Crosshead shoes driving reducer for multi-joint robot

Abstract

The invention relates to a crosshead shoes driving reducer for a multi-joint robot. The crosshead shoe driving reducer for the multi-joint robot comprises input shafts, output shafts, reducer bodies, crosshead shoes, transmission balls, track controllers and drive balls. The input shafts, the crosshead shoes, the track controllers and the output shaft are installed in the reducer bodies. Transmission tracks used for the installation of the transmission balls are arranged in the crosshead shoes. The transmission balls move in the transmission tracks to convey the movement of the input shafts to the track controllers. Moving track used for the installation of the drive balls are arranged on the lower surfaces of the track controllers. The track controllers adjust the output of the output shafts through the drive balls. According to the crosshead shoe driving reducer for the multi-joint robot, automatic adjustment for complete consistency of movement and eccentric magnitude of an eccentric shaft is achieved, the tracks of the transmission balls and the tracks of the track controllers of the reducer are completely consistent, the output of the reducer is stable, and the mechanical wear rate is low.

Description

technical field [0001] The invention relates to mechanical transmission reduction technology, in particular to a cross slide drive reducer for a multi-joint robot. Background technique [0002] At present, most of the mechanical transmission reducers on the market are driven by gears or worm gears. The main principle is to change the speed by changing the number of teeth of the gears. The defects and deficiencies of this type of mechanical transmission reducer are: due to the low machining accuracy of the transmission parts, there is a certain process gap in the design and installation process of the gear or worm gear reducer, which affects the output accuracy. The movement between them is in the form of a high pair, which is prone to problems such as mechanical wear, unstable transmission, loud noise, and poor output accuracy. [0003] In the Chinese invention patent application CN102767600A published on July 31, 2012, a BS reducer that uses S-shaped cycloidal grooves and ...

AI Technical Summary

Problems solved by technology

The defects and deficiencies of this type of mechanical transmission reducer are: due to the low machining accuracy of the transmission parts, there is a certain process gap in the design and installation process of the gear or worm gear reducer, which affects the output accuracy. The movement between them is in the form of a high pair, which is prone to problems such as mechanical wear, unstable transmission, loud noise, and poor output accuracy.

However, the S-shaped cycloidal groove of the BS reducer limits the eccentricity of the eccentric shaft, making it impossible to completely control the trajectory of the reducer during the movement, and the mechanical interference generated by the ball in the S-shaped cycloidal groove is prone to deceleration Unstable machine output, stepping vibration, high heat generation, high wear rate and other undesirable phenomena

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