CN208057856U - Driving skateboard component with hybrid motion - Google Patents

Abstract

The utility model is related to mechanical transmission component and its component, it is suitable for the utilization scene with plane and rotation mixing, the driving to output shaft particularly suitable for cycloid speed changer.A kind of driving skateboard component with hybrid motion, it include skateboard body, there is the skateboard body clamping face for being clamped and being constituted therewith simultaneously the clamping cooperation of radial slippage axial rotation by each actuator and driven member, clamping face to be equipped with the mounting groove of the receiving sliding component with each actuator and driven member or its mating guide rail cooperation.A kind of technical solution of the new driving skateboard component with hybrid motion is provided.

Description

Driving skateboard component with hybrid motion

Technical field

The utility model is related to mechanical transmission component and its component, it is suitable for the utilization scene with plane and rotation mixing, The driving to output shaft particularly suitable for cycloid speed changer.

Background technology

Transmission device applied to elaborate servo mechanisms such as robot, precision machine tool, aerospaces requires have high transmission essence Degree, high transmission stiffness, transmission ratio is big, transmission efficiency, small, light-weight, and transmission return difference is small, and the rotary inertia of rotating member is small The features such as.The deceleration mechanism research of current relatively new type structure is more and more active, and principle is will to be driven steel ball（Ball）With pendulum The combined cycloid speed reducer of line Gear Planet Transmission has more and more reports and document to disclose.Such as disclosed in relatively morning Cn86104457 names of document are that " differential speed reducer of gearless " applies for scheme, and hypocycloid raceway is machined with respectively using a pair Disk and to be machined with the disk of epicycloid raceway be that engaged transmission is secondary, two disks are opposite and transmission steel ball is put into raceway, it is utilized The advantages of cyclo drive, and steel ball energy shuttling movement, but be driven smaller.After running at high speed, between adjacent two ball Distance can change, and two balls can collide together, cause speed reducer stuck, and the duration of runs has been grown will appear interior expansion later Deng.

The improved technology part continuously emerged later, which introduces, is movable head or crosshead shoe component etc. to drive and be driven It is dynamic, such as notification number is that CN104964011A discloses a kind of crosshead shoe driving speed reducer for articulated robot, this Crosshead shoe component in item technology is additionally provided with the transmission track etc. for installing transmitting balls, and speed reducer is made easily to produce at work Raw slight bounce, stability is poor, easy tos produce speed reducer and exports the bad phenomenon such as unstable.

Earlier application number is 201610997116 .6, and entitled trailing type drives speed reducer；Novel movable head is disclosed, Horizontal V-shape track is equipped in the one side of movable head ontology, another side is equipped with longitudinal V-type track, additionally by movable head First, second on (V-groove) and its face A, B intersects (rotation) roller, and eccentric shaft movement is transmitted to differential speed variator, The movement of adjust automatically eccentric shaft fits like a glove with eccentricity, keeps the ball moving track of transmitting balls and differential speed variator complete It coincide, differential speed variator does opposite movement by ball moving track and transmitting balls according to eccentric motion, forms output shaft Deceleration output, realize that speed reducer smoothly slows down output function, there are some shortcoming be cannot be complete in many application scenarios It is complete to reach dynamic balancing and facilitate utilization, V-groove setting is in addition proposed into very high request to the rigidity of movable head on the surface.

Utility model content

The utility model aim is exactly to overcome the problems, such as the driving plate of existing hybrid motion present on structure design And provide a kind of technical solution of the new driving skateboard component with hybrid motion.

Driving skateboard component described in the utility model with hybrid motion, includes skateboard body, skateboard body tool The clamping face of radial slippage axial rotation clamping cooperation, folder can be clamped and be constituted therewith simultaneously by each actuator and driven member by having Hold the mounting groove for the receiving sliding component that face is equipped with each actuator and driven member or its mating guide rail cooperation.

Compared with prior art, skateboard body using structure due to configuring simple and associated components for example for the utility model Actuator and the matching relationship of driven member are reasonable, and the driving part of this various hybrid motions of effective solution is easy to exist Complicated, the problems such as being functionally easy to cause interior expansion, moment of flexure rigidity, dynamic equilibrium etc., and make to apply in speed reducer Its flattening design is become very easy when on structure and its speed reducer.

Clamping face in preferred the utility model is the axial sides of skateboard body.And sliding component in skateboard body Mounting groove is that the mounting groove cooperation in V-groove with the sliding component in each actuator and driven member or its mating guide rail constitutes rolling Lean on slippage slot.

Preferred the utility model is equipped with the hollow hole installed for input shaft in skateboard body, and the periphery of hollow hole is uniformly distributed Pin hole equipped with connecting pin clearance fit.

The utility model selects axial sides as clamping face, and the mounting groove of sliding component is configured to rolling and leans on slippage slot, significantly Reduce the surface rigidity requirement of slide plate etc..Decussation roller further is used in the sliding component of radial slippage, strengthens whole knot Structure rigidity, also solves vertical and horizontal rolling slip integrity problem.

In addition, the utility model is to be driven or actuator part has reserved the pin hole of connecting pin clearance fit.Make specific Using the output mechanism such as cycloid reduction mechanism output shaft bidirectional output linkage structure that symmetry may be used, can solve The dynamic equilibrium problems of complete machine, but also complete machine, which is possibly realized in arbitrary end or the same end as input, output end, also gives installation band Convenience is carried out.

The utility model is described in further detail with reference to the accompanying drawings and detailed description.

Description of the drawings

Fig. 1 is the structural decomposition diagram of the utility model embodiment slide plate and guide rail；

Fig. 2 is the driving relationships such as slide plate of the utility model embodiment in deceleration mechanism and drive disk and output shaft Structural decomposition diagram；

Fig. 3 be the drivings such as slide plate of the utility model embodiment in deceleration mechanism and drive disk and output shaft close The structure sectional view of system.

Specific implementation mode

Component mark in attached drawing is described as follows；2, output shaft, 3, slide plate, 4, drive disk, 7, translating rails, 8, body, 9, decussation roller, 10, connecting pin, 21, output shaft grip block, 22, output pin hole, 31, V-groove, 32, slide plate pin hole, 41, drive Moving plate grip block, 42, drive disk pin hole.

The utility model embodiment system applies in cycloid speed changer（Speed reducer）Technical solution, include 3 ontology of slide plate, 3 ontology of slide plate, which has to be clamped by each actuator and driven member simultaneously and constitute the clamping of radial slippage axial rotation therewith, matches The clamping face of conjunction, clamping face are equipped with the peace of the receiving sliding component with each actuator and driven member or its mating guide rail cooperation Tankage.Here it is translating rails 7 in guide rail embodiment, actuator is the drive disk 4 by eccentric drive of speed reducer, is driven Part is the output shaft 2 on speed reducer, is both provided with grip block on drive disk 4 and output shaft 2, is set between slide plate 3 and each grip block Translating rails 7 are equipped with, if it is also the meaning that should have of the utility model that directly translating rails 7, which are arranged on grip block, certainly.Folder Hold the sliding component for being additionally provided between block or its guide rail and slide plate 3 and both making to keep radial slippage cooperation, each grip block respectively with cunning The clamping cooperation of 3 radial slippage axial rotation of plate, clamping face are the axial sides of 3 ontology of slide plate.Certainly it configures as needed This will not be detailed here for necessary sliding component retainer, attachment screw etc..The mounting groove of sliding component is V-groove 31 on 3 ontology of slide plate In constitute rolling with the cooperation of the mounting groove of the sliding component in each actuator and driven member or its mating guide rail and lean on slippage slot.Slide plate 3 ontologies are equipped with the hollow hole installed for input shaft 1, and the periphery of hollow hole is laid with the pin hole of 10 clearance fit of connecting pin. Advantageously the utility model embodiment can be can pass through connecting pin 10 in concrete application by the output shaft 2 at axial both ends The application scheme being connected.

It includes drive disk 4 and output shaft 2 by 1 eccentric drive of input shaft that the utility model component, which can also refer to, is driven Be both provided with grip block on Moving plate 4 and output shaft 2, be provided with translating rails 7 between slide plate 3 and each grip block, translating rails 7 with The sliding component for making the two keep radial slippage cooperation is equipped between slide plate 3, sliding component is decussation roller 9, is co-located on slide plate 3 In 7 side V-groove 31 of side V-groove 31 and translating rails, translating rails 7 are separately fixed on drive disk 4 and output shaft 2, are driven Two grip blocks are both provided on Moving plate 4 and output shaft 2, four sides of slide plate 3 are clamping face.Certain slide plate 3 can be arranged At there is no less than four sides etc..Sagittal plane relative motion between drive disk 4, slide plate 3 and output shaft 2 is led by translation Rail 7 transmits and release, so that the two is kept the preferred roller of sliding component of radial slippage cooperation and is co-located on 3 side of slide plate In 7 side V-groove 31 of face V-groove 31 and translating rails, the power that translating rails 7 discharge is radial load, is reduced to 3 hardness of slide plate Requirement, and axial topology layout can be made more compact, sliding friction has been lacked in release eccentric motion deceleration, improves transmission effect Rate.I.e. translating rails 7 drive with decussation roller 9 for discharging eccentric motion, the centering rotation of 2 last primary recipient slide plate 3 of output shaft Power.

Claims (5)

1. a kind of driving skateboard component with hybrid motion, includes skateboard body, it is characterised in that：The skateboard body has same When be clamped and constituted therewith by each actuator and driven member the clamping face that the clamping of radial slippage axial rotation coordinates, on clamping face Equipped with the mounting groove with each actuator and driven member or the receiving sliding component of its mating guide rail cooperation.

2. the driving skateboard component according to claim 1 with hybrid motion, it is characterised in that：Clamping face is skateboard body Axial sides.

3. the driving skateboard component according to claim 1 or 2 with hybrid motion, it is characterised in that：It is sliding in skateboard body The mounting groove for moving part is that the mounting groove in V-groove with the sliding component in each actuator and driven member or its mating guide rail coordinates It constitutes rolling and leans on slippage slot.

4. the driving skateboard component according to claim 3 with hybrid motion, it is characterised in that：Skateboard body, which is equipped with, to be supplied The hollow hole of input shaft installation, the periphery of hollow hole is laid with the pin hole of connecting pin clearance fit.

5. the driving skateboard component with hybrid motion according to claim 1 or 2 or 4, it is characterised in that：Further include have by The drive disk and output shaft of input shaft eccentric drive are both provided with grip block, slide plate and each clamping on drive disk and output shaft It is provided with translating rails between block, the sliding component for making the two keep radial slippage cooperation is equipped between translating rails and slide plate, it is sliding Shifting part is decussation roller, is co-located in slide plate side V-groove and translation rail-sides face V-groove, translating rails are fixed respectively On drive disk and output shaft, two grip blocks are both provided on drive disk and output shaft, four sides of slide plate are clamping face.