Speed reduction driving device

Abstract

The invention provides a speed reduction driving device. The speed reduction driving device comprises a sun gear, a planet gear, a rotating frame, a gear ring, a connecting rod frame, a crankshaft, a fixing body and an output gear. An outer rotor of the motor is connected with the rotating frame; a central pin shaft is arranged at the eccentric position of the stator, and a central hole of the rotating frame is movably connected with the central pin shaft, so that the rotating frame rotates around the central pin shaft; each planet wheel is provided with an eccentric pin hole, an eccentric pin shaft is arranged in the hole, the end part of the connecting rod frame is provided with a round hole matched with the eccentric pin shaft, and the eccentric distances of the eccentric pin holes of all the planet wheels are the same; the main journal, the sun gear and the gear ring are concentrically arranged on the fixed body; the output gear is meshed with the planetary gear, the output gear is fixedly installed on the output shaft, and the output shaft is movably installed in a bearing hole of the shell. The speed reducer is compact in structure, small in appearance size, wide in speed ratio range, capable of stably running for a long time and long in bearing capacity and service life, and the rotating speed ratio can be set at will according to various working requirements.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and particularly relates to a speed reduction driving device. BACKGROUND

[0002] The robot reducer is a core component of a robot, which converts the high-speed rotating motor output into low-speed high-torque output to drive the joints and other components of the robot. At present, the robot reducer mainly includes a planetary reducer and a harmonic reducer. The planetary reducer is suitable for robots with large load and high speed, and the harmonic reducer is suitable for robots with small load and low speed. The motor-driven planetary reducer has the disadvantages of heavy weight, large size, complex structure, etc. The harmonic reducer mainly includes a rigid wheel, a flexible wheel, a bearing and a wave generator. The flexible wheel needs to be repeatedly deformed at high speed, so it is relatively fragile, has limited bearing capacity and service life, and has a relatively complex structure. Therefore, it is necessary to improve the existing reducer. SUMMARY

[0003] Therefore, the present application aims to overcome the defects in the prior art and provide a speed reduction driving device.

[0004] To achieve the above-mentioned purpose, the technical scheme of the present application is as follows: A speed reduction driving device, comprising a sun gear, a planet gear, a rotating frame, a gear ring, a connecting rod frame, a crankshaft, a fixed body and an output gear; the outer rotor of a motor is connected with the rotating frame to drive the sun gear to rotate; the eccentric position of the stator is provided with a center pin shaft, and the center hole of the rotating frame and the center pin shaft are movably connected to enable the rotating frame to rotate around the center pin shaft; the planet gear is provided with an eccentric pin hole, the eccentric pin hole is provided with an eccentric pin shaft, the end of the connecting rod frame is provided with a circular hole matched with the eccentric pin shaft, and the eccentric distances of the eccentric pin holes of all the planet gears are the same; the main shaft neck is concentrically installed on the fixed body with the sun gear and the gear ring, and all can freely rotate; the output gear is engaged with the planet gear, and the output gear is fixedly installed on the output shaft, and the output shaft is movably installed in the bearing hole of the shell.

[0005] Further, the outer rotor of the motor is connected with the input driving disc through bolts.

[0006] Further, the crankshaft comprises a main shaft neck, a crank pin and a crank arm.

[0007] Further, the length of the crank arm is the same as the axial center distance of the main shaft neck and the crank pin.

[0008] Further, the center hole of the connecting rod frame and the crank pin are movably connected.

[0009] Further, the axis of the crank pin is parallel to the axis of the main shaft neck.

[0010] Further, the sun gear is provided with three groups of planetary gears.

[0011] Further, the planetary gears are arranged along the circumferential direction of the rotating frame.

[0012] Compared with the prior art, the application has the following advantages: The application has the advantages of compact structure, small size, reasonable design, arbitrary setting of rotating speed ratio according to various working requirements, wide speed ratio range, long-term stable operation, long service life and high carrying capacity. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application and are incorporated herein for explanation by way of the non-limiting embodiments of the present application. The present application will be described with reference to the accompanying drawings in which: Figure 1 is a structural schematic diagram of the application; Figure 2 is a schematic diagram of the application from another side view without the fixed body; Figure 3 is a left view of the application; Figure 1 Figure 4 is a sectional view of the application; Figure 3 Figure 5 is a schematic diagram of the crankshaft in the application; Figure 6 is a schematic diagram of the rotating frame in the application; Figure 7 is a schematic diagram of another structure of the rotating frame in the application. DETAILED DESCRIPTION

[0014] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0015] ​​In the description of the present application, it is to be understood by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and not indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" and the like can be explicitly or implicitly included one or more. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0016] In the description of the present application, it is to be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0017] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0018] A speed reduction drive device, as shown in Figures 1 to 5 It comprises planetary gear 2, rotating frame 3, gear ring 4, connecting rod frame 5, crankshaft 6, fixed body 7 and output gear 1. The outer rotor of the motor is connected with the rotating frame to drive the sun gear to rotate. As an example, the outer rotor of the motor is connected with the rotating frame by bolts. The eccentric position of the stator is provided with a center pin shaft, and the rotating frame center hole is movably connected with the center pin shaft to make the rotating frame rotate around the center pin shaft.

[0019] The crankshaft comprises main journal 8, crank pin 11 and crank arm 12. The planetary gear is provided with eccentric pin hole, and the eccentric pin hole is provided with eccentric pin shaft 9. The end of the connecting rod frame is provided with a round hole matched with the eccentric pin shaft, and the eccentric distances of the eccentric pin holes of all planetary gears are the same. The main journal of the crankshaft is concentrically installed with the sun gear and the gear ring on the fixed body, and all can rotate freely.

[0020] In the present application, the rotating frame structure can be as Figure 6 and Figure 7The output gear is engaged with the planetary gears, and the output gear is fixedly installed on the output shaft 10, and the output shaft is movably installed in the housing bearing hole. The connecting rod frame center hole and the crank pin are movably connected, and the connecting rod frame can rotate around the crank pin.

[0021] The crank arm length is the same as the shaft center distance of the main shaft neck and the crank pin, and the crank arm length is the same as the eccentric distance of the eccentric pin hole. The connecting rod frame center hole and the crank pin are movably connected. The axis of the crank pin and the axis of the main shaft neck are parallel. The sun gear is provided with three groups of planetary gears. Generally, each planetary gear is arranged along the circumferential direction of the rotating frame.

[0022] The input and output rotating speed ratio of the above-mentioned speed reduction driving device is: 1. Crankshaft locking state 1.1 No gear ring state The rotating frame speed ratio of the sun gear is nj / ns=Zs / (Zs+Zp) 1.2 Gear ring state The rotating speed ratio of the gear ring and the sun gear is nr / ns=Zs / (Zs+2Zp)=Zs / Zr 2. Gear ring locking state The rotating speed ratio of the crankshaft and the sun gear is nq / ns=Zs / 2Zp=Zs / (Zr-Zs) 3. Rotating frame locking state The rotating speed ratio of the crankshaft and the sun gear is nq / ns=Zs / Zp=2Zs / (Zr-Zs) 4. Sun gear locking state The rotating speed ratio of the crankshaft and the gear ring is nq / nr=Zr / 2Zp=Zr / (Zr-Zs) 5. Crankshaft free state (consistent with the state of ordinary planetary reducer) 5.1 Gear ring locking The rotating speed ratio of the rotating frame and the sun gear is nj / ns=Zs / (Zs+Zr) 5.2 Rotating frame locking The rotating speed ratio of the gear ring and the sun gear is nr / ns=Zs / Zr 5.3 Sun gear locking The rotating speed ratio of the gear ring and the rotating frame is nr / nj=Zr / (Zs+Zr) Wherein: ns—sun gear rotating speed; nj—rotating frame rotating speed; nq—crankshaft rotating speed; nr—gear ring rotating speed; Zs—sun gear tooth number; Zp—planetary gear tooth number; Zr—gear ring tooth number.

[0023] The rotor motor provides power to the gear ring, the input gear ring drives the planetary gear to do circular motion, the connecting arm makes the planetary gear only produce translation relative to the shell without rotation, the power is transmitted to the sun gear through gear meshing, and finally the power is output through the crankshaft. The eccentric distance L1 of the motor stator eccentric pin shaft to the rotor rotating shaft is equal to the distance L2 of the cylindrical pin shaft at the circumference of the planetary gear to the center of the planetary gear, so the smooth flow of the above movement can be effectively guaranteed.

[0024] The application has compact structure, small size, reasonable design, can set the speed ratio according to various working requirements, the speed ratio range is wide, can run stably for a long time, and has long service life and carrying capacity.

[0025] The above only describes the preferred embodiment of the application, and is not used to limit the application, any modification, equivalent replacement, improvement, etc. within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A reduction drive apparatus characterized by: The motor comprises a sun gear, a planet gear, a rotating frame, a ring gear, a connecting rod frame, a crankshaft, a fixed body and an output gear; an outer rotor of the motor is connected with the rotating frame to drive the sun gear to rotate; a center pin shaft is arranged at an eccentric position of a stator, and a center hole of the rotating frame is movably connected with the center pin shaft to enable the rotating frame to rotate around the center pin shaft; the planet gear is provided with an eccentric pin hole, the eccentric pin hole is arranged with an eccentric pin shaft, end portions of the connecting rod frame are provided with circular holes matched with the eccentric pin shaft, and eccentric distances of the eccentric pin holes of all the planet gears are the same; main shaft necks are concentrically arranged on the fixed body with the sun gear and the ring gear; the output gear is engaged with the planet gear, and the output gear is fixedly arranged on an output shaft, and the output shaft is movably arranged in a bearing hole of a housing.

2. A speed reduction drive as claimed in claim 1, wherein: The outer rotor of the motor is connected with the input driving disc through bolts.

3. A speed reduction drive as claimed in claim 1, wherein: The crankshaft comprises main shaft necks, crank pins and crank arms.

4. A reduction drive as claimed in claim 3, wherein: The length of the crank arm is the same as the shaft center distance of the main shaft neck and the crank pin.

5. A speed reduction drive as claimed in claim 3, wherein: The center hole of the connecting rod frame is movably connected with the crank pin.

6. A speed reduction drive as claimed in claim 3, wherein: The axis of the crank pin is parallel to the axis of the main shaft neck.

7. A speed reduction drive as claimed in claim 1, wherein: The sun gear is provided with three groups of planet gears around the sun gear.

8. A speed reducing drive arrangement according to any one of claims 1 to 7, wherein: Each planet gear is arranged along the circumferential direction of the rotating frame.

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