Novel input swing type speed reducer, using method thereof and robot

Abstract

The invention belongs to the technical field of transmission devices, and particularly relates to a novel input swing type speed reducer, a using method of the novel input swing type speed reducer and a robot. The inner gear sleeve is arranged in the shell, and at least three limiting holes are formed in the inner gear sleeve in the axial direction; the input shaft is provided with an eccentric part, and the eccentric part is rotationally connected with the axis of the inner gear sleeve; the output outer gear is rotationally arranged on the shell, is coaxial with the input shaft and is meshed with the inner gear sleeve; wherein at least three pin columns are arranged on the shell, and each pin column extends into the corresponding limiting hole; the input shaft is suitable for driving the inner gear sleeve to swing through autorotation so as to enable the output outer gear to autorotate; according to the input swing type speed reducer, the using method thereof and the robot, the input shaft is arranged, the eccentric part on the input shaft is matched with the pin column, so that swing of the inner gear sleeve can be achieved, and the inner gear sleeve drives the output outer gear meshed with the inner gear sleeve to rotate.

Description

Technical Field

[0001] This invention belongs to the field of transmission device technology, specifically relating to transmission devices with gears, and more particularly to a novel input swing reducer, its usage method, and a robot. Background Technology

[0002] The new type of input oscillating reducer plays the role of matching speed and transmitting torque between prime mover and working machine or actuator, and is widely used in modern machinery.

[0003] Common new types of input oscillating reducers include cycloidal pinwheel input oscillating reducers and harmonic drive input oscillating reducers.

[0004] For example, the prototype reducer based on a double star wheel with patent number "CN217108044U" requires two eccentric gears, that is, first eccentric and then return to center for output. This two-stage series transmission method will result in a large error due to the accumulation of tolerances.

[0005] In the novel input oscillating reducer of cycloidal pinwheel, such as the novel input oscillating reducer of cycloidal pinwheel with patent number "CN115523265A", the cycloidal wheel needs to be set as a large arc-shaped tooth, so that the reduction ratio of single-stage transmission is not high.

[0006] In the new type of harmonic drive input oscillating reducer, such as the new type of harmonic input oscillating reducer structure, harmonic reducer and robot with patent number "CN117685350B", although it is a single-stage transmission, it requires the use of flexible gears.

[0007] Therefore, how to achieve deceleration through a single-stage transmission without using flexible materials is a problem that urgently needs to be solved by those skilled in the art.

[0008] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention

[0009] This disclosure provides at least one novel input swing reducer, its usage method, and a robot.

[0010] In a first aspect, embodiments of this disclosure provide a novel input oscillating reducer, comprising: a housing; an inner gear sleeve disposed within the housing, having at least three limiting holes along its axial direction; an input shaft having an eccentric portion rotatably connected to the axis of the inner gear sleeve; and an output external gear rotatably disposed on the housing, coaxially arranged with the input shaft and meshing with the inner gear sleeve; wherein the housing is provided with at least three pins, each pin extending into a corresponding limiting hole; and the input shaft is adapted to drive the inner gear sleeve to oscillate by rotating, thereby causing the output external gear to rotate.

[0011] In one optional embodiment, the inner diameter of the limiting hole is larger than the diameter of the pin; wherein each of the limiting holes is evenly distributed around the circumference, and the circle formed is coaxial with the inner gear sleeve.

[0012] In one optional embodiment, the housing has an installation chamber; wherein the inner gear sleeve is disposed within the installation chamber; and the eccentric portion of the input shaft is located within the installation chamber.

[0013] In one alternative embodiment, the input shaft is rotatably connected to the housing via a first bearing; the eccentric portion is rotatably connected to the inner gear sleeve via a second bearing; and the output external gear is rotatably connected to the housing via a third bearing.

[0014] In one alternative embodiment, the second bearing, the inner gear sleeve, and the eccentric portion are coaxially arranged.

[0015] Secondly, embodiments of this disclosure also provide a robot, including: a joint having a novel input swing reducer as described above applied thereon; wherein the joint includes: a shoulder joint or forearm joint or wrist joint or knee joint or ankle joint or hip joint or trunk joint.

[0016] Thirdly, the present disclosure also provides a method of using the novel input oscillating reducer as described above, comprising: driving an inner gear sleeve inside the housing to oscillate via an input shaft having an eccentric portion; and driving an output external gear inside the housing to rotate via the oscillation of the inner gear sleeve.

[0017] In one optional embodiment, the method of driving the inner gear sleeve inside the housing to swing through an input shaft with an eccentric portion includes: placing the inner gear sleeve inside the housing; providing at least three pins on the housing, which are respectively inserted into the limiting holes on the inner gear sleeve; and rotatably connecting the eccentric portion of the input shaft to the axis of the inner gear sleeve.

[0018] In one optional embodiment, the method of driving the output external gear inside the housing to rotate by the swing of the inner gear sleeve includes: rotatably setting the output external gear inside the housing; setting the output external gear coaxially with the input shaft; and meshing the output external gear with the inner gear sleeve.

[0019] The beneficial effects of this invention are as follows: the novel input swing reducer and its usage method, as well as the robot's ability to swing the inner gear sleeve by rotating the input shaft, thereby causing the inner gear sleeve to drive the output outer gear meshing with it to rotate; wherein, only one input shaft is needed, and the swing of the inner gear sleeve can be achieved by the cooperation of the eccentric part on it with the pin; at the same time, the inner gear sleeve and the output outer gear mesh directly, and this single-stage transmission method greatly improves the accuracy; and both the inner gear sleeve and the output outer gear are made of hard material small gears, which have stronger adaptability compared to flexible gears.

[0020] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the structure of a novel input swing reducer provided in an embodiment of this disclosure; Figure 2 A cross-sectional view of a novel input swing reducer provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of an internal gear sleeve provided in an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure of an input shaft provided in an embodiment of the present disclosure; Figure 5 This is an exploded structural diagram of a novel input swing reducer provided in an embodiment of the present disclosure.

[0024] In the picture: Outer shell 1, base 1a, top cover 1b, pin 11, mounting chamber 12; Inner toothed sleeve 2, limiting hole 21, guide sleeve 22; Input shaft 3, eccentric part 31, first bearing 32, second bearing 33; Output external gear 4, third bearing 41. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the figures, the thickness of parts may be exaggerated or reduced for the purpose of effectively depicting the technical content.

[0027] For example, the prototype reducer based on a double star wheel with patent number "CN217108044U" requires two eccentric gears, that is, first eccentric and then return to center for output. This two-stage series transmission method will result in a large error due to the accumulation of tolerances.

[0028] In the new type of harmonic drive input oscillating reducer, such as the new type of harmonic input oscillating reducer structure, harmonic reducer and robot with patent number "CN117685350B", although it is a single-stage transmission, it requires the use of flexible gears.

[0029] None of the above structures can achieve deceleration through a single-stage transmission without using flexible materials, so improvements are needed.

[0030] In a single-stage transmission, only one pair of gears meshes during the force transmission process; in a two-stage transmission, two pairs of gears mesh during the force transmission process.

[0031] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0032] like Figure 1 , Figure 2 As shown, at least one embodiment provides a novel input oscillating reducer, comprising: a housing 1, an internal gear sleeve 2, an input shaft 3, and an output external gear 4.

[0033] Specifically, such as Figure 2 As shown, an installation chamber 12 is provided inside the outer casing 1, and at least three pins 11 are provided on the inner wall of the installation chamber 12.

[0034] Specifically, such as Figure 2As shown, the inner toothed sleeve 2 is disposed within the mounting chamber 12; as Figure 3 As shown, the inner gear sleeve 2 has at least three limiting holes 21 along the axial direction for the insertion of the pin 11.

[0035] Specifically, such as Figure 4 As shown, the input shaft 3 has an eccentric portion 31; as Figure 5 As shown, the eccentric part 31 is rotatably connected to the axis of the inner gear sleeve 2, that is, the eccentric part 31 and the inner gear sleeve 2 are coaxial.

[0036] Specifically, such as Figure 2 As shown, the output external gear 4 is rotatably mounted on the housing 1, and the output external gear 4 is located in the middle of the inner gear sleeve 2; wherein, the output external gear 4 is coaxial with the input shaft 3, and the output external gear 4 meshes with the inner gear sleeve 2.

[0037] In this embodiment, the rotation of the input shaft 3 drives the inner gear sleeve 2 to swing, thereby causing the inner gear sleeve 2 to drive the output external gear 4 to rotate. Only one input shaft 3 is needed, and the swing of the inner gear sleeve 2 can be achieved by the cooperation of the eccentric part 31 on it with the pin 11. At the same time, the inner gear sleeve 2 and the output external gear 4 directly mesh, and this single-stage transmission method greatly improves the accuracy. In addition, both the inner gear sleeve 2 and the output external gear 4 are small gears made of hard materials, which have stronger adaptability compared to flexible gears.

[0038] In some embodiments, optionally, the number of teeth of the output external gear 4 is 60 and the number of teeth of the internal gear sleeve 2 is 64, and the reduction ratio is 60 / (64-60) = 15:1.

[0039] In the new type of input oscillating reducer with a single-stage transmission cycloidal pinwheel, the cycloidal wheel needs to be set with large arc-shaped teeth, which makes the reduction ratio of the single-stage transmission not high. However, the new type of input oscillating reducer uses small-tooth gears with a higher number of teeth and a larger space for changing the number of teeth. Therefore, the reduction ratio can be adjusted to a larger range, from 8:1 to 125:1.

[0040] like Figure 2 As shown, in some embodiments, the inner diameter of the limiting hole 21 is larger than the diameter of the pin 11, thereby providing space for the output external gear 4 to swing.

[0041] In some embodiments, the eccentric portion 31 of the input shaft 3 is located in the mounting chamber 12.

[0042] like Figure 2 As shown, in some embodiments, the input shaft 3 is rotatably connected to the housing 1 via the first bearing 32; the eccentric part 31 is rotatably connected to the inner gear sleeve 2 via the second bearing 33; and the output external gear 4 is rotatably connected to the housing 1 via the third bearing 41.

[0043] In this embodiment, the input shaft 3 and the output external gear 4 are coaxially arranged; the second bearing 33, the internal gear sleeve 2, and the eccentric part 31 are coaxially arranged.

[0044] like Figure 5 As shown, in some embodiments, a guide sleeve 22 is provided in the limiting hole 21, and the pin 11 is inserted into the guide sleeve 22; wherein, the guide sleeve 22 can reduce the wear of the inner tooth sleeve 2.

[0045] like Figure 5 As shown, in some embodiments, the housing 1 includes a base 1a and a top cover 1b, with the output external gear 4 rotatably mounted on the base 1a and the pin 11 mounted on the inner wall of the top cover 1b.

[0046] At least one embodiment also provides a robot including: an articulated joint on which a novel input swing reducer is applied; wherein the articulated joint includes: a shoulder joint or a forearm joint or a wrist joint or a knee joint or an ankle joint or a hip joint or a trunk joint.

[0047] For the specific structure and implementation process of the novel input swing reducer, please refer to the relevant discussion in the above embodiments, which will not be repeated here.

[0048] At least one embodiment also provides a method of using a novel input oscillating reducer, characterized in that it includes: driving an inner gear sleeve 2 inside a housing 1 to oscillate via an input shaft 3 having an eccentric portion 31; and driving an output external gear 4 inside the housing 1 to rotate via the oscillation of the inner gear sleeve 2.

[0049] For the specific structure and implementation process of the novel input swing reducer, please refer to the relevant discussion in the above embodiments, which will not be repeated here.

[0050] In this embodiment, only one input shaft 3 is needed. The eccentric part 31 on it cooperates with the pin 11 to realize the swing of the inner gear sleeve 2. At the same time, the inner gear sleeve 2 directly meshes with the output external gear 4. This single-stage transmission method greatly improves the accuracy. In addition, both the inner gear sleeve 2 and the output external gear 4 are small gears made of hard materials, which have stronger adaptability compared to flexible gears.

[0051] In some embodiments, the method of driving the inner gear sleeve 2 inside the housing 1 to swing through an input shaft 3 having an eccentric portion 31 includes: placing the inner gear sleeve 2 inside the housing 1; providing at least three pins 11 on the housing 1, which are respectively inserted into the limiting holes 21 on the inner gear sleeve 2; and rotatably connecting the eccentric portion 31 of the input shaft 3 to the axis of the inner gear sleeve 2.

[0052] In this embodiment, a small-diameter pin 11 is inserted into the limiting hole 21 of the inner gear sleeve 2, so that the inner gear sleeve 2 will not rotate but only swing under the drive of the input shaft 3.

[0053] In some embodiments, the method of driving the output external gear 4 inside the housing 1 to rotate by the swing of the inner gear sleeve 2 includes: rotatably setting the output external gear 4 inside the housing 1; setting the output external gear 4 coaxially with the input shaft 3; and meshing the output external gear 4 with the inner gear sleeve 2.

[0054] In this embodiment, during the oscillation process, the internal gear sleeve 2 always engages with the output external gear 4 at only one point.

[0055] In summary, the novel input oscillating reducer, the robot, and the method of using the novel input oscillating reducer all utilize the rotation of the input shaft 3 to drive the internal gear sleeve 2 to oscillate, thereby causing the internal gear sleeve 2 to drive the output external gear 4, which meshes with it, to rotate. Only one input shaft 3 is needed, and the oscillation of the internal gear sleeve 2 can be achieved through the cooperation of its eccentric part 31 and pin 11. Simultaneously, the internal gear sleeve 2 and the output external gear 4 directly mesh, and this single-stage transmission method greatly improves accuracy. Furthermore, both the internal gear sleeve 2 and the output external gear 4 are made of hard material small gears, which offer greater adaptability compared to flexible gears.

[0056] The methods, procedures, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0057] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0058] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.

[0060] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A novel input oscillating reducer, characterized in that, include: Outer shell (1); An inner toothed sleeve (2) is provided inside the outer shell (1), and at least three limiting holes (21) are provided on it along the axial direction. An input shaft (3) has an eccentric portion (31) which is rotatably connected to the axis of an inner gear sleeve (2); The output external gear (4) is rotatably mounted on the housing (1), coaxially mounted with the input shaft (3), and meshes with the internal gear sleeve (2); wherein The outer shell (1) is provided with at least three pins (11), and each pin (11) extends into a corresponding limiting hole (21); The input shaft (3) is adapted to drive the internal gear sleeve (2) to swing by rotating so that the output external gear (4) rotates.

2. The novel input oscillating reducer as described in claim 1, characterized in that, The inner diameter of the limiting hole (21) is larger than the diameter of the pin (11); wherein Each of the limiting holes (21) is evenly distributed around the circumference, and the circle formed is coaxial with the inner toothed sleeve (2).

3. The novel input oscillating reducer as described in claim 2, characterized in that, An installation chamber (12) is provided inside the outer shell (1); wherein The inner toothed sleeve (2) is disposed in the mounting chamber (12); The eccentric portion (31) of the input shaft (3) is located in the mounting chamber (12).

4. The novel input oscillating reducer as described in claim 3, characterized in that, The input shaft (3) is rotatably connected to the housing (1) via the first bearing (32); The eccentric part (31) is rotatably connected to the inner gear sleeve (2) via the second bearing (33); The output external gear (4) is rotatably connected to the housing (1) via a third bearing (41).

5. The novel input oscillating reducer as described in claim 4, characterized in that, The second bearing (33), the inner gear sleeve (2), and the eccentric part (31) are coaxially arranged.

6. A method of using the novel input oscillating reducer as described in any one of claims 1-5, characterized in that, include: An input shaft (3) with an eccentric part (31) drives the inner gear sleeve (2) inside the housing (1) to swing. The swing of the inner gear sleeve (2) drives the output external gear (4) inside the outer shell (1) to rotate.

7. The method of using the novel input swing-type reducer as described in claim 6, characterized in that, The method of driving the inner gear sleeve (2) inside the housing (1) to swing through an input shaft (3) having an eccentric part (31) includes: The inner toothed sleeve (2) is placed inside the outer shell (1); At least three pins (11) are provided on the outer shell (1), which are respectively inserted into the limiting holes (21) on the inner toothed sleeve (2); The eccentric part (31) of the input shaft (3) is rotatably connected to the center of the inner gear sleeve (2).

8. The method of using the novel input oscillating reducer as described in claim 7, characterized in that, The method of driving the output external gear (4) inside the outer casing (1) to rotate by the swing of the inner gear sleeve (2) includes: The output external gear (4) is rotatably mounted inside the housing (1); The output external gear (4) is set coaxially with the input shaft (3); Engage the output external gear (4) with the internal gear sleeve (2).

9. A robot, characterized in that, include: The joint portion is equipped with a novel input swing-type reducer as described in any one of claims 1-5; wherein... The joints include: shoulder joints, forearm joints, wrist joints, knee joints, ankle joints, hip joints, or trunk joints.

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