A reducer for a robot

Abstract

The present invention discloses a reducer for a robot, including a housing, an input shaft, an output shaft, a small-tooth difference mechanism and a power output mechanism, wherein the input shaft extends into the housing from one end of the housing; the output shaft extends into the housing from the other end of the housing; the small-tooth difference mechanism includes an outer gear and an inner gear ring that mesh with each other, the inner gear ring is arranged on the inner wall of the housing, and the outer gear is eccentrically arranged on the input shaft; the power output mechanism includes a connecting assembly and a clearance adjustment assembly, the connecting assembly is used to connect the outer gear and the output shaft, and the clearance adjustment assembly is used to adjust the connection position of the outer gear and the connecting assembly. The present invention is simple to manufacture, does not require high-precision imported equipment, and can be made with ordinary machine tools to avoid dead-end dimensional accuracy; a clearance adjustment assembly is provided on the power output mechanism, which can adjust the connection position of the outer gear and the connecting assembly to ensure output accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of reducers, and in particular relates to a reducer for a robot. Background Art

[0002] At present, my country is vigorously promoting artificial intelligence robots. Most of the key components of the reducer are RV and harmonic reducers, which have the advantages of a large transmission ratio range, high precision, and high transmission efficiency. Their manufacturing requires high-precision processing equipment. my country only has imported processing equipment, but it still cannot reach the precision of foreign countries. Many investors blindly start to cause great losses. Dozens of domestic manufacturers have invested in research on RV reducers and harmonic reducers. Although some manufacturers have achieved an accuracy of within one arc minute, there is still a big gap in the accuracy and life span; domestic manufacturers are constant temperature workshops, and manufacturing requires the use of imported production equipment, imported bearings and special materials, which requires a high degree of precision. There are problems such as difficult processing, difficult assembly, high scrap rate, low mass production and high cost. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a reducer for a robot, which has high precision and long life and can replace RV and harmonic reducer.

[0004] A speed reducer for a robot, comprising a housing and further comprising:

[0005] An input shaft extending from one end of the housing into the housing;

[0006] an output shaft, the output shaft extending from the other end of the housing into the housing;

[0007] A small-tooth difference mechanism, comprising an outer gear and an inner gear ring meshing with each other, wherein the inner gear ring is arranged on the inner wall of the housing, and the outer gear is eccentrically arranged on the input shaft;

[0008] A power output mechanism comprises a connecting assembly and a clearance adjustment assembly, wherein the connecting assembly is used to connect the external gear and the output shaft, and the clearance adjustment assembly is used to adjust the connection position between the external gear and the connecting assembly.

[0009] The above technical solution is preferred, wherein the connecting assembly includes a cross intermediate disk and a first protrusion, wherein the first protrusion is arranged on a side of the cross intermediate disk close to the external gear, and the external gear is correspondingly provided with a first groove, and the gap adjustment assembly is used to adjust the position of the first protrusion in the first groove, and the other side of the cross intermediate disk is connected to the output shaft.

[0010] Preferably, the above technical solution is that the first protrusion and the cross intermediate disk are connected by fixing screws, the cross intermediate disk and the first protrusion are provided with a center hole for passing the input shaft, one side or both sides of the center hole are provided with the gap adjustment component corresponding to the first groove, the gap adjustment component includes an adjustment key and a screw, the first protrusion is provided with a first connecting hole, the adjustment key is arranged in the first connecting hole, a threaded hole is provided at the eccentric part of the adjustment key, and the screw passes through the cross intermediate disk and is threadedly connected to the threaded hole.

[0011] Preferably, the above technical solution is that the gap adjustment assembly also includes an operating member, a second connecting hole is provided on the cross intermediate disk, the operating member is arranged in the second connecting hole, a third connecting hole is provided at the center of the operating member, a connecting portion protruding toward the operating member is provided on the side of the adjustment key close to the operating member, a connecting groove is correspondingly provided on the side of the operating member close to the adjustment key, the connecting portion extends into the connecting groove, and the screw passes through the third connecting hole and is threadedly connected to the threaded hole.

[0012] Preferably, in the above technical solution, an operating groove is provided on a side of the operating member away from the adjusting key.

[0013] Preferably, in the above technical solution, one side surface of the first protrusion is an inclined surface, and the other side surface of the first protrusion is a vertical surface.

[0014] Preferably, in the above technical solution, the hole on the first protrusion for installing the fixing screw is a round hole, and the hole on the cross intermediate plate for installing the fixing screw is an oblong hole.

[0015] Preferably, the above technical solution is that a second groove is provided on a side of the cross intermediate disk away from the external gear, the second groove and the first protrusion are arranged in a cross shape, and a second protrusion is correspondingly provided on the output shaft, and the second protrusion is arranged in the second groove.

[0016] Preferably, the above technical solution is that a radial clearance adjustment component is provided on the input shaft, and the radial clearance adjustment component includes a top screw, an adjustment sleeve and a radial moving block. The input shaft is provided with a bearing inner sleeve, a bearing is provided outside the bearing inner sleeve, and the external gear is provided outside the bearing. An adjustment hole is provided at the eccentric part of the input shaft, and the adjusting sleeve is provided outside the top screw sleeve. The top screw and the adjusting sleeve are arranged in the adjusting hole. A through hole is provided on the input shaft perpendicular to the adjusting hole, and the radial moving block is arranged in the through hole. One end of the radial moving block contacts the inner wall of the bearing inner sleeve, and the other end of the radial moving block contacts the adjusting sleeve. The surface of the adjusting sleeve contacting the radial moving block is an inclined surface, and the side of the inclined surface close to the output shaft is lower than the other side of the inclined surface away from the output shaft.

[0017] Preferably, the top screw is fixedly connected to the adjusting sleeve, and the top screw is threadedly connected to the adjusting hole.

[0018] The advantages and positive effects of the present invention are as follows: the present invention provides a reducer for a robot, which is simple to manufacture and does not require high-precision imported equipment, but can be manufactured using ordinary machine tools, thereby avoiding the need to interfere with dimensional accuracy; a clearance adjustment component is provided on the power output mechanism, which can adjust the connection position between the external gear and the connecting component to ensure output accuracy; a radial clearance adjustment component is provided on the external gear and the internal gear ring, which can achieve high precision and zero error through the meshing of internal and external teeth and grinding; the bearings use domestic bearings and domestic materials with low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a front view of a reducer provided by an embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of the installation of the first protrusion and the external gear provided by an embodiment of the present invention;

[0021] Figure 3 It is a schematic diagram of the installation of the cross intermediate disk and the first protrusion provided by one embodiment of the present invention;

[0022] Figure 4 yes Figure 3 Left view of;

[0023] Figure 5 is a front view of an adjustment key provided by an embodiment of the present invention;

[0024] Figure 6 is a left view of an adjustment key provided by an embodiment of the present invention;

[0025] Figure 7 is a right side view of an adjustment key provided by an embodiment of the present invention;

[0026] Figure 8 is a front view of an operating member provided by an embodiment of the present invention;

[0027] Fig. 9 is a left side view of an operating member provided by an embodiment of the present invention;

[0028] Fig.10 is a right side view of an operating member provided by an embodiment of the present invention;

[0029] Fig.11 It is a torque-angle diagram detected by one embodiment of the present invention.

[0030] Among them: 1. housing; 2. input shaft; 3. output shaft; 4. external gear; 5. internal gear ring; 6. cross intermediate disk; 7. first protrusion; 8. first groove; 9. fixing screw; 10. center hole; 11. adjustment key; 12. screw; 13. first connecting hole; 14. threaded hole; 15. operating member; 16. third connecting hole; 17. connecting part; 18. connecting groove; 19. operating groove; 20. inclined surface; 21. round hole; 22. oblong hole; 23. second groove; 24. second protrusion; 25. top screw; 26. adjusting sleeve; 27. radial moving block; 28. bearing inner sleeve; 29. ​​bearing; 30. adjusting hole. DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0034] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0035] This embodiment provides a reducer for a robot, such as Figure 1-10As shown, it includes a housing 1, an input shaft 2, an output shaft 3, a small tooth difference mechanism and a power output mechanism. The input shaft 2 extends into the housing 1 from one end of the housing 1; the output shaft 3 extends into the housing 1 from the other end of the housing 1; the small tooth difference mechanism includes an outer gear 4 and an inner gear ring 5 meshing with each other, the inner gear ring 5 is arranged on the inner wall of the housing 1, and the outer gear 4 is eccentrically arranged on the input shaft 2; the small tooth difference mechanism is composed of a pair of internal meshing gears with a small difference in the number of teeth, which has the advantages of large transmission ratio, simple structure and low manufacturing cost; the power output mechanism is arranged between the outer gear 4 and the output shaft 3, and is used to transmit power to the output shaft 3; the power output mechanism includes a connecting assembly and a clearance adjustment assembly, the connecting assembly is used to connect the outer gear 4 and the output shaft 3, and the clearance adjustment assembly is used to adjust the connection position of the outer gear and the connecting assembly.

[0036] Specifically, the power output mechanism includes a cross intermediate disk 6, a first protrusion 7 and a gap adjustment assembly. The first protrusion 7 is arranged on the side of the cross intermediate disk 6 close to the external gear 4, and the external gear 4 is correspondingly provided with a first groove 8. Since the external gear 4 is eccentrically arranged, the external gear 4 is also eccentrically arranged relative to the cross intermediate disk 6. In order to ensure the connection between the first protrusion 7 and the first groove 8, a gap adjustment assembly is arranged on the cross intermediate disk 6 and the first protrusion 7. The gap adjustment assembly is used to adjust the position of the first protrusion 7 in the first groove 8, thereby adjusting the gap between the first protrusion 7 and the first groove 8. The other side of the cross intermediate disk 6 is connected to the output shaft 3.

[0037] Further, the first protrusion 7 and the cross intermediate disk 6 are connected by fixing screws 9, and a center hole 10 for passing the input shaft 2 is provided on the cross intermediate disk 6 and the first protrusion 7, and a clearance adjustment component is provided on one or both sides of the center hole 10 corresponding to the first groove 8. In this embodiment, a clearance adjustment component is provided on both sides of the center hole 10. The clearance adjustment component includes an adjustment key 11 and a screw 12, a first connecting hole 13 is provided on the first protrusion 7, the adjustment key 11 is arranged in the first connecting hole 13, a threaded hole 14 is provided at the eccentric part of the adjustment key 11, and the screw 12 passes through the cross intermediate disk 6 and is threadedly connected to the threaded hole 14.

[0038] In order to facilitate the adjustment operation, the gap adjustment assembly further includes an operating member 15. In this embodiment, only one adjustment key 11 is provided with an operating member 15. For example, Figure 3An operating member 15 is correspondingly provided at the lower middle adjustment key 11, and the lower screw 12 passes through the operating member 15 in the cross intermediate disk 6 and is connected to the threaded hole 14 of the adjustment key 11. The upper adjustment key 11 is not provided with an operating member 15, and the upper screw 12 passes through the cross intermediate disk 6 and is connected to the threaded hole 14 of the adjustment key 11; the specific configuration of the operating member 15 is as follows: a second connecting hole is provided on the cross intermediate disk 6, the operating member 15 is provided in the second connecting hole, a third connecting hole 16 is provided at the center of the operating member 15, and the axes of the second connecting hole, the third connecting hole 16 and the threaded hole 14 are colinear; a connecting portion 17 protruding toward the operating member 15 is provided on the side of the adjustment key 11 close to the operating member 15, and a connecting groove 18 is correspondingly provided on the side of the operating member 15 close to the adjustment key 11, the connecting portion 17 extends into the connecting groove 18, and the screw 12 passes through the third connecting hole 16 and is threadedly connected to the threaded hole 14.

[0039] Optionally, an operating groove 19 is provided on the side of the operating member 15 away from the adjustment key 11. The operating groove 19 is in a straight line shape and is arranged at the center of the end surface of the operating member 15 away from the adjustment key 11. During adjustment, the screw 12 and the fixing screw 9 in the gap adjustment assembly are not installed. The operating member 15 is rotated through the operating groove 19 on the operating member 15 for fine adjustment. The operating member 15 is connected to the adjustment key 11 through the connecting groove 18. Since the adjustment key 11 is eccentrically arranged, the eccentric rotation of the adjustment key 11 can drive the first protrusion 7 to rotate slightly, thereby realizing the fine adjustment of the first protrusion 7. After adjustment, the screw 12 and the fixing screw 9 are tightened, and the first protrusion 7 is installed on the cross intermediate disk 6. In order to prevent the side wall of the first groove 8 from interfering with the fine rotation of the first protrusion 7, one side of the first protrusion 7 is an inclined surface 20, and the other side of the first protrusion 7 is a vertical surface. Specifically in this embodiment, the second connecting hole of the upper cross intermediate disk 6 is a stepped hole for installing the screw 12; the second connecting hole below is a stepped hole for installing the operating member 15, the operating member 15 has a stepped shape, and the third connecting hole 16 inside the operating member 15 is a stepped hole for installing the screw 12.

[0040] The adjustment key 11 is circular, and the distance between the center of the threaded hole 14 and the geometric center of the adjustment key 11 is 0.8-1.2mm. Preferably, the distance between the center of the threaded hole 14 and the geometric center of the adjustment key 11 is 1mm. In this embodiment, the inclined surface 20 of the first protrusion 7 increases the width of the first protrusion 7 from top to bottom. The operating member 15 is slightly rotated on the side away from the external gear 4, and the operating member 15 drives the adjustment key 11 to rotate eccentrically. The eccentric rotation of the adjustment key 11 drives the first protrusion 7 to rotate slightly, thereby realizing the fine adjustment of the position of the first protrusion 7 in the first groove 8, which is conducive to installing the first protrusion 7 in a suitable position of the first groove 8, and effectively improving the output accuracy.

[0041] In order to facilitate the installation of the fastening screws, the hole on the first protrusion 7 for installing the fixing screw 9 is a round hole 21, and the hole on the cross intermediate plate 6 for installing the fixing screw 9 is an oblong hole 22.

[0042] A second groove 23 is provided on one side of the cross intermediate disk 6 away from the external gear 4, and the second groove 23 and the first protrusion 7 are arranged in a cross shape, and a second protrusion 24 is correspondingly provided on the output shaft 3, and the second protrusion 24 is arranged in the second groove 23. Optionally, the second protrusion 24 can also be arranged on the cross intermediate disk 6, and the second groove 23 is correspondingly arranged on the output shaft 3.

[0043] In order to further improve the transmission accuracy, a radial clearance adjustment component is provided on the input shaft 2, and the radial clearance adjustment component includes a top screw 25, an adjustment sleeve 26 and a radial moving block 27. The input shaft 2 is provided with a bearing inner sleeve 28, and a bearing 29 is provided outside the bearing inner sleeve 28, and an external gear 4 is provided outside the bearing 29. An adjustment hole 30 is provided at the eccentric part of the input shaft 2, and an adjustment sleeve 26 is provided outside the top screw 25. The top screw 25 and the adjustment sleeve 26 are arranged in the adjustment hole 30. A through hole is provided on the input shaft 2 perpendicular to the adjustment hole 30, and a radial moving block 27 is provided in the through hole. One end of the radial moving block 27 contacts the inner wall of the bearing inner sleeve 28, and the other end of the radial moving block 27 contacts the adjustment sleeve 26. The contact surface of the adjustment sleeve 26 and the radial moving block 27 is an inclined surface 20, and the side of the inclined surface 20 close to the output shaft 3 is lower than the other side of the inclined surface 20 away from the output shaft 3. The top screw 25 is fixedly connected to the adjustment sleeve 26, such as welding, and the top screw 25 is threadedly connected to the adjustment hole 30. By screwing the top screw 25 , the top screw 25 drives the adjusting sleeve 26 to move axially, and the adjusting sleeve 26 drives the radial moving block 27 and the bearing inner sleeve 28 to move up and down, thereby adjusting the radial clearance of the meshing of the outer gear 4 and the inner gear ring 5 .

[0044] The working process of this embodiment is as follows: power is input through the input shaft 2, the input shaft 2 drives the outer gear 4 to rotate, the outer gear 4 is meshed with the inner gear ring 5, and since the number of teeth of the outer gear 4 and the inner gear ring 5 is very small, the transmission ratio is large and the speed is low, the first groove 8 of the outer gear 4 is connected to the cross intermediate disk 6 through the first protrusion 7, and the second groove 23 on the cross intermediate disk 6 is connected to the second protrusion 24 on the output shaft 3, so as to output. The gap between the first groove 8 and the first protrusion 7 can be fine-tuned by twisting the operating member 15; the radial gap between the outer gear 4 and the inner gear ring 5 can be fine-tuned by twisting the top screw 25.

[0045] Based on this embodiment, the Reliability and Environmental Engineering Center of China CESI Laboratory (Fifth Institute of Electronics, Ministry of Industry and Information Technology) has been commissioned to test the reducer sample of this embodiment with reference to GB / T 30819-2014 "Harmonic Gear Reducer for Robots". The test results are as follows: Fig.11As shown, the backlash of reducer sample 1# is detected to be 0.3156 arc minutes. The highest accuracy of this parameter of similar foreign products is 1 arc minute, and the accuracy of this embodiment is higher than that of similar foreign products.

[0046] The advantages and positive effects of the present invention are as follows: the present invention provides a reducer for a robot, which has a large transmission ratio and is simple to manufacture. It does not require high-precision imported equipment, but can be manufactured using ordinary machine tools, thereby avoiding the need to interfere with dimensional accuracy. A gap adjustment component is provided on the cross intermediate disk, which can adjust the position of the first protrusion in the first groove to ensure output accuracy. A radial gap adjustment component is provided on the outer gear and the inner gear ring, which can achieve high precision and zero error through the meshing of the inner and outer teeth and grinding. The bearings use domestic bearings and domestic materials with low cost.

[0047] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A speed reducer for a robot, comprising a housing, characterized in that: Also includes: An input shaft extending from one end of the housing into the housing; an output shaft, the output shaft extending from the other end of the housing into the housing; A small-tooth difference mechanism, comprising an outer gear and an inner gear ring meshing with each other, wherein the inner gear ring is arranged on the inner wall of the housing, and the outer gear is eccentrically arranged on the input shaft; A power output mechanism, the power output mechanism comprising a connecting assembly and a gap adjustment assembly, the connecting assembly is used to connect the external gear and the output shaft, and the gap adjustment assembly is used to adjust the connection position between the external gear and the connecting assembly; The connecting assembly comprises a cross intermediate disk and a first protrusion, wherein the first protrusion is arranged on one side of the cross intermediate disk close to the external gear, and the external gear is correspondingly provided with a first groove, and the clearance adjustment assembly is used to adjust the position of the first protrusion in the first groove, and the other side of the cross intermediate disk is connected to the output shaft; The first protrusion and the cross intermediate disk are connected by fixing screws, the cross intermediate disk and the first protrusion are provided with a central hole for passing the input shaft, one side or both sides of the central hole are provided with the clearance adjustment component corresponding to the first groove, the clearance adjustment component includes an adjustment key and a screw, the first protrusion is provided with a first connecting hole, the adjustment key is arranged in the first connecting hole, a threaded hole is provided at the eccentric part of the adjustment key, the screw passes through the cross intermediate disk and is threadedly connected with the threaded hole; The gap adjustment assembly also includes an operating member, a second connecting hole is provided on the cross intermediate disk, the operating member is arranged in the second connecting hole, a third connecting hole is provided at the center of the operating member, a connecting portion protruding toward the operating member is provided on the side of the adjustment key close to the operating member, a connecting groove is correspondingly provided on the side of the operating member close to the adjustment key, the connecting portion extends into the connecting groove, and the screw passes through the third connecting hole and is threadedly connected to the threaded hole; The input shaft is provided with a radial clearance adjustment component, which includes a top screw, an adjustment sleeve and a radial moving block. The input shaft is provided with a bearing inner sleeve, a bearing is provided outside the bearing inner sleeve, and the external gear is provided outside the bearing. An adjustment hole is provided at the eccentric part of the input shaft, and the adjustment sleeve is provided outside the top screw sleeve. The top screw and the adjustment sleeve are arranged in the adjustment hole. A through hole is provided on the input shaft perpendicular to the adjustment hole, and the radial moving block is arranged in the through hole. One end of the radial moving block contacts the inner wall of the bearing inner sleeve, and the other end of the radial moving block contacts the adjustment sleeve. The surface of the adjustment sleeve contacting the radial moving block is an inclined surface, and the side of the inclined surface of the cross intermediate disk close to the output shaft is lower than the other side of the inclined surface away from the output shaft.

2. The robot reducer according to claim 1, characterized in that: An operating groove is arranged on a side of the operating member away from the adjusting key.

3. The robot reducer according to claim 1, characterized in that: One side surface of the first protrusion is an inclined surface, and the other side surface of the first protrusion is a vertical surface.

4. The robot reducer according to claim 1, characterized in that: The hole on the first protrusion for installing the fixing screw is a round hole, and the hole on the cross intermediate plate for installing the fixing screw is an oblong hole.

5. The robot reducer according to claim 1, characterized in that: A second groove is provided on a side of the cross intermediate disk away from the external gear, and the second groove and the first protrusion are arranged in a cross shape. A second protrusion is correspondingly provided on the output shaft, and the second protrusion is arranged in the second groove.

6. The robot reducer according to claim 1, characterized in that: The top screw is fixedly connected to the adjusting sleeve, and the top screw is threadedly connected to the adjusting hole.

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