Rope-driven speed reducer with large reduction ratio

Abstract

The utility model provides a large reduction ratio rope drive speed reducer, which relates to the technical field of speed reducers, and comprises a shell, the shell of the speed reducer comprises a support body and two cover plates, and the two cover plates are both fixed with the support body; the two cover plates are respectively an upper cover plate and a lower cover plate, and the support body is positioned between the upper cover plate and the lower cover plate; a motor rotor is embedded in the center of the supporting body, and a motor output shaft of the motor rotor penetrates through the upper cover plate and is rotationally connected with the upper cover plate; the upper cover plate is rotationally connected with a first transmission shaft; by arranging the motor output shaft and the first transmission shaft, speed reduction of the first transmission shaft is achieved, primary speed reduction of the speed reducer is completed, the first transmission shaft is rotationally connected with the shell through the second transmission shaft, and the outer diameter of the second transmission shaft is smaller than that of the first transmission shaft. The occupied size is reduced, and meanwhile the stability of the first transmission shaft in the transmission process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of reducers, in particular to a rope-driven reducer with a large reduction ratio. Background Art

[0002] A reducer is an independent component consisting of a gear drive, worm drive, gear combined with worm drive or rope drive enclosed in a rigid housing. It is often used as a reduction transmission device between the prime mover and the working machine. It plays the role of matching speed and transmitting torque between the prime mover and the working machine or actuator. It is widely used in modern machinery.

[0003] The rotation of existing robot joints is often achieved by rope drive to achieve reduction transmission. However, when the rope is used to reduce speed by connecting multiple pulleys in series, it is difficult to achieve a larger reduction ratio due to the characteristics of the pulleys. If more stages are connected in series, the volume will be larger and it will be difficult to adapt to the miniaturization requirements of robot joints. Therefore, a rope-driven reducer with a large reduction ratio is proposed. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the utility model provides a rope-driven reducer with a large reduction ratio, which solves the problem that it is difficult to achieve a large reduction ratio when the reducer has a certain volume.

[0006] (II) Technical solution

[0007] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] In the utility model, the reducer includes a housing, and the housing of the reducer includes a support body and two cover plates, and the two cover plates are fixed to the support body;

[0009] The two cover plates are an upper cover plate and a lower cover plate, respectively, and the support body is located between the upper cover plate and the lower cover plate;

[0010] A motor rotor is embedded in the center of the support body, and a motor output shaft of the motor rotor passes through the upper cover plate and is rotatably connected to the upper cover plate;

[0011] The upper cover plate is rotatably connected to a first transmission shaft;

[0012] A first thread groove is provided on the outer surface of the motor output shaft, and a second thread groove matching the first thread groove is provided on the outer surface of the first transmission shaft;

[0013] The motor output shaft and the first transmission shaft are driven by a first transmission rope;

[0014] The outer diameter of the first transmission shaft is greater than the outer diameter of the motor output shaft;

[0015] The first transmission shaft is rotatably connected to the housing through a second transmission shaft, and the second transmission shaft passes through the upper cover plate and is rotatably connected to the lower cover plate;

[0016] The outer diameter of the second transmission shaft is smaller than the outer diameter of the first transmission shaft.

[0017] Furthermore, a transition shaft and a plurality of support assemblies are installed between the upper cover plate and the lower cover plate, the transition shaft is rotatably connected to the shell, and the plurality of support assemblies are fixed to the support body, wherein the support assembly adjacent to the second transmission shaft is the first frame support shaft, the support assembly adjacent to the transition shaft is the second frame support shaft, and the second transmission shaft and the transition shaft are located between the first frame support shaft and the second frame support shaft;

[0018] A first fixed pulley is sleeved on the first frame support shaft, and the first fixed pulley rotates with the first frame support shaft;

[0019] The support body is provided with a first drive shaft and a second drive shaft, the first drive shaft and the second drive shaft rotate with the housing through the output shaft of the reducer, the first drive shaft is provided with a second movable pulley and a fourth movable pulley, and the second drive shaft is provided with a first movable pulley and a third movable pulley;

[0020] A third thread groove is provided on the lower outer surface of the second transmission shaft, and a second transmission rope is provided in the third thread groove in the direction in which the third thread groove is provided;

[0021] A first through hole is formed on the first frame support shaft, and one end of the second transmission rope passes through the first through hole and is fixed to the first frame support shaft;

[0022] The first movable pulley, the second movable pulley and the first fixed pulley form a first pulley group, and the second transmission rope drives the output shaft of the reducer clockwise through the first pulley group;

[0023] A fourth thread groove is provided on the upper outer surface of the second transmission shaft, a fifth thread groove matching the fourth thread groove is provided on the transition shaft, and a third transmission rope is provided in the fourth thread groove in the direction in which the third thread groove is provided;

[0024] A second through hole is formed on the second frame support shaft, and one end of the third transmission rope passes through the second through hole and is fixed to the second frame support shaft;

[0025] The transition shaft, the third movable pulley, the fourth movable pulley and the second fixed pulley form a second pulley group, and the third transmission rope drives the output shaft of the reducer counterclockwise through the second pulley group.

[0026] Furthermore, the rotation angle of the reducer output shaft is 0-240°.

[0027] Furthermore, the support body is provided with two annular grooves, which are respectively used for limiting the second transmission rope and the third transmission rope.

[0028] Furthermore, the output shaft of the reducer is coaxial with the output shaft of the motor.

[0029] Furthermore, the first transmission rope, the second transmission rope and the third transmission rope are tungsten steel wire or Dyneema wire.

[0030] (III) Beneficial effects

[0031] The utility model provides a large reduction ratio rope-driven reducer. Compared with the prior art, it has the following beneficial effects:

[0032] By setting the motor output shaft and the first transmission shaft, the first transmission shaft is decelerated, completing the first-stage deceleration of the reducer, and the first transmission shaft is rotatably connected to the shell through the second transmission shaft. The outer diameter of the second transmission shaft is smaller than the outer diameter of the first transmission shaft, which reduces the occupied volume and improves the stability of the first transmission shaft during transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a three-dimensional diagram of a large reduction ratio rope-driven reducer;

[0035] Figure 2 for Figure 1 Schematic diagram of the structure after flipping;

[0036] Figure 3 for Figure 1 A schematic diagram of the structure when the first transmission rope, the second transmission rope and the third transmission rope are rope driven;

[0037] Figure 4 for Figure 1 The three-dimensional image after rotation;

[0038] Figure 5 for Figure 4 The enlarged view of point A in the middle;

[0039] Figure 6 for Figure 4 The enlarged view of point B in the middle;

[0040] Figure 7 for Figure 1Schematic diagram of the structure when the first drive shaft, the second drive shaft and the reducer output shaft are connected.

[0041] Reference numerals:

[0042] 1. Cover plate; 11. Support body; 111. First drive shaft; 112. Second drive shaft; 12. Reducer output shaft; 2. Motor rotor; 21. Motor output shaft; 211. First transmission rope; 3. First transmission shaft; 4. Second transmission shaft; 401. Second transmission rope; 402. First through hole; 41. First frame support shaft; 411. First fixed pulley; 5. Transition shaft; 501. Third transmission rope; 502. Second through hole; 51. Second frame support shaft; 511. Second fixed pulley; 6. First movable pulley; 61. Second movable pulley; 7. Third movable pulley; 71. Fourth movable pulley. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model is described clearly and completely. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] The embodiment of the present application solves the problem that it is difficult to achieve a larger reduction ratio when the reducer volume is certain by providing a rope-driven reducer with a large reduction ratio.

[0045] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0046] Example:

[0047] like Figure 1 As shown, a large reduction ratio rope-driven reducer comprises a housing, wherein the housing comprises a support body 11 and two cover plates 1, and the two cover plates 1 are fixed to the support body 11;

[0048] The two cover plates 1 are an upper cover plate and a lower cover plate respectively, and the support body 11 is located between the upper cover plate and the lower cover plate;

[0049] The motor rotor 2 is embedded in the center of the support body 11, and the motor output shaft 21 of the motor rotor 2 passes through the upper cover plate and is rotatably connected to the upper cover plate;

[0050] The upper cover plate is rotatably connected to a first transmission shaft 3;

[0051] A first thread groove is provided on the outer surface of the motor output shaft 21, and a second thread groove matching the first thread groove is provided on the outer surface of the first transmission shaft 3;

[0052] The motor output shaft 21 and the first transmission shaft 3 are driven by a first transmission rope 211;

[0053] The outer diameter of the first transmission shaft 3 is greater than the outer diameter of the motor output shaft 21;

[0054] The first transmission shaft 3 is rotatably connected to the housing through the second transmission shaft 4, and the second transmission shaft 4 passes through the upper cover plate and is rotatably connected to the lower cover plate;

[0055] The outer diameter of the second transmission shaft 4 is smaller than the outer diameter of the first transmission shaft 3 .

[0056] Specifically, when setting the outer diameter of the motor output shaft 21 and the outer diameter of the first transmission shaft 3, the outer diameter of the first transmission shaft 3 can be set to 2-5 times the outer diameter of the motor output shaft 21, thereby achieving deceleration of the first transmission shaft 3 and completing the first-stage deceleration of the reducer. The first transmission shaft 3 is rotatably connected to the shell through the second transmission shaft 4. The outer diameter of the second transmission shaft 4 is smaller than the outer diameter of the first transmission shaft 3, which reduces the occupied volume while improving the stability of the first transmission shaft 3 during transmission.

[0057] like Figure 1-Figure 7 As shown, a transition shaft 5 and a plurality of support components are installed between the upper cover plate and the lower cover plate, the transition shaft 5 is rotatably connected to the shell, and the plurality of support components are fixed to the support body 11, wherein the support component adjacent to the second transmission shaft 4 is the first frame support shaft 41, and the support component adjacent to the transition shaft 5 is the second frame support shaft 51, and the second transmission shaft 4 and the transition shaft 5 are located between the first frame support shaft 41 and the second frame support shaft 51;

[0058] A first fixed pulley 411 is sleeved on the first frame support shaft 41, and the first fixed pulley 411 rotates with the first frame support shaft 41;

[0059] The support body 11 is provided with a first drive shaft 111 and a second drive shaft 112, which rotate with the housing through the reducer output shaft 12, the first drive shaft 111 and the second drive shaft 112 are provided with a second movable pulley 61 and a fourth movable pulley 71, and the second drive shaft 112 is provided with a first movable pulley 6 and a third movable pulley 7;

[0060] A third thread groove is provided on the lower outer surface of the second transmission shaft 4, and a second transmission rope 401 is provided in the third thread groove in the direction in which the third thread groove is provided;

[0061] A first through hole 402 is formed on the first frame support shaft 41, and one end of the second transmission rope 401 passes through the first through hole 402 and is fixed to the first frame support shaft 41;

[0062] The first movable pulley 6, the second movable pulley 61 and the first fixed pulley 411 form a first pulley group, and the second transmission rope 401 drives the reducer output shaft 12 clockwise through the first pulley group;

[0063] A fourth thread groove is formed on the upper outer surface of the second transmission shaft 4, a fifth thread groove matching the fourth thread groove is formed on the transition shaft 5, and a third transmission rope 501 is formed in the fourth thread groove in the direction in which the third thread groove is formed;

[0064] The second frame support shaft 51 is provided with a second through hole 502, and one end of the third transmission rope 501 passes through the second through hole 502 and is fixed to the second frame support shaft 51;

[0065] The transition shaft 5, the third movable pulley 7, the fourth movable pulley 71 and the second fixed pulley 511 form a second pulley group, and the third transmission rope 501 drives the reducer output shaft 12 counterclockwise through the second pulley group.

[0066] The rotation angle of the reducer output shaft 12 is 0-240°.

[0067] The support body 11 is provided with two annular grooves, which are used for limiting the second transmission rope 401 and the third transmission rope 501 respectively.

[0068] The reducer output shaft 12 is coaxial with the motor output shaft 21, which saves the reducer and improves the deceleration effect while reducing the occupied space as much as possible.

[0069] Specifically, the first transmission rope 211, the second transmission rope 401 and the third transmission rope 501 are tungsten steel wires or Dyneema wires.

[0070] During operation, the motor rotor 2 rotates to provide driving force for the motor output shaft 21. Since the motor output shaft 21 and the first transmission shaft 3 are transmitted through the first transmission rope 211, the motor rotor 2 further drives the first transmission shaft 3 to rotate. When the first transmission shaft 3 rotates, the second transmission shaft 4 fixedly connected to the first transmission shaft 3 rotates. Since the outer diameter of the first transmission shaft 3 is larger than the outer diameter of the motor output shaft 21, the rotation speeds of the first transmission shaft 3 and the second transmission shaft 4 are lower than the rotation speeds of the motor output shaft 21, thereby realizing a first-stage reduction of the reducer.

[0071] Specifically, when the first pulley block realizes the rotation of the reducer output shaft 12, after the second transmission rope 401 wound on the second transmission shaft 4 passes around the second movable pulley 61, the second transmission rope 401 passes through the first fixed pulley 411 and is wound around the first movable pulley 6. One end of the second transmission rope 401 wound around the first movable pulley 6 passes through the first through hole 402 and is fixed to the first frame support shaft 41. When the second transmission shaft 4 rotates, the second transmission shaft 4 drives the reducer output shaft 12 to rotate clockwise through the first pulley block;

[0072] Similarly, when the first pulley group realizes the rotation of the reducer output shaft 12, the third transmission rope 501 wound on the second transmission shaft 4 passes through the transition shaft 5 and around the third movable pulley 7, and then the third transmission rope 501 passes through the second fixed pulley 511 and is wound around the fourth movable pulley 71. One end of the third transmission rope 501 wound around the fourth movable pulley 71 passes through the second through hole 502 and is fixed to the second frame support shaft 51. When the second transmission shaft 4 rotates, the second transmission shaft 4 drives the reducer output shaft 12 to rotate counterclockwise through the transition shaft 5 and the second pulley group.

[0073] It should be noted that through the reasonable layout of various components, the components will not interfere with each other during the transmission process.

[0074] Through the combination of the first pulley group and the second pulley group, the rotation of the reducer output shaft 12 is realized, thereby completing the secondary deceleration of the reducer. The reducer output shaft 12 and the motor output shaft 21 have the same rotation direction, thereby realizing the rational setting of the reducer volume. Moreover, through the secondary deceleration, the reducer can be improved while meeting the small space occupancy while achieving the deceleration effect of the reducer, which is convenient for the use of robot joints with high flexibility requirements. The deceleration ratio is relatively large, and generally a reduction ratio of more than 30 can be achieved.

[0075] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0076] 1. By setting the motor output shaft 21 and the first transmission shaft 3, the first transmission shaft 3 is decelerated, and the first-stage deceleration of the reducer is completed. The first transmission shaft 3 is rotatably connected to the shell through the second transmission shaft 4. The outer diameter of the second transmission shaft 4 is smaller than the outer diameter of the first transmission shaft 3, which reduces the occupied volume and improves the stability of the first transmission shaft 3 during transmission.

[0077] 2. Through the combination of the first pulley group and the second pulley group, the rotation of the reducer output shaft 12 is realized, thereby completing the secondary deceleration of the reducer. The reducer output shaft 12 and the motor output shaft 21 have the same rotation direction, thereby realizing the rational setting of the reducer volume. Through the secondary deceleration, the reducer can be improved while meeting the small space occupation and achieving the deceleration effect of the reducer, which is convenient for the use of robot joints with high flexibility requirements.

[0078] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A large reduction ratio rope-driven reducer, comprising a housing, characterized in that: The housing of the reducer comprises a support body (11) and two cover plates (1), and the two cover plates (1) are both fixed to the support body (11); The two cover plates (1) are respectively an upper cover plate and a lower cover plate, and the support body (11) is located between the upper cover plate and the lower cover plate; A motor rotor (2) is embedded in the center of the support body (11), and a motor output shaft (21) of the motor rotor (2) passes through the upper cover plate and is rotatably connected to the upper cover plate; The upper cover plate is rotatably connected to a first transmission shaft (3); A first thread groove is provided on the outer surface of the motor output shaft (21), and a second thread groove matching the first thread groove is provided on the outer surface of the first transmission shaft (3); The motor output shaft (21) and the first transmission shaft (3) are driven via a first transmission rope (211); The outer diameter of the first transmission shaft (3) is greater than the outer diameter of the motor output shaft (21); The first transmission shaft (3) is rotatably connected to the housing via the second transmission shaft (4), and the second transmission shaft (4) passes through the upper cover plate and is rotatably connected to the lower cover plate; The outer diameter of the second transmission shaft (4) is smaller than the outer diameter of the first transmission shaft (3).

2. A large reduction ratio rope drive reducer as claimed in claim 1, characterized in that: A transition shaft (5) and a plurality of support components are installed between the upper cover plate and the lower cover plate, the transition shaft (5) is rotatably connected to the shell, and the plurality of support components are fixed to the support body (11), wherein the support component adjacent to the second transmission shaft (4) is the first frame support shaft (41), and the support component adjacent to the transition shaft (5) is the second frame support shaft (51), and the second transmission shaft (4) and the transition shaft (5) are located between the first frame support shaft (41) and the second frame support shaft (51); A first fixed pulley (411) is sleeved on the first frame support shaft (41), and the first fixed pulley (411) rotates with the first frame support shaft (41); The support body (11) is provided with a first drive shaft (111) and a second drive shaft (112); the first drive shaft (111) and the second drive shaft (112) rotate with the housing through the reducer output shaft (12); the first drive shaft (111) is provided with a second movable pulley (61) and a fourth movable pulley (71); the second drive shaft (112) is provided with a first movable pulley (6) and a third movable pulley (7); A third thread groove is provided on the lower outer surface of the second transmission shaft (4), and a second transmission rope (401) is provided in the third thread groove in the direction in which the third thread groove is provided; A first through hole (402) is formed on the first frame support shaft (41), and one end of the second transmission rope (401) passes through the first through hole (402) and is fixed to the first frame support shaft (41); The first movable pulley (6), the second movable pulley (61) and the first fixed pulley (411) form a first pulley group, and the second transmission rope (401) drives the output shaft (12) of the reducer clockwise through the first pulley group; A fourth thread groove is provided on the upper outer surface of the second transmission shaft (4), a fifth thread groove matching the fourth thread groove is provided on the transition shaft (5), and a third transmission rope (501) is provided in the fourth thread groove in the direction in which the third thread groove is provided; A second through hole (502) is provided on the second frame support shaft (51), and one end of the third transmission rope (501) passes through the second through hole (502) and is fixed to the second frame support shaft (51); The transition shaft (5), the third movable pulley (7), the fourth movable pulley (71) and the second fixed pulley (511) form a second pulley block, and the third transmission rope (501) drives the output shaft (12) of the reducer counterclockwise through the second pulley block.

3. A large reduction ratio rope drive reducer as claimed in claim 2, characterized in that: The rotation angle of the reducer output shaft (12) is 0-240°.

4. A large reduction ratio rope drive reducer as claimed in claim 2, characterized in that: The support body (11) is provided with two annular grooves, which are respectively used for limiting the second transmission rope (401) and the third transmission rope (501).

5. A large reduction ratio rope-driven reducer as claimed in claim 3 or 4, characterized in that: The reducer output shaft (12) is coaxial with the motor output shaft (21).

6. A large reduction ratio rope drive reducer as claimed in claim 2, characterized in that: The first transmission rope (211), the second transmission rope (401) and the third transmission rope (501) are tungsten steel wire or Dyneema wire.

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