CN107795671A - A kind of special micro-reducer of the robot with self-cold radiating device and its operating method - Google Patents

Abstract

The invention discloses a special miniature reducer for robots with a self-cooling heat dissipation device, which comprises an outer frame, a driving shaft runs through the right side of the outer frame, and a first tooth is fixedly connected to one end of the driving shaft inside the outer frame. Rod, the top and bottom of the first rack are meshed with a second rack, and the right end of the second rack is fixedly connected with a rotating seat. The present invention relates to the technical field of miniature reducers. The robot-specific miniature reducer with self-cooling heat dissipation device and its operation method achieve the purpose of deceleration through gear rod transmission. Compared with gear transmission, it has stronger stability, stable transmission ratio, strong practical performance, and is convenient for the reducer. Shock absorption, reduce the vibration of the reducer, prevent the reducer from being damaged, and effectively reduce the noise of the reducer, prevent the reducer from overheating, effectively prolong the service life of the reducer, and facilitate the purpose of adding lubricating oil to the reducer , to improve the stability of the reducer rotation.

Description

A special micro-reducer for robots with a self-cooling heat dissipation device and its operating method

technical field

The invention relates to the technical field of miniature reducers, in particular to a special miniature reducer for robots with a self-cooling heat dissipation device and an operation method thereof.

Background technique

The reducer plays the role of matching speed and transmitting torque between the prime mover and the working machine or the actuator. The reducer is a relatively precise machine. The purpose of using it is to reduce the speed and increase the torque.

According to the number of transmission stages, it can be divided into single-stage and multi-stage reducers. According to the shape of the gear wheel, it can be divided into cylindrical gear reducer, bevel gear reducer and conical-cylindrical gear pulley reducer. According to the layout of the transmission, it can be divided into It is divided into expansion type, shunt type and co-axial type reducer. The reducer is an independent component composed of gear transmission, worm transmission and gear-worm transmission enclosed in a rigid shell. It is often used as a driving part and working The deceleration transmission device between the motors plays the role of matching speed and transmitting torque between the prime mover and the working machine or the actuator. It is widely used in modern machinery. The reducer is a relatively precise machine. The purpose of using it It is to reduce the speed and increase the torque. There are many types and models. Different types have different uses. There are many types of reducers. According to the transmission type, they can be divided into gear reducers, worm reducers and planetary gear reducers; according to Different transmission stages can be divided into single-stage and multi-stage reducers; according to the shape of gears, they can be divided into cylindrical gear reducers, bevel gear reducers and conical-cylindrical gear reducers; according to the layout of the transmission, they can be divided into expansion type, Shunt and coaxial reducers.

Reducers are widely used in mechanical equipment. In the manufacturing process of robots, micro-reducers are often needed. The existing micro-reducers mostly use gear transmission, which has poor stability and has no cooling device, which is easy to cause deceleration. The overheating of the reducer, meanwhile, the existing reducer has no shock absorbing device, the noise is relatively large, and it is inconvenient to use.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a robot-specific miniature reducer with a self-cooling heat dissipation device and its operation method, which solves the problem that the existing microreducer mostly uses gear transmission, has poor stability, and has no cooling device , It is easy to cause overheating of the reducer, and at the same time, the existing reducer has no shock absorbing device, the noise is relatively large, and it is inconvenient to use.

In order to achieve the above object, the present invention is achieved through the following technical solutions: a robot-specific miniature reducer with a self-cooling heat dissipation device, including an outer frame, a driving shaft runs through the right side of the outer frame, and the driving shaft is located outside One end inside the frame is fixedly connected with a first rack, the top and bottom of the first rack are engaged with a second rack, the right end of the second rack is fixedly connected with a rotating seat, one of the rotating seats The side is connected to one side of the inner wall of the outer frame in rotation, the left end of the second tooth bar is fixedly connected with the third tooth bar, and the fourth tooth bar is meshed between the opposite sides of the two third tooth bars. The left end of the four-toothed rod is fixedly connected with a driven shaft, one end of the driven shaft penetrates the outer frame and extends to the outside of the outer frame, and the top and bottom of the left side of the inner wall of the outer frame are fixedly connected with an exhaust net, so One end of the third gear rod is fixedly connected with a central shaft, one end of the central shaft is rotationally connected with one side of the exhaust net, and the left side of the top and bottom of the outer frame is fixedly connected with a side frame, and the outer frame The bottom is fixedly connected with a stabilizing device.

Preferably, the stabilizing device includes a base plate, the left side of the top of the base plate is fixedly connected with a spring rod, the top of the spring rod is fixedly connected with the bottom of the side frame, and both sides of the top of the base plate are fixedly connected with fixing seats , and a sliding bar is fixedly connected between the opposite sides of the two fixed seats, a moving rod is slidably connected to the surface of the sliding rod, and a spring is fixedly connected between the opposite sides of the two moving rods, and the moving rod The top of the connecting rod is rotatably connected with a connecting rod, the top of the connecting rod is rotatably connected with a top seat, and the top of the top seat is fixedly connected with the bottom of the outer frame.

Preferably, the bottom of the inner wall of the side frame is fixedly connected with a cooler, the left side of the cooler communicates with an air intake pipe, one end of the air intake pipe passes through the side frame and extends to the outside of the side frame, and the side of the cooler One side is connected with a vertical pipe, and one end of the vertical pipe passes through the side frame and the outer frame and extends to the inside of the outer frame, and one end of the vertical pipe located inside the outer frame is connected with an air outlet pipe.

Preferably, the top of the outer frame is fixedly connected with an oil storage frame, the bottom of the oil storage frame communicates with an oil inlet nozzle, the bottom end of the oil inlet nozzle penetrates the outer frame and extends to the inside of the outer frame, and the oil inlet nozzle One end located inside the outer frame is connected with an oil delivery network.

Preferably, an oil receiving groove is slidably connected to the bottom of the inner wall of the outer frame, and a handle is fixedly connected to the right side of the oil receiving groove, and one side of the handle passes through the outer frame and extends to the outside of the outer frame.

Preferably, bearings are sheathed on the surfaces of the driving shaft and the driven shaft.

The invention also discloses a method for operating a miniature reducer dedicated to a robot with a self-cooling heat dissipation device, which specifically includes the following steps:

Step 1. First, the operator fixedly connects the driving shaft to the rotating shaft of the motor through a coupling;

Step 2, turn on the motor switch again, so that the rotation shaft of the motor drives the first rack bar to rotate, the rotation of the first rack bar moves the second rack bar to rotate, the rotation of the second rack bar drives the third rack bar to rotate, and the third rack bar rotates The rotation of the fourth gear rod drives the rotation of the fourth gear rod, and the rotation of the fourth gear rod drives the rotation of the driven shaft, thus completing the deceleration process of the reducer;

Step 3. Turn on the switch of the cooler to make the cooler start to work. During the working process, the cooler draws air into the cooler through the intake pipe for cooling, then passes it into the outlet pipe through the vertical pipe, and then passes through the exhaust net. Cooling, the oil storage frame passes the lubricating oil into the oil delivery network through the oil inlet nozzle to realize the addition of lubricating oil to the reducer, thus completing the cooling and heat dissipation process of the miniature reducer;

Step 4. When the reducer is vibrated, the top seat will drop by itself, driving the connecting rod to move, thereby pushing the moving rod to move. Under the action of the elastic force of the spring, the shock absorption of the miniature reducer is realized, and the reduction is completed. shock process.

Beneficial effect

The invention provides a special miniature reducer for a robot with a self-cooling heat dissipation device and an operation method thereof. Has the following beneficial effects:

(1) The robot-specific miniature reducer with self-cooling heat dissipation device and its operation method have a driving shaft running through the right side of the outer frame, and one end of the driving shaft inside the outer frame is fixedly connected to the first gear rod. The top and the bottom of the rack are engaged with a second rack, the right end of the second rack is fixedly connected with a rotating seat, one side of the rotating seat is rotationally connected with one side of the inner wall of the outer frame, and the left end of the second rack is fixedly connected with a The third tooth bar, and the fourth tooth bar is meshed between the opposite sides of the two third tooth bars. The left end of the fourth tooth bar is fixedly connected with the driven shaft, and one end of the driven shaft penetrates the outer frame and extends to the outer frame. Outside the frame, the top and bottom of the left side of the inner wall of the outer frame are fixedly connected with an exhaust net, one end of the third gear rod is fixedly connected with a central shaft, and one end of the central shaft is rotationally connected with one side of the exhaust net to achieve the Compared with the gear transmission, the purpose of gear rod transmission deceleration is stronger, the transmission ratio is stable, and the practical performance is stronger.

(2) The robot-specific miniature reducer with self-cooling heat dissipation device and its operation method are fixedly connected with a spring rod through the left side of the top of the bottom plate, the top of the spring rod is fixedly connected with the bottom of the side frame, and the two sides of the top of the bottom plate Both are fixedly connected with fixed seats, and a sliding bar is fixedly connected between the opposite sides of the two fixed seats, the surface of the sliding bar is slidably connected with a moving rod, and a spring is fixedly connected between the opposite sides of the two moving rods, The top of the moving rod is rotatably connected with a connecting rod, and the top of the connecting rod is rotatably connected with a top seat, and the top of the top seat is fixedly connected with the bottom of the outer frame, which is convenient for shock absorption of the reducer, reduces the vibration of the reducer, and prevents the reducer from damage, and effectively reduce the noise of the reducer.

(3) The robot-specific miniature reducer with self-cooling heat dissipation device and its operation method are fixedly connected to the cooler through the bottom of the inner wall of the side frame, and the left side of the cooler is connected to an air intake pipe, and one end of the air intake pipe runs through the side frame And it extends to the outside of the side frame. One side of the cooler is connected with a vertical pipe. One end of the vertical pipe runs through the side frame and the outer frame and extends to the inside of the outer frame. The end of the vertical pipe inside the outer frame is connected to the air outlet The pipe can cool the reducer, prevent the reducer from overheating, and effectively prolong the service life of the reducer.

(4) The robot-specific miniature reducer with self-cooling heat dissipation device and its operation method are fixedly connected with an oil storage frame through the top of the outer frame, and the bottom of the oil storage frame is connected with an oil inlet nozzle, and the bottom end of the oil inlet nozzle penetrates the outer The frame extends to the inside of the outer frame. One end of the oil inlet nozzle located inside the outer frame is connected to an oil delivery network. The bottom of the inner wall of the outer frame is slidably connected to an oil receiving groove. The right side of the oil receiving groove is fixedly connected to a handle. One side of the handle Through the outer frame and extending to the outside of the outer frame, the purpose of adding lubricating oil to the reducer is achieved, which is convenient for improving the stability of the reducer in rotation.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of stabilizing device of the present invention;

Fig. 3 is a partial enlarged view of place A in Fig. 1;

Fig. 4 is a partial enlarged view of place B in Fig. 1;

In the figure: 1 Outer frame, 2 Drive shaft, 3 First gear rod, 4 Second gear rod, 5 Revolving base, 6 Third gear rod, 7 Central shaft, 8 Fourth gear rod, 9 Driven shaft, 10 Stable Device, 101 bottom plate, 102 slide rod, 103 spring, 104 top seat, 105 connecting rod, 106 moving rod, 107 fixed seat, 108 spring rod, 11 oil receiving tank, 12 handle, 14 oil inlet nozzle, 15 oil storage frame, 16 Side frame, 17 cooler, 18 air outlet pipe, 19 exhaust net, 20 vertical pipe, 21 air intake pipe.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-4, the present invention provides a technical solution: a miniature reducer for robots with a self-cooling heat dissipation device, including an outer frame 1, and a drive shaft 2 runs through the right side of the outer frame 1, and the drive shaft 2 is located at One end inside the outer frame 1 is fixedly connected with a first rack bar 3, the top and bottom of the first rack bar 3 are meshed with a second rack bar 4, the right end of the second rack bar 4 is fixedly connected with a rotating seat 5, and the rotating seat 5 One side of the outer frame 1 is rotationally connected with one side of the inner wall of the outer frame 1, so as to stabilize the second rack bar 4 and facilitate the rotation of the second rack bar 4. The left end of the second rack bar 4 is fixedly connected with the third rack bar 6, and two The fourth rack 8 is meshed between the opposite sides of the third rack 6, the left end of the fourth rack 8 is fixedly connected with the driven shaft 9, one end of the driven shaft 9 penetrates the outer frame 1 and extends to the outer frame 1 Outside, the top and bottom of the left side of the inner wall of the outer frame 1 are fixedly connected with an exhaust net 19, the exhaust net 19 is convenient for cooling, and one end of the third gear rod 6 is fixedly connected with a central shaft 7, and one end of the central shaft 7 is connected to the row One side of the air net 19 is rotationally connected to facilitate the stabilization of the third gear rod 6. The left side of the top and bottom of the outer frame 1 is fixedly connected with a side frame 16, and the bottom of the outer frame 1 is fixedly connected with a stabilizing device 10. The stabilizing device 10 includes Bottom plate 101, the left side of bottom plate 101 top is fixedly connected with spring bar 108, and the top of spring bar 108 is fixedly connected with the bottom of side frame 16, and both sides of bottom plate 101 tops are all fixedly connected with fixed seat 107, and two fixed seats 107 A slide bar 102 is fixedly connected between opposite sides, and the slide bar 102 facilitates the movement of the moving bar 106. The surface of the slide bar 102 is slidably connected with the moving bar 106, and the opposite sides of the two moving bars 106 are fixedly connected with a The spring 103 reaches the damping effect. The top of the moving rod 106 is rotatably connected to a connecting rod 105, and the top of the connecting rod 105 is rotatably connected to a top seat 104. The top of the top seat 104 is fixedly connected to the bottom of the outer frame 1, and the inner wall of the side frame 16 The bottom of the cooler 17 is fixedly connected with a cooler 17, the cooler 17 is a miniature cooler, and the left side of the cooler 17 is communicated with an air inlet pipe 21, which is convenient for water supply to the cooled air, and one end of the air inlet pipe 21 runs through the side frame 16 and extends to Outside the side frame 16, one side of the cooler 17 is connected with a vertical pipe 20, one end of the vertical pipe 20 runs through the side frame 16 and the outer frame 1 and extends to the inside of the outer frame 1, and the vertical pipe 20 is located inside the outer frame 1 One end of the outer frame 1 is connected with an air outlet pipe 18 to realize cooling. The top of the outer frame 1 is fixedly connected with an oil storage frame 15, which is convenient for storing lubricating oil. The bottom end of the oil inlet nozzle 14 runs through the outer frame 1 and extends to the inside of the outer frame 1. The end of the oil inlet nozzle 14 located inside the outer frame 1 is connected to the oil delivery network 13, and the oil delivery network 13 realizes uniform addition Lubricating oil, the bottom of the inner wall of the outer frame 1 is slidingly connected with an oil receiving groove 11, the oil receiving groove 11 is convenient for reclaiming the lubricating oil, and the right side of the oil receiving groove 11 is fixedly connected with a pull handle 12, and the pull handle 12 is just taken out of the oil receiving groove 11, pulled One side of the handle 12 runs through the outer frame 1 and extends to the outside of the outer frame 1, the driving shaft 2 and the driven shaft 9 The surface sleeve is provided with bearings, which are convenient for the rotation of the driving shaft 2 and the driven shaft 9, and achieve the purpose of decelerating through the gear rod transmission. Compared with the gear transmission, the stability is stronger, the transmission ratio is stable, and the practical performance is stronger. The reducer is shock-absorbing, reduces the vibration of the reducer, prevents the reducer from being damaged, and effectively reduces the noise of the reducer, prevents the reducer from overheating, effectively prolongs the service life of the reducer, and facilitates adding lubricating oil to the reducer The purpose is to improve the stability of the reducer rotation.

The invention also discloses a method for operating a miniature reducer dedicated to a robot with a self-cooling heat dissipation device, which specifically includes the following steps:

Step 1. First, the operator fixedly connects the driving shaft to the rotating shaft of the motor through a coupling;

Step 2, turn on the motor switch again, so that the rotation shaft of the motor drives the first rack bar to rotate, the rotation of the first rack bar moves the second rack bar to rotate, the rotation of the second rack bar drives the third rack bar to rotate, and the third rack bar rotates The rotation of the fourth gear rod drives the rotation of the fourth gear rod, and the rotation of the fourth gear rod drives the rotation of the driven shaft, thus completing the deceleration process of the reducer;

Step 3. Turn on the switch of the cooler to make the cooler start to work. During the working process, the cooler draws air into the cooler through the intake pipe for cooling, then passes it into the outlet pipe through the vertical pipe, and then passes through the exhaust net. Cooling, the oil storage frame passes the lubricating oil into the oil delivery network through the oil inlet nozzle to realize the addition of lubricating oil to the reducer, thus completing the cooling and heat dissipation process of the miniature reducer;

Step 4. When the reducer is vibrated, the top seat will drop by itself, driving the connecting rod to move, thereby pushing the moving rod to move. Under the action of the elastic force of the spring, the shock absorption of the miniature reducer is realized, and the reduction is completed. shock process.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. a kind of special micro-reducer of the robot with self-cold radiating device, including housing（1）, it is characterised in that：It is described outer Frame（1）Right side through there is driving shaft（2）, the driving shaft（2）Positioned at housing（1）Internal one end is fixedly connected with the first tooth Bar（3）, first ratch（3）Top and bottom be engaged with the second ratch（4）, second ratch（4）Right-hand member consolidate Surely it is connected with rotation seat（5）, the rotation seat（5）Side and housing（1）The side rotation connection of inwall, second ratch （4）Left end be fixedly connected with the 3rd ratch（6）, and two the 3rd ratch（6）The 4th tooth is engaged between relative side Bar（8）, the 4th ratch（8）Left end be fixedly connected with driven shaft（9）, the driven shaft（9）One end run through housing（1） And extend to housing（1）Outside, the housing（1）Top and bottom on the left of inwall have been fixedly connected with exhaust net（19）, 3rd ratch（6）One end be fixedly connected with axis（7）, the axis（7）One end with exhaust net（19）Side turn Dynamic connection, the housing（1）Side frame has been fixedly connected with the left of top and bottom（16）, the housing（1）Bottom fix It is connected with stabilising arrangement（10）.

A kind of 2. special micro-reducer of the robot with self-cold radiating device according to claim 1, it is characterised in that： The stabilising arrangement（10）Including bottom plate（101）, the bottom plate（101）Spring lever is fixedly connected with the left of top（108）, institute State spring lever（108）Top and side frame（16）Bottom be fixedly connected, the bottom plate（101）The both sides at top are fixedly connected with There is fixed seat（107）, and two fixed seats（107）Slide bar is fixedly connected between relative side（102）, the slide bar （102）Surface slidably connect mobile bar（106）, and two mobile bars（106）It is fixedly connected between relative side Spring（103）, the mobile bar（106）Top be rotatably connected to connecting rod（105）, the connecting rod（105）Top rotate connect It is connected to footstock（104）, the footstock（104）Top and housing（1）Bottom be fixedly connected.

A kind of 3. special micro-reducer of the robot with self-cold radiating device according to claim 1, it is characterised in that： The side frame（16）The bottom of inwall is fixedly connected with cooler（17）, the cooler（17）Left side be communicated with air inlet pipe （21）, the air inlet pipe（21）One end run through side frame（16）And extend to side frame（16）Outside, the cooler（17）'s Side is communicated with vertical tube（20）, the vertical tube（20）One end side run through side frame（16）And housing（1）And extend to housing（1） Inside, the vertical tube（20）Positioned at housing（1）Internal one end is communicated with discharge pipe（18）.

A kind of 4. special micro-reducer of the robot with self-cold radiating device according to claim 1, it is characterised in that： The housing（1）Top be fixedly connected with oil-storing frame（15）, the oil-storing frame（15）Bottom be communicated with inlet nozzle（14）, institute State inlet nozzle（14）Bottom run through housing（1）And extend to housing（1）Inside, the inlet nozzle（14）Positioned at housing（1） Internal one end is communicated with oil transportation net（13）.

A kind of 5. special micro-reducer of the robot with self-cold radiating device according to claim 1, it is characterised in that： The housing（1）The basal sliding of inwall is connected with oil-containing groove（11）, the oil-containing groove（11）Right side be fixedly connected with pull handle （12）, the pull handle（12）Side run through housing（1）And extend to housing（1）Outside.

A kind of 6. special micro-reducer of the robot with self-cold radiating device according to claim 1, it is characterised in that： The driving shaft（2）And driven shaft（9）Surface be arranged with bearing.

A kind of 7. special micro-reducer operating method of the robot with self-cold radiating device, it is characterised in that specifically include as Lower step：

Step 1, first, driving shaft is fixedly connected by operating personnel by the rotary shaft of shaft coupling and motor；

Step 2, motor switch is opened again so that the rotary shaft of motor drives the first ratch to rotate, and the rotation of the first ratch is moved Second ratch rotates, and the rotation of the second ratch drives the 3rd ratch to rotate, and the rotation of the 3rd ratch drives the 4th ratch to rotate, the The rotation of four ratch drives driven shaft to rotate, so as to complete the moderating process of reductor；

Step 3, open cooler switch so that cooler is started working, and in the course of the work, cooler is by air inlet pipe by sky Gas is evacuated in cooler and cooled down, and is then passed through by vertical tube in discharge pipe, is then cooled down by being vented net, oil-storing frame Lubricating oil is passed through oil transportation net by inlet nozzle, realizes and lubricating oil is added to decelerator, so as to complete to micro speed reducing Machine carries out cooling radiation processes；

Step 4, when reductor is given a shock, footstock can be given a shock can automatic descending, drivening rod movement, so as to promote move Lever moves, and under the elastic force effect of spring, it is achieved thereby that carrying out damping to micro-reducer, completes shock absorbing process.