CN104964011A - Cross slide block driving speed reducer for multi-joint robot - Google Patents
Cross slide block driving speed reducer for multi-joint robot Download PDFInfo
- Publication number
- CN104964011A CN104964011A CN201510363182.3A CN201510363182A CN104964011A CN 104964011 A CN104964011 A CN 104964011A CN 201510363182 A CN201510363182 A CN 201510363182A CN 104964011 A CN104964011 A CN 104964011A
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- China
- Prior art keywords
- face
- speed reducer
- crosshead shoe
- transmitting balls
- ball
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
- F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
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- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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- 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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a crosshead shoe driving speed reducer for a multi-joint robot, which comprises an input shaft, an output shaft, a machine body, a crosshead shoe, a transmission ball, a track controller and a driving ball, wherein the input shaft is connected with the output shaft through a transmission shaft; an input shaft, a cross slide block, a track controller and an output shaft are arranged in the machine body; the cross sliding block is provided with a transmission track for mounting a transmission ball, and the transmission ball moves in the transmission track to transmit the motion of the input shaft to the track controller; the lower surface of the track controller is provided with a motion track for mounting the driving ball, and the track controller adjusts the output of the output shaft through the driving ball. The invention realizes the complete coincidence of the motion of the automatic adjustment input eccentric shaft and the eccentric amount, ensures that the transmission ball of the speed reducer is completely coincident with the track of the track controller, and has stable output of the speed reducer and low mechanical wear rate.
Description
Technical field
The present invention relates to mechanical transmission braking technique, the crosshead shoe be specifically related to for articulated robot drives speed reducer.
Background technique
Current mechanical transmission speed reducer on the market, great majority adopt gear or worm drive, and its cardinal principle utilizes to change the gear number of teeth to realize speed change.Shortcomings and deficiencies existing for this kind of mechanical transmission speed reducer are: because driving component machining accuracy is not high, gear or worm reduction gear are in design and installation process, all there is certain process gap and affect output accuracy, add between tooth and tooth it is with the motion of higher pair form, easily produce the problems such as component wear, transmission are steady, noise is large, output accuracy is poor.
In the Chinese invention patent application CN102767600A announced on July 31st, 2012, disclose a kind of S shape cycloid groove and built-in ball thereof of utilizing and realize the BS speed reducer slowed down, this technology does not need by gear or worm drive to realize speed change, reduce the noise of speed reducer to a certain extent, improve transmission efficiency.But, the S shape cycloid groove of BS speed reducer defines the offset of eccentric shaft, make it cannot control the movement locus of speed reducer completely in the process of motion, the mechanical interference that ball produces in S shape cycloid groove easily produce that speed reducer exports steadily, stepping vibrations, the bad phenomenon such as heating value is large, wear rate is high.
Summary of the invention
In order to solve the technical problem existing for prior art, the crosshead shoe that the invention provides for articulated robot drives speed reducer, adopt crosshead shoe, transmitting balls, tracking controller and drive the motion of ball realization automatic adjustment input eccentric shaft and offset to fit like a glove, the transmitting balls of speed reducer and the track of tracking controller are fitted like a glove, and speed reducer output is steady, mechanical wear rate is low.
The technical solution adopted in the present invention is as follows: the crosshead shoe for articulated robot drives speed reducer, comprises input shaft, output shaft, body, crosshead shoe, transmitting balls, tracking controller and drives ball; In described body, input shaft, crosshead shoe, tracking controller and output shaft are installed; Described crosshead shoe is provided with the transmission track for installing transmitting balls, transmitting balls move in transmission track with by the Movement transmit of input shaft to tracking controller; Tracking controller lower surface is provided with the movement locus for installing described driving ball, and tracking controller is by driving the output of ball adjustment output shaft.
Described transmitting balls comprises A face transmitting balls and B face transmitting balls, and the upper and lower surface of crosshead shoe is respectively equipped with A face transmission track for installing A face transmitting balls and B face transmitting balls and B face transmission track.
Described crosshead shoe drives speed reducer also to comprise gap adjustment plate, crossed roller bearing upper cover, decussation roller and crossed roller bearing lower cover, described gap adjustment plate is arranged between tracking controller and crossed roller bearing upper cover, described output shaft is arranged in crossed roller bearing upper cover and crossed roller axle lower cover, and decussation roller is arranged on output shaft.
Compared with prior art, tool of the present invention has the following advantages and beneficial effect:
1, do not adopt gear to do transmission, with input eccentric shaft as path generator, through tracking controller by crosshead shoe coordinate input eccentric shaft move output realize deceleration.Have compact structure, noise is low, lightweight, volume is little, zero clearance, stable drive are reliable, output accuracy advantages of higher, velocity ratio and transmission efficiency are up to 93%.
2, by crosshead shoe, transmitting balls, tracking controller and drive ball to realize the motion of automatically adjustment input eccentric shaft and offset fits like a glove, the transmitting balls of speed reducer and the track of tracking controller are fitted like a glove, thus realize speed reducer output steadily, mechanical wear rate is low, eliminates the design deficiency of BS speed reducer S shape cycloid groove.
Accompanying drawing explanation
Fig. 1 is overall structure planimetric map of the present invention;
Fig. 2 is overall structure sectional view of the present invention;
Fig. 3 is exploded view of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
See Fig. 1-3, the crosshead shoe that the present invention is used for articulated robot drives speed reducer, comprises input eccentric shaft 1, body 2, A face transmitting balls 3, crosshead shoe 4, B face transmitting balls 5, tracking controller 6, drives ball 7, gap adjustment plate 8, crossed roller bearing upper cover 9, decussation roller 10, output shaft 11, crossed roller bearing lower cover 12 and fastening screw trip bolt 13.
Input eccentric shaft 1, crosshead shoe 4, tracking controller 6, crossed roller bearing and output shaft 11 are installed in body 2.The structure of described crosshead shoe 4 is according to the rigidity of speed reducer and stationarity requirement, upper, lower surface (i.e. A, B face) be respectively equipped with A face transmission track for installing A face transmitting balls 3 and B face transmitting balls 5 and B face transmission track, transmission Trajectory Design in A face has more than two parallel ball orbits, correspondingly B face transmission track in the same way 90-degree rotation be provided with the ball orbit of more than two, A face transmitting balls does straight reciprocating motion on the ball orbit of A face transmission track, B face transmitting balls does straight reciprocating motion on the ball orbit of B face transmission track, at A face transmission track and B face transmitting balls 5, the relative movement on B face transmission track just forms 90 degree of coordinates to A face transmitting balls 3, make crosshead shoe can be freely movable at plane space, the offset of input eccentric shaft is coordinated to correspond to the circular movement of offset.A face transmitting balls 3 is positioned on the positioning hole of body 2, and B face transmitting balls 5 is positioned on the positioning hole of tracking controller 6 upper surface.The lower surface of tracking controller 6 is provided with ball moving track, for installing the driving ball 7 of output shaft, drives ball 7 to be positioned on the positioning hole of output shaft 11, and tracking controller is by driving the output of ball adjustment output shaft.
Gap adjustment plate 8 is arranged between tracking controller 6 and crossed roller bearing upper cover 9.Output shaft 11 is arranged on crossed roller bearing upper cover 9 with in crossed roller axle lower cover 12, and decussation roller 10 is arranged on output shaft 11.Be connected by fastening screw trip bolt 13 between body 2 with crossed roller bearing lower cover 12.Decussation roller 10 plays the effect of radial and axial output bearing.
Principle of the present invention is as follows: by the transmitting balls on crosshead shoe and upper and lower surface thereof, by the Movement transmit of input eccentric shaft to tracking controller, motion and the offset of automatic adjustment input eccentric shaft fit like a glove, and the movement locus of transmitting balls and tracking controller is fitted like a glove; Tracking controller is according to offset, by the output driving ball automatically to adjust output shaft, realize speed reducer to slow down stably output function, the synchromesh tracking controller of 100% can transmit very large moment of torsion, and guarantee performance and the zero clearance of speed reducer, reduce mechanical wear, improve transmission accuracy.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (8)
1. the crosshead shoe for articulated robot drives speed reducer, comprises input shaft, output shaft and body, it is characterized in that, also comprises crosshead shoe, transmitting balls, tracking controller and drives ball; In described body, input shaft, crosshead shoe, tracking controller and output shaft are installed; Described crosshead shoe is provided with the transmission track for installing transmitting balls, transmitting balls move in transmission track with by the Movement transmit of input shaft to tracking controller; Tracking controller lower surface is provided with the movement locus for installing described driving ball, and tracking controller is by driving the output of ball adjustment output shaft.
2. crosshead shoe according to claim 1 drives speed reducer, it is characterized in that, described transmitting balls comprises A face transmitting balls and B face transmitting balls, and the upper and lower surface of crosshead shoe is respectively equipped with A face transmission track for installing A face transmitting balls and B face transmitting balls and B face transmission track.
3. crosshead shoe according to claim 2 drives speed reducer, it is characterized in that, transmission Trajectory Design in A face has more than two parallel ball orbits, correspondingly B face transmission track in the same way 90-degree rotation be provided with the ball orbit of more than two, A face transmitting balls, B face transmitting balls is respectively at the ball orbit of A face transmission track, the ball orbit of B face transmission track does straight reciprocating motion, the relative movement of A face transmitting balls and B face transmitting balls forms 90 degree of coordinates, make crosshead shoe in plane space, correspond to the circular movement of input shaft offset.
4. crosshead shoe according to claim 2 drives speed reducer, and it is characterized in that, described A face transmitting balls is positioned on the positioning hole of body.
5. crosshead shoe according to claim 2 drives speed reducer, and it is characterized in that, described B face transmitting balls is positioned on the positioning hole of tracking controller upper surface.
6. crosshead shoe according to claim 1 drives speed reducer, it is characterized in that, described crosshead shoe drives speed reducer also to comprise gap adjustment plate, crossed roller bearing upper cover, decussation roller and crossed roller bearing lower cover, described gap adjustment plate is arranged between tracking controller and crossed roller bearing upper cover, described output shaft is arranged in crossed roller bearing upper cover and crossed roller axle lower cover, and decussation roller is arranged on output shaft.
7. crosshead shoe according to claim 6 drives speed reducer, it is characterized in that, is connected between described body with crossed roller bearing lower cover by fastening screw trip bolt.
8. crosshead shoe according to claim 1 drives speed reducer, it is characterized in that, described input shaft is input eccentric shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510363182.3A CN104964011B (en) | 2015-06-25 | 2015-06-25 | Cross slide block driving speed reducer for multi-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510363182.3A CN104964011B (en) | 2015-06-25 | 2015-06-25 | Cross slide block driving speed reducer for multi-joint robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104964011A true CN104964011A (en) | 2015-10-07 |
| CN104964011B CN104964011B (en) | 2018-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510363182.3A Active CN104964011B (en) | 2015-06-25 | 2015-06-25 | Cross slide block driving speed reducer for multi-joint robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106337915A (en) * | 2016-11-03 | 2017-01-18 | 海尚集团有限公司 | The trailing-type smooth speed reducer with articulated robot |
| CN106352043A (en) * | 2016-11-03 | 2017-01-25 | 海尚集团有限公司 | Following type driving speed reducer |
| CN106438889A (en) * | 2016-11-03 | 2017-02-22 | 海尚集团有限公司 | V-shaped slot follower plate of speed reducer |
| CN107642586A (en) * | 2017-11-13 | 2018-01-30 | 长江大学 | A kind of dish-like coaxial-type deceleration reversing arrangement |
| CN108386491A (en) * | 2018-04-13 | 2018-08-10 | 浙江凡左科技有限公司 | A kind of equal linear speeds speed reducer |
| CN109882552A (en) * | 2019-04-03 | 2019-06-14 | 燕山大学 | A two-stage plane steel ball reducer |
Citations (5)
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| CN2315354Y (en) * | 1997-11-21 | 1999-04-21 | 杭州电子工业学院 | Cycloidal steel ball speed reducer |
| CN2398478Y (en) * | 1999-01-19 | 2000-09-27 | 杭州电子工业学院 | Dense bead cycloid steel ball speed reducer |
| US20060183593A1 (en) * | 2005-01-20 | 2006-08-17 | Snecma | Twin turbo-shaft engine with accessory gearbox drive means |
| CN204099511U (en) * | 2014-09-19 | 2015-01-14 | 佛山市诺尔贝机器人技术有限公司 | A kind of power take-off mechanism of pendulum ball formula speed reducer |
| CN204784523U (en) * | 2015-06-25 | 2015-11-18 | 广州启帆工业机器人有限公司 | A crosshead shoe drives speed reducer for articulated robot |
-
2015
- 2015-06-25 CN CN201510363182.3A patent/CN104964011B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2315354Y (en) * | 1997-11-21 | 1999-04-21 | 杭州电子工业学院 | Cycloidal steel ball speed reducer |
| CN2398478Y (en) * | 1999-01-19 | 2000-09-27 | 杭州电子工业学院 | Dense bead cycloid steel ball speed reducer |
| US20060183593A1 (en) * | 2005-01-20 | 2006-08-17 | Snecma | Twin turbo-shaft engine with accessory gearbox drive means |
| CN204099511U (en) * | 2014-09-19 | 2015-01-14 | 佛山市诺尔贝机器人技术有限公司 | A kind of power take-off mechanism of pendulum ball formula speed reducer |
| CN204784523U (en) * | 2015-06-25 | 2015-11-18 | 广州启帆工业机器人有限公司 | A crosshead shoe drives speed reducer for articulated robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106337915A (en) * | 2016-11-03 | 2017-01-18 | 海尚集团有限公司 | The trailing-type smooth speed reducer with articulated robot |
| CN106352043A (en) * | 2016-11-03 | 2017-01-25 | 海尚集团有限公司 | Following type driving speed reducer |
| CN106438889A (en) * | 2016-11-03 | 2017-02-22 | 海尚集团有限公司 | V-shaped slot follower plate of speed reducer |
| CN106438889B (en) * | 2016-11-03 | 2019-08-09 | 海尚集团有限公司 | The V-groove movable head of speed reducer |
| CN107642586A (en) * | 2017-11-13 | 2018-01-30 | 长江大学 | A kind of dish-like coaxial-type deceleration reversing arrangement |
| CN107642586B (en) * | 2017-11-13 | 2023-11-17 | 长江大学 | Disc type coaxial speed reduction reversing device |
| CN108386491A (en) * | 2018-04-13 | 2018-08-10 | 浙江凡左科技有限公司 | A kind of equal linear speeds speed reducer |
| CN108386491B (en) * | 2018-04-13 | 2022-11-08 | 王昭平 | Constant linear speed reducer |
| CN109882552A (en) * | 2019-04-03 | 2019-06-14 | 燕山大学 | A two-stage plane steel ball reducer |
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| Publication number | Publication date |
|---|---|
| CN104964011B (en) | 2018-07-13 |
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Effective date of registration: 20220520 Address after: 510230 room J, 16 / F, No. 308, Binjiang Middle Road, Haizhu District, Guangzhou, Guangdong Patentee after: Zhongzheng Data Technology Co.,Ltd. Address before: Guangdong Province, Guangzhou City, Luogang District Science City Xinrui Road No. 2 Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT Co. |
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