 Rights request
1、 一种蜗杆减速器， 所述蜗杆减速器包括： 1. A worm reducer, the worm reducer comprising:
壳体结构； 以及  Housing structure;
相互啮合的蜗杆和蜗轮；  Mutual meshing worm and worm gear;
其特征在于， 所述壳体结构包括：  The housing structure comprises:
第一壳体， 所述蜗轮设置于所述第一壳体内；  a first housing, the worm wheel is disposed in the first housing;
第二壳体， 所述蜗杆设置于所述第二壳体内； 以及  a second housing, the worm is disposed in the second housing;
扣环， 在所述第一壳体和所述第二壳体的侧部分别形成有扣环槽， 所述扣 环扣入所述扣环槽使得所述第一壳体和所述第二壳相互连接。  a buckle ring is formed on a side of the first casing and the second casing, respectively, and the buckle is buckled into the buckle groove such that the first casing and the second The shells are connected to each other.
2、 如权利要求 1所述的蜗杆减速器， 其特征在于， 所述蜗杆减速器还包括 设于所述蜗轮和所述第一、 第二壳体之间的油封， 所述油封的一侧抵靠所述扣 环。  2. The worm reducer according to claim 1, wherein the worm reducer further comprises an oil seal disposed between the worm wheel and the first and second housings, one side of the oil seal Abut against the buckle.
3、 如权利要求 1所述的蜗杆减速器， 其特征在于， 所述蜗杆减速器还包括 支撑所述蜗轮的蜗轮轴承， 所述蜗轮包括轮体和与所述轮体相连接的轮齿部， 所述轮体的内侧具有中空结构， 所述蜗轮轴 7|设于所述轮体的外侧并邻近所述 轮齿部设置。  3. The worm reducer according to claim 1, wherein the worm reducer further comprises 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 The inner side of the wheel body has a hollow structure, and the worm wheel shaft 7| is disposed on an outer side of the wheel body and disposed adjacent to the gear tooth portion.
4、 如权利要求 3所述的蜗杆减速器， 其特征在于， 所述蜗轮还包括连接所 述轮体和所述轮齿部的连接部， 所述连接部沿所述蜗轮的径向方向延伸设置， 所述连接部、 所述轮体和所述轮齿部之间形成有间隙， 所述蜗轮轴承设于所述 间隙内。  4. The worm reducer according to claim 3, wherein the worm wheel further includes a connecting portion connecting the wheel body and the gear tooth portion, the connecting portion extending in a radial direction of the worm wheel A gap is formed between the connecting portion, the wheel body and the gear tooth portion, and the worm wheel bearing is disposed in the gap.
5、 如权利要求 4所述的蜗杆减速器， 其特征在于， 所述壳体结构还包括承 力环， 所述蜗轮轴承的内圏支撑于所述承力环上， 所述蜗轮轴承的外圏支撑于 所述连接部和 /或所述轮齿部上。  The worm reducer according to claim 4, wherein the housing structure further comprises a bearing ring, and an inner bore of the worm bearing is supported on the bearing ring, outside the worm bearing The crucible is supported on the connecting portion and/or the tooth portion.
6、 如权利要求 1所述的蜗杆减速器， 其特征在于， 所述壳体结构还包括法 兰盘， 所述法兰盘设于所述第一壳体和 /或所述第二壳体上。 6. The worm reducer according to claim 1, wherein the housing structure further comprises a flange, the flange being disposed on the first housing and/or the second housing on.
7、 如权利要求 6所述的蜗杆减速器， 其特征在于， 所述法兰盘为不完整的 法兰盘。 7. The worm reducer of claim 6 wherein said flange is an incomplete flange.
8、 如权利要求 3所述的蜗杆减速器， 其特征在于， 所述轮体的左侧和 /或右 侧端面突出于所述第一壳体之外， 作为所述蜗杆减速器动力输出的连接端面。  The worm reducer according to claim 3, wherein a left side and/or a right end surface of the wheel body protrudes beyond the first housing as a power output of the worm reducer Connect the end faces.
9、 如权利要求 1所述的蜗杆减速器， 其特征在于， 所述蜗杆减速器还包括 偏心套筒和蜗杆轴承， 所述偏心套筒可旋转设置于所述第二壳体内， 所述偏心 套筒轴线相对于所述第二壳体中心线偏移特定距离， 所述蜗杆通过所述蜗杆轴 承设置在所述偏心套筒内， 通过旋转调整所述偏心套筒的角度， 进而调整所述 蜗杆的轮齿与所述蜗轮的轮齿之间的侧隙。  The worm reducer according to claim 1, wherein the worm reducer further comprises an eccentric sleeve and a worm bearing, wherein the eccentric sleeve is rotatably disposed in the second housing, the eccentricity The sleeve axis is offset from the center line of the second housing by a specific distance, the worm is disposed in the eccentric sleeve through the worm bearing, and the angle of the eccentric sleeve is adjusted by rotation, thereby adjusting the a backlash between the teeth of the worm and the teeth of the worm gear.
10、 如权利要求 3、 4或 8中任一项所述的蜗杆减速器， 其特征在于， 所述蜗 轮轴承为左右成对设置的向心推力轴承， 且所述蜗轮轴承为背对背设置或面对 面设置的轴承。  The worm reducer according to any one of claims 3, 4 or 8, wherein the worm wheel bearing is a radial thrust bearing disposed in pairs, and the worm wheel bearing is provided back to back or face to face Set the bearings.
11、 如权利要求 3、 4或 8中任一项所述的蜗杆减速器， 其特征在于， 所述蜗 轮轴承为左右成对设置的向心推力轴承， 且所述蜗轮轴承的滚动体为球形滚体、 圓锥形滚体或圓柱形滚体。  The worm reducer according to any one of claims 3, 4 or 8, wherein the worm wheel bearing is a radial thrust bearing disposed in pairs, and the rolling elements of the worm wheel bearing are spherical Roller, conical roller or cylindrical roller.
12、 如权利要求 3、 4或 8中任一项所述的蜗杆减速器， 其特征在于， 所述蜗 轮轴承的外圏厚度大于或小于所述蜗轮轴承的内圏厚度。  The worm reducer according to any one of claims 3, 4 or 8, wherein the outer diameter of the worm wheel bearing is larger or smaller than the inner rim thickness of the worm wheel bearing.
13、 如权利要求 1至 9中任一项所述的蜗杆减速器， 其特征在于， 所述蜗杆 为平面包络环面蜗杆， 所述蜗轮为平面蜗轮。  The worm reducer according to any one of claims 1 to 9, wherein the worm is a planar envelope toroidal worm, and the worm wheel is a planar worm wheel.
14、一种机器人关节，其包括如权利要求 1至 13中任一项所述的蜗杆减速器， 所述机器人关节还包括用于输出动力的动力输出臂， 所述动力输出臂与所述蜗 轮的左侧和 /或右侧端面相连接。  A robot joint comprising the worm reducer according to any one of claims 1 to 13, the robot joint further comprising a power output arm for outputting power, the power output arm and the worm wheel The left and/or right end faces are connected.
15、 如权利要求 14所述的机器人关节， 其特征在于， 所述动力输出臂为叉 形结构， 且所述叉形结构的两端部分别与所述蜗轮的左侧和右侧端面相连接。  The robot joint according to claim 14, wherein the power output arm is a fork-shaped structure, and both ends of the fork structure are respectively connected to left and right end faces of the worm wheel .
16、 一种机器人， 其包括至少一个如权利要求 14或 15所述的机器人关节。 16. A robot comprising at least one robot joint according to claim 14 or 15.
17、 如权利要求 16所述的机器人， 其特征在于， 所述机器人关节为多个， 且所述多个机器人关节串联式连接。 The robot according to claim 16, wherein the robot joint is a plurality of And the plurality of robot joints are connected in series.
18、 如权利要求 16所述的机器人， 其特征在于， 所述机器人还包括驱动电 机， 所述驱动电机的输出轴与所述蜗杆相连接。  The robot according to claim 16, wherein the robot further comprises a driving motor, and an output shaft of the driving motor is coupled to the worm.
PCT/CN2011/071336 2010-12-07 2011-02-25 Worm reducer, robot joint and robot WO2012075737A1 (en)

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