Novel satellite speed reducer and implementation method thereof

Abstract

The novel satellite speed reducer comprises a sixth joint, a fifth joint and a fourth joint, and the implementation method of the novel satellite speed reducer comprises the steps that a sixth joint gear ring, a six-axis box and a connecting plate are connected with a crossed roller bearing, and a six-axis motor transmits power to a sixth joint input wheel through a synchronous belt and a bevel gear pair; a fifth joint speed reducer is of a split structure, a gear ring is connected with a five-axis box, a gear support is connected with a six-axis box, a five-axis motor transmits power to a fifth joint through a synchronous belt, a sixth joint is installed between the six-axis box and a connecting plate, and a closed space capable of freely rotating is formed by the sixth joint, a bearing and an oil seal in two end holes of the six-axis box. The bypass pipe of the fourth shaft joint and the five-axle box are connected with a fixed crossed roller bearing inner ring, the other side of the bypass pipe is connected with the front end of the satellite speed reducer, the cage pipe and the four-axle box are connected with a fixed crossed roller bearing outer ring, the other end of the cage pipe is connected with the outer end of the satellite speed reducer, and the whole structure is simple, high in rigidity, small in size, light and convenient to install and maintain.

Description

Technical Field

[0001] The invention relates to the technical field of planetary reducers, in particular to a satellite reducer. Background Art

[0002] Satellite reducers are widely used industrial products suitable for various mechanical equipment, including aerospace, wind power, CNC machine tools and automobiles, and are mainly used in robot joints.

[0003] In traditional robot joints, the torque transmission of harmonic reducers is relatively weak, the output torque is small, and the transmission efficiency is low. In order to solve these problems, it is usually necessary to increase the specifications and dimensions, which increases the overall volume of the reducer and increases the kinetic energy loss. In addition, the flexible wheel of the harmonic reducer deforms periodically, generating alternating stress, which is prone to fatigue failure, reducing its service life and working accuracy. In addition, the moment of inertia and starting torque are large, which are not suitable for low-power tracking transmission. The large transmission ratio cannot be used for applications with a transmission ratio of less than 30. Due to the above problems, its application in robot joints is limited.

[0004] The main reason why traditional planetary reducers cannot be applied to robot joints is that the transmission ratio of a single-stage planetary gear is less than or equal to 10. Adding a gear transmission structure will increase the length of the reducer. In addition, the increase in the transmission chain will cause error accumulation, thereby reducing the accuracy of the reducer, which limits its application in robot joints.

[0005] Based on the above reasons, the present invention designs a new type of satellite reducer and its implementation method, which fully utilizes the characteristics of the satellite reducer such as high transmission efficiency, high load-bearing capacity, long service life, stable operation, low noise, small size and light weight, thereby improving the service life of the entire robot. Without increasing the external structure size, it is suitable for more application fields, and has a simple and reliable structure, low and controllable cost, stable and efficient operation. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a new type of satellite reducer and its implementation method, including a sixth axis joint, a fifth axis joint and a fourth axis joint, and its implementation method includes: the cross roller bearing at the front end of the sixth axis transmission group is connected to the customer's terminal actuator, the gear ring is connected to the six-axis box, the sixth axis transmission group is installed on the connecting plate, the six-axis motor transmits power to the satellite reducer input wheel of the sixth axis joint through the synchronous pulley assembly and the bevel gear pair to drive the sixth joint to rotate, the fifth axis transmission group gear ring is fixed on the five-axis box, and the five-axis motor transmits power to the sixth axis through the synchronous pulley assembly. The satellite reducer input wheel 2 of the axle-axle joint drives the fifth joint to rotate, the bearing 3 arranged on the gear ring 2 (and the bracket 2 are connected to the six-axle box, the other end of the connecting plate is fixed to the five-axle box, the sixth joint is clamped between the six-axle box and the connecting plate, and the holes at both ends of the six-axle box are respectively provided with bearing 4 and oil seal 3, so that the sixth axis joint can rotate back and forth freely, and the internal space is closed, the fourth axis joint is provided with a bypass pipe connected to the five-axle box and fixing the inner ring of the second cross roller bearing, the other side of the bypass pipe is connected to the front end face of the satellite reducer, the cage pipe is fixed to the four-axle box The outer ring of the second cross roller bearing, and the other end is connected to the outer front end of the satellite reducer.

[0007] The satellite reducer of the sixth axis joint adopts an integrated design of satellite wheel bracket, planetary wheel bracket and cross roller bearing.

[0008] The power of the sixth axis joint is transmitted to the rotating shaft by the six-axis motor arranged on the connecting plate through the synchronous belt and synchronous pulley, and then transmitted to the input wheel 2 of the shaft through the bevel gear pair, thereby driving the sixth joint to rotate in the opposite direction.

[0009] The satellite reducer of the fifth-axis joint adopts a split design and requires the help of four bearings symmetrically arranged in the holes on both sides of the sixth-axis joint to work properly.

[0010] The bracket 2 of the fifth axis joint is connected and fixed to the six-axis box of the sixth joint, and the gear ring 2 is connected and fixed to the five-axis box of the fifth joint.

[0011] The power of the fifth axis joint is directly transmitted to the input wheel 2 of the axis by the fifth axis motor through the synchronous belt 1 and the synchronous pulley, thereby driving the fifth joint to rotate in the opposite direction.

[0012] The bypass pipe of the fourth axis joint is connected to the five-axis box and fixes the two inner rings of the cross roller bearing. The other side of the bypass pipe is connected to the front end face of the satellite reducer. The cage pipe and the four-axis box fix the two outer rings of the cross roller bearing, and the other end is connected to the outer front end of the satellite reducer.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention solves the problem of insufficient structural rigidity of traditional planetary brackets caused by the large speed ratio and high torque of the satellite reducer by integrating the planetary wheel bracket with the satellite wheel bracket. The load capacity can be increased three times along with the output torque of the satellite wheel without increasing its own volume. The cross roller bearing and the bracket of the sixth joint are arranged as an integrated whole to meet the customers' requirements for high load and high precision.

[0014] Setting the sixth and fifth axes to a synchronous belt drive structure solves the problems of the robot's joints being too large and the force arm's center of gravity deviating too far. It also has the function of matching the speed ratio and also has a buffering protection effect on the motor.

[0015] The connecting parts between the fourth joint and the fifth joint, namely the bypass pipe and the cage pipe, are designed as a combination. The bypass pipe adopts a spiral groove design, and the cage pipe adopts a hollow design, which not only increases the turning radius of the fourth axis, but also maximizes the cable protection space while ensuring the structural strength.

[0016] The overall structure is more compact, reasonable, and small in size, with higher power conversion efficiency and lower cost, which provides assistance for the application of satellite reducers in robot joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front schematic diagram of the present invention.

[0018] Figure 2 It is the AA cross-sectional view of the present invention.

[0019] Figure 3 It is a front schematic diagram of the sixth joint of the present invention.

[0020] Figure 4 It is a BB cross-sectional view of the sixth joint of the present invention.

[0021] Figure 5 It is a front schematic diagram of the fifth joint of the present invention.

[0022] Figure 6 It is a CC cross-sectional view of the fifth joint of the present invention.

[0023] Figure 7 It is a front schematic diagram of the fourth joint of the present invention.

[0024] Figure 8 It is a DD cross-sectional view of the fourth joint of the present invention.

[0025] Fig. 9 It is an EE cross-sectional view of the fourth joint of the present invention.

[0026] Description of reference numerals: 1 sixth joint, 2 fifth joint, 5 fourth joint, 3 screw twenty, 4 screw twenty-one.

[0027] 101 gear ring 1, 102 bracket 1, 103 cross roller bearing 1, 104 small wheel 1, 105 large wheel 1, 106 satellite wheel 1, 107 baffle 1, 108 input wheel 1, 109 seat plate 1, 110 screw 1, 111 oil seal 1, 112 bearing 1, 113 needle roller 1, 114 pin 1, 115 screw 2, 116 retaining ring 1, 117 screw 3, 118 bearing 2, 119 oil seal 2, 120 flat key 1, 121 screw 4, 122 six-axle box, 123 oil seal 3, 124 bearing 4, 125 sleeve 1, 126 bevel gear 1, 127 baffle 1, 128 screw 5.

[0028] 201 Gear ring 2, 202 Bracket 2, 203 Synchronous belt pulley 1, 204 Small wheel 2, 205 Large wheel 2, 206 Satellite wheel 2, 207 Baffle 2, 208 Input wheel 2, 209 Seat plate 2, 210 Bearing 5, 211 Flat key 2, 212 Bearing 6, 213 Needle roller 2, 214 Pin 2, 215 Screw 6, 216 Retaining ring 2, 217 Screw 7, 218 Bearing 7, 219 Oil seal 4, 220 Synchronous belt pulley 2, 221 Screw 8, 222 Synchronous belt 1, 223 Flat key 3, 224 Screw 9, 225 Baffle 2, 226 Set screw , 227 nut, 228 screw ten, 229 tensioning seat, 230 screw eleven, 231 motor seat, 232 screw twelve, 233 screw thirteen, 234 screw fourteen, 235 connecting sleeve, 236 bearing sleeve, 237 outer sleeve, 238 oil seal five, 239 inner sleeve, 240 bearing eight, 241 bevel gear two, 242 flat key four, 243 when sleeve two, 244 retaining ring three, 245 connecting plate, 246 rotating shaft, 247 synchronous belt two, 248 screw fifteen, 249 five-axis box, 250 shaft retaining ring, 251 five-axis motor, 252 six-axis motor.

[0029] 301 bypass pipe, 302 oil seal six, 303 screw sixteen, 304 four-axis box, 305 cage tube, 306 screw seventeen, 307 screw eighteen, 308 cross roller bearing two, 30 four-axis motor nine, 310 screw nineteen, 311 four-axis satellite reducer, 312 screw twenty, 313 four-axis cover. DETAILED DESCRIPTION

[0030] The present invention will now be further described with reference to the accompanying drawings.

[0031] See also Figures 1 to 9The present invention provides a novel satellite reducer and its implementation method, including a sixth axis joint, a fifth axis joint and a fourth axis joint part, a cross roller bearing 103 connected with an oil seal 111 and a bracket 102, a needle roller 113 installed in a hole of a satellite wheel 106, and placed together in a groove of a bracket 102, aligned with the hole, fixed with a pin 114, a bearing 112 installed in the hole of the bracket 102, a large wheel 105 placed in the groove of the bracket 102, aligned with the hole, an outer tooth of a small wheel 104 is aligned with an inner tooth of a large wheel 105 and installed, and a bearing 112 at the other end is installed in the hole of the bracket 102 , install baffle 107, tighten it with screw 2 115, install ring gear 101, tighten it with screw 110, install two bearings 2 118 into the hole of seat plate 109, fix it with retaining ring 116, install oil seal 2 119, install them into the hole of ring gear 101 together, tighten it with screw 3 117, add appropriate amount of grease, install input wheel 108, sleeve 125, flat key 120, bevel gear 126, baffle 127 in turn, tighten it with screw 5 128, install a bearing 4 124 and an oil seal 3 123 in the holes on both sides of the six-axle box 122 respectively.

[0032] Install the needle roller 213 into the hole of satellite wheel 206, put them together into the groove of bracket 202, align them with the hole, and fix them with pin 214. Install bearing 6 212 into the hole of bracket 202, put large wheel 205 into the groove of bracket 202, align them with the hole, align the outer teeth of small wheel 204 with the inner teeth of large wheel 205, install bearing 6 212 at the other end into the hole of bracket 202, install bearing 5 210, install baffle 207, tighten and fix it with screw 6 215, install gear ring 201, install them together into the five-axis box 249, tighten and fix them with screw 8 221, respectively install two bearings 7 218, oil seal 4 219 and hole retaining ring 216 into the holes of seat plate 209 , install the input wheel 208, fix it with the shaft retaining ring 250, install the flat key 3 223, the synchronous pulley 203, the baffle 225 in sequence, fix them with screws 9 224, install the five-axis motor 251 to the motor base 231, fix the flat key 211, the synchronous pulley 220 and the baffle 225 with screws 9 respectively, install them together into the five-axis box 249, install the screw 11 230, install the tensioning seat 229, fix it with screws 10, screw the nut 227 into the set screw 226, screw it into the threaded hole of the tensioning seat 229, insert the synchronous belt 1 222, install the previously installed six-axis box 122 into the gear ring 201, and connect the six-axis box 122 to the bracket 202 with screws 203.

[0033] Install the bypass pipe 301 to the front end of the four-axis satellite reducer 311 and fix it with screw 17 306, install the cage pipe 305 to the outer front end of the four-axis satellite reducer 311 and fix it with screw 18 307, install the four-axis motor 309 to the rear end of the four-axis satellite reducer 311 and fix it with screw 19 310, install the cross roller bearing 2 308 on the bypass pipe 301, and install them together into the hole of the four-axis box 304, fix it with screw 16 303, install the oil seal 6 302, install the four-axis cover 313, and fix it with screw 20 312.

[0034] Install the assembled five-axis box 249 onto the assembled fourth-axis joint and fix it with screws 21-4.

[0035] Install the assembled sixth axis joint 1 to one end of the bracket 202 and fix it with screw 20 3.

[0036] Install the connecting sleeve 235 onto the connecting plate 245 and fix it with the screw 13 233. Install the bearing 8 240, the inner sleeve 239, the outer sleeve 237, the bearing 8 240, the hole retaining ring 3 244 and the rotating shaft 246 into the bearing sleeve 236 in sequence. Install the retaining sleeve 243, the flat key 4 242 and the bevel gear 241, and fix them with the retaining piece 225 and the screw 9 224. Install the flat key 3 223 and the synchronous pulley 1 203 at the other end of the rotating shaft 246, fix them with the retaining piece 225 and the screw 9 224, and install them into the hole of the connecting sleeve 235 together with the screw. Fourteen 234 is fixed, and the six-axis motor 252 is installed on the motor base 231. The flat key 211, the synchronous pulley 220 and the baffle 225 are fixed with screws 9 respectively, and they are installed into the connecting plate 245 together. The screw eleven 230 is installed, and the tensioning seat 229 is installed and fixed with screws 10. The nut 227 is screwed into the set screw 226, screwed into the threaded hole of the tensioning seat 229, and the synchronous belt 247 is inserted. One end of the installed connecting plate 245 is connected to the six-axis box 122, and the other end is installed on the five-axis box 249, and fixed with screws 15 248.

[0037] The above are only preferred embodiments of the present invention, which are only used to help understand the method and core ideas of the present application. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

[0038] This application applies a satellite reducer to the rear three axes of an industrial robot, giving full play to the characteristics of the satellite reducer such as high efficiency, high load-bearing capacity, long life, smooth operation, low noise, small size and light weight, so as to increase the service life and use of the entire robot.

[0039] The present invention solves the problems in the prior art such as relatively weak torque transmission of planetary reducers and the resulting large size, limited service life due to excessive load of planetary reducers, and inability to be applied to robot joints. Through multi-layer transmission, the output torque of the planetary reducer is enhanced while the force on each joint of the robot is more uniform, the internal space is reasonably utilized, the operation is stable, and the reducer can be applied to more fields and equipment, while increasing its service life and reducing production and maintenance costs.

Claims

1. A novel satellite reducer and an implementation method thereof, comprising a sixth axis joint (1), a fifth axis joint (2) and a fourth axis joint (5), wherein the implementation method comprises: The cross roller bearing (103) at the front end of the sixth shaft transmission group is connected to the customer's terminal actuator, the gear ring one (101) is connected to the six-axis box (122), the sixth shaft transmission group is installed on the connecting plate (245), and the six-axis motor (252) transmits power to the satellite reducer input wheel one (108) of the sixth shaft joint (1) through the synchronous belt pulley assembly and the bevel gear pair to drive the sixth joint (1) to rotate, the gear ring of the fifth shaft transmission group is fixed on the five-axis box (249), and the five-axis motor (251) transmits power to the satellite reducer input wheel two (208) of the sixth shaft joint (1) through the synchronous belt pulley assembly to drive the fifth joint (2) to rotate, and the bearing three (210) and the bracket two (202) arranged on the gear ring two (201) are connected to the six-axis box. (122), the other end of the connecting plate (245) is fixed on the five-axis box (249), the sixth joint (1) is clamped between the six-axis box (249) and the connecting plate (245), and the two end holes of the six-axis box (249) are respectively provided with a bearing four (124) and an oil seal three (123), so that the sixth axis joint (1) can rotate back and forth freely, and the internal space is closed, the fourth axis joint (5) is provided with a bypass pipe (301) connected to the five-axis box (249) and fixing the inner ring of the second cross roller bearing (308), the other side of the bypass pipe (301) is connected to the front end surface of the satellite reducer (311), the cage pipe (305) and the four-axis box (304) fix the outer ring of the second cross roller bearing (308), and the other end is connected to the outer front end of the satellite reducer (311).

2. The satellite reducer according to claim 1, characterized in that: The satellite reducer of the sixth axis joint (1) adopts an integrated design of a satellite wheel bracket, a planetary wheel bracket and a cross roller bearing (103).

3. The satellite reducer according to claim 1, characterized in that: The power of the sixth axis joint (1) is transmitted to the rotating shaft (246) by a six-axis motor (252) arranged on the connecting plate (215) through a synchronous belt and a synchronous pulley, and then transmitted to the second input wheel (108) of the shaft through a bevel gear pair, thereby driving the sixth joint (1) to rotate in the opposite direction.

4. The satellite reducer according to claim 1, characterized in that: The satellite reducer of the fifth axis joint (2) adopts a split design and requires the aid of bearing four (124) symmetrically arranged in the holes on both sides of the sixth axis joint (1) to work properly.

5. The satellite reducer according to claim 1, characterized in that: The second bracket (202) of the fifth axis joint is connected and fixed to the six-axis box (122) of the sixth joint (1), and the second gear ring (201) is connected and fixed to the five-axis box (249) of the fifth joint (2).

6. The satellite reducer according to claim 1, characterized in that: The power of the fifth axis joint (2) is directly transmitted from the five-axis motor (251) to the input wheel (208) of the axis through the synchronous belt (222) and the synchronous pulley (203), thereby driving the fifth joint (2) to rotate in the opposite direction.

7. The satellite reducer according to claim 1, characterized in that: The bypass pipe (301) of the fourth axis joint is connected to the five-axis box (249) and fixes the inner ring of the second cross roller bearing (308); the other side of the bypass pipe (301) is connected to the front end surface of the satellite reducer (311); the cage pipe (305) and the four-axis box (304) fix the outer ring of the second cross roller bearing (308); the other end is connected to the outer front end of the satellite reducer (311).

Images