Welded oscillating tooth carrier of oscillating tooth speed reducer

Abstract

The utility model discloses a welding type oscillating tooth frame of an oscillating tooth speed reducer. The welding type oscillating tooth frame comprises an inner gear ring, an eccentric shaft, an oscillating tooth frame body, pin teeth, oscillating teeth and a main bearing rolling body. The movable tooth frame is located in the inner gear ring and rotationally connected with the inner gear ring through an arranged main bearing rolling body, the eccentric shaft is located on one side of the movable tooth frame, the movable teeth are located on the periphery of the eccentric shaft and slidably located on the wall face of the inner side of the movable tooth frame, and the tail ends of the movable teeth are connected with the eccentric shaft through an arranged eccentric bearing. The pin teeth are located between the front ends of the movable teeth and the inner gear ring, the inner gear ring is fixed, the eccentric shaft drives the eccentric bearing to rotate, the eccentric bearing drives the movable teeth to do radial and circumferential motion under the constraint of the pin teeth, and therefore the movable tooth frame is pushed to do circumferential rotation motion. The manufacturing precision of the movable tooth frame is improved, the machining difficulty of the radial groove of the movable tooth frame is reduced, meanwhile, the machining efficiency is improved, and the manufacturing cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transmission, in particular to a welded tooth carrier of a movable tooth reducer, which is mainly used for manufacturing the tooth carrier parts of a robot joint reducer and can be popularized for manufacturing the rotor groove structure of a vane type hydraulic pump and a hydraulic motor. Background Technique

[0002] The joint reducer is a core component of a robot. The movable tooth reducer is a new type of joint reducer. Recent experimental results show that the transmission efficiency, transmission accuracy, and transmission stiffness of this reducer are significantly higher than those of RV reducers and harmonic reducers, and it has a tendency to replace RV reducers and some harmonic reducers, with a very broad application prospect. The movable tooth reducer mainly includes an internal gear, an eccentric shaft, a tooth carrier, and a movable tooth assembly that connects the three. For a movable tooth type movable tooth reducer, the movable tooth assembly needs to perform a radial reciprocating motion in the radial rectangular section or circular section movable tooth guide groove of the tooth carrier. In order to achieve balance and improve the bearing capacity of the reducer, the movable tooth guide grooves in the tooth carrier are usually arranged in 1 row, 2 rows, and 3 rows along the axial direction. For a movable tooth reducer using an elliptical exciter, usually 1 row of movable tooth guide grooves can be used. For the case of using an eccentric circular exciter, the movable tooth guide grooves usually have 2 rows or 3 rows, and a 1-row movable tooth guide groove structure can also be used when necessary counterweight measures are taken.

[0003] The German company WITTENSTEIN uses a radial circular section guide groove structure. This structure is easy to process, but the number arranged in the circumferential direction is very limited, and the reduction ratio is small, usually only about 24 - 30. Using a guide groove with a rectangular section can increase the number of guide grooves in the circumferential direction, thereby increasing the bearing capacity of the reducer and the reduction ratio. Using a rectangular guide groove can increase the reducer ratio to about 50.

[0004] However, the precision machining of the radial rectangular groove is difficult. Currently, it is usually designed and processed by splitting the rectangular groove into two parts, which is easy to obtain a high-precision groove type by milling and grinding methods. However, the milling and grinding machining amount of the deep groove is still very large, the machining efficiency is low, and the machining cost is high. How to further reduce the machining cost has become one of the key problems in improving the cost performance and market competitiveness of the movable tooth reducer. Content of the Utility Model

[0005] Aiming at the deficiencies of the prior art, the utility model discloses a welded tooth carrier of a movable tooth reducer to solve the problems put forward in the above background technique.

[0006] To achieve the above object, the utility model provides the following technical solution: A welded tooth carrier of a movable tooth reducer, comprising an internal gear ring, an eccentric shaft, a tooth carrier, pin teeth, movable teeth, and main bearing rolling elements;

[0007] The movable tooth carrier is located inside the internal gear ring, and the movable tooth carrier is rotationally connected to the internal gear ring through the provided main bearing rolling elements. The eccentric shaft is located on one side of the movable tooth carrier. A number of the movable teeth are located around the eccentric shaft, and the movable teeth slide on the inner wall surface of the movable tooth carrier. The tail end of the movable tooth is connected to the eccentric shaft through the provided eccentric bearing. The pin teeth are located between the front end of the movable tooth and the internal gear ring to fix the internal gear ring. The eccentric shaft drives the eccentric bearing to rotate, and the eccentric bearing drives the movable teeth to perform radial and circumferential movements under the constraint of the pin teeth, thereby driving the movable tooth carrier to perform a circular rotary motion.

[0008] Preferably, the movable tooth carrier includes a movable tooth carrier base body, guide blocks, and a movable tooth carrier cover plate. A number of the guide blocks are arranged around between the movable tooth carrier base body and the movable tooth carrier cover plate, and a radial rectangular groove is respectively provided between adjacent guide blocks. The radial rectangular grooves are distributed in the circumferential direction of the movable tooth carrier. The movable teeth perform radial movements through the radial rectangular grooves, thereby forming a single-row structure movable tooth carrier.

[0009] Preferably, by welding another row of guide blocks and another movable tooth carrier cover plate on the right side of the single-row structure movable tooth carrier, the movable tooth carrier cover plate and guide blocks on the other side cooperate with the movable tooth carrier base body located in the middle position, thereby forming a movable tooth carrier with two rows of rectangular guide hole systems, which can meet the requirements for manufacturing a movable tooth speed reducer with two rows of movable teeth.

[0010] Preferably, the surface of the movable tooth carrier base body in contact with one side of the guide block is set as the B joint surface, and the contact surface of the movable tooth carrier cover plate with the other side of the guide block is set as the A joint surface. The positions are determined through a high-precision welding tooling, and they are welded together at the A joint surface and the B joint surface through resistance welding or diffusion welding.

[0011] Preferably, the movable tooth carrier is welded by a distributed welding method. The guide blocks are first welded to the movable tooth carrier base body. After other parts are assembled, the movable tooth carrier cover plate is welded to the array of guide blocks to form a closed radial rectangular groove.

[0012] Preferably, the welding tooling includes positioning steel balls, a tooling positioning piece, and a tooling base. The tooling base is located between the movable tooth carrier base body and the movable tooth carrier cover plate. The inner ring area on one side of the tooling base is mutually attached to the wall surface of the movable tooth carrier base body. The tooling positioning piece is mutually sleeved with the stepped part provided on one side of the movable tooth carrier base body. The two sides of the tooling positioning piece are respectively mutually attached to the outer ring area of the tooling base and the wall surface of the movable tooth carrier base body. The positioning steel balls are located between the inner side of the tooling positioning piece and the outer wall of the stepped part on the movable tooth carrier base body.

[0013] Compared with the prior art, the beneficial effects of the present utility model are:

[0014] 1. In the present utility model, large grinding wheels can be used for mass-producing the guide blocks, and the grinding cost on the side surfaces of the guide blocks can be significantly reduced.

[0015] 2. In the present utility model, the processing efficiency of the movable tooth carrier can be greatly improved. By using a specific tooling and adopting a distributed welding method, the side surfaces of the radial grooves can be welded and then processed, which can further improve the manufacturing precision of the movable tooth carrier, reduce the processing difficulty of the radial grooves of the movable tooth carrier, and significantly enhance the processing efficiency.

[0016] 3. In the present utility model, the surface of the movable tooth carrier base is a plane, with a simple structure, which is a simple bearing structure or flange structure. Conventional high-efficiency double-end face grinding machines can be used for grinding, with high processing efficiency and further reduced manufacturing cost.

[0017] 4. In the present utility model, the threaded connection of the traditional movable tooth carrier is eliminated, the thickness of the guide blocks between the guide grooves can be greatly reduced, and the reduction ratio of the reducer can be further increased, reaching more than 60 - 80. Description of the Drawings

[0018] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model, and do not constitute a limitation to the present utility model.

[0019] In the drawings:

[0020] Figure 1 is the cross-sectional view of the movable tooth reducer of the present utility model;

[0021] Figure 2 is the axial sectional view of the movable tooth reducer of the present utility model;

[0022] Figure 3 is the axial sectional view of the single-row and double-row structure movable tooth carriers of the present utility model;

[0023] Figure 4 is the cross-sectional view of the movable tooth carrier of the present utility model;

[0024] Figure 5 is the schematic axial sectional view of the welding tooling of the present utility model;

[0025] Figure 6 is the schematic cross-sectional view of the welding tooling of the present utility model;

[0026] Reference numerals in the drawings: A11, eccentric shaft; A12, eccentric bearing; A2, movable tooth carrier; A31, internal gear ring; A32, pin teeth; A4, movable teeth; A5, main bearing rolling elements; 01, movable tooth carrier base; 02, guide blocks; 03, movable tooth carrier cover plate; 04, positioning steel balls; 05, tooling positioning pieces; 06, tooling base. Detailed Embodiments

[0027] The preferred embodiments of the present utility model will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present utility model, and are not used to limit the present utility model.

[0028] Embodiment: As Figures 1 - 4 shown, a welded movable tooth carrier of a movable tooth reducer includes an internal gear ring A31, an eccentric shaft A11, a movable tooth carrier A2, pin teeth A32, movable teeth A4, and a main bearing rolling body A5; the movable tooth carrier A2 is located inside the internal gear ring A31, and the movable tooth carrier A2 is rotationally connected to the internal gear ring A31 through the provided main bearing rolling body A5. The eccentric shaft A11 is located on one side of the movable tooth carrier A2. A plurality of the movable teeth A4 are located around the eccentric shaft A11, and the movable teeth A4 are slidably located on the inner wall surface of the movable tooth carrier A2. The tail end of the movable tooth A4 is connected to the eccentric shaft A11 through the provided eccentric bearing A12. The pin teeth A32 are located between the front ends of the movable teeth A4 and the internal gear ring A31. Among them, the movable tooth carrier A2 includes a movable tooth carrier base body 01, guide blocks 02, and a movable tooth carrier cover plate 03. A plurality of the guide blocks 02 are arranged around between the movable tooth carrier base body 01 and the movable tooth carrier cover plate 03, and a radial rectangular groove is respectively provided between adjacent guide blocks 02. The radial rectangular grooves are distributed in the circumferential direction of the movable tooth carrier A2. Through the radial rectangular grooves, the movable teeth A4 can perform radial movement therein, thereby forming a single-row structure movable tooth carrier; at the same time, another row of guide blocks 02 and another movable tooth carrier cover plate 03 can be welded on the right side of the single-row structure movable tooth carrier to form a double-row structure movable tooth carrier. The movable tooth carrier cover plate 03 and the guide blocks 02 on the other side cooperate with the movable tooth carrier base body 01 located in the middle position, thereby forming a movable tooth carrier with two rows of rectangular guide hole systems, which can meet the requirements for manufacturing a movable tooth reducer with two rows of movable teeth A4.

[0029] Among them, as Figure 3 and Figure 4 shown, the surface of the movable tooth carrier base body 01 in contact with one side of the guide block 02 is set as the B joint surface, and the contact surface of the movable tooth carrier cover plate 03 with the other side of the guide block 02 is set as the A joint surface. The position is determined through a high-precision welding tooling, and they are welded together at the A joint surface and the B joint surface through resistance welding or diffusion welding; the movable tooth carrier A2 is welded by a distributed welding method. The guide blocks 02 are first welded to the movable tooth carrier base body 01. After other parts are assembled, the movable tooth carrier cover plate 03 is welded to the array of the guide blocks 02 to form a closed radial rectangular groove. This solution can perform post-welding machining on the side surface of the radial groove, which can further improve the manufacturing accuracy of the movable tooth carrier A2.

[0030] Among them, as Figure 5 andFigure 6 As shown, the welding tooling includes a positioning steel ball T01, a tooling positioning piece T02, and a tooling base T03. The tooling base T03 is located between the cycloid gear housing base 01 and the cycloid gear housing cover 03. One inner ring area of the tooling base T03 is in mutual contact with the wall surface of the cycloid gear housing base 01. The tooling positioning piece T02 is snap-fitted with a stepped portion provided on one side of the cycloid gear housing base 01. Both sides of the tooling positioning piece T02 are in mutual contact with the outer ring area of the tooling base T03 and the wall surface of the cycloid gear housing base 01 respectively. The positioning steel ball T01 is located between the inner side of the tooling positioning piece T02 and the outer wall of the stepped portion on the cycloid gear housing base 01.

[0031] Specific working principle:

[0032] Fix the internal gear ring A31. The eccentric shaft A11 drives the eccentric bearing A12 to rotate. The eccentric bearing A12 drives the cycloid gear A4 to perform radial and circumferential movements under the constraint of the pin teeth A32, thereby pushing the cycloid gear housing A2 to perform a circumferential rotary motion. When the eccentric shaft A11 rotates one turn, the cycloid gear housing A2 rotates by an angle between cycloid gear housings. If the reduction ratio of the reducer is I, the cycloid gear housing A2 rotates by an angle of 360 / I. Therefore, this device realizes the function of a reducer with a reduction ratio of I.

[0033] Finally, it should be noted that the above are only preferred examples of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A welded movable tooth frame of a movable tooth reducer, characterized in that: It includes an inner gear ring, an eccentric shaft, a movable gear rack, needle teeth, movable teeth and a main bearing rolling element; The movable gear rack is located inside the inner gear ring, and the movable gear rack and the inner gear ring are rotatably connected through the main bearing rolling body. The eccentric shaft is located on one side of the movable gear rack, and a plurality of movable teeth are located on the outer periphery of the eccentric shaft, and the movable teeth slide on the wall surface inside the movable gear rack, and the tail end of the movable tooth is connected to the eccentric shaft through the eccentric bearing. The needle tooth is located between the front end of the movable tooth and the inner gear ring to fix the inner gear ring, and the eccentric shaft drives the eccentric bearing to rotate, and the eccentric bearing drives the movable teeth to perform radial and circumferential motion under the constraint of the needle teeth, thereby pushing the movable gear rack to perform circular rotation motion.

2. The welded movable tooth frame of the movable tooth reducer according to claim 1, characterized in that: The movable gear rack includes a movable gear rack base, guide blocks and a movable gear rack cover plate. Several guide blocks are surrounded and located between the movable gear rack base and the movable gear rack cover plate, and a radial rectangular groove is provided between adjacent guide blocks. The radial rectangular grooves are distributed in the circumferential direction of the movable gear rack. The movable teeth are allowed to move radially therein through the radial rectangular grooves, thereby forming a single-row structure movable gear rack.

3. The welded movable tooth frame of the movable tooth reducer according to claim 2 is characterized in that: By welding another row of guide blocks and another movable gear frame cover plate on the right side of the single-row structure movable gear frame, the movable gear frame cover plate and guide blocks on the other side cooperate with the movable gear frame base located in the middle position to form a movable gear frame with two rows of rectangular guide holes.

4. The welded movable tooth frame of the movable tooth reducer according to claim 3 is characterized in that: The contact surface between the movable gear frame base and one side of the guide block is set as the B bonding surface, and the contact surface between the movable gear frame cover plate and the other side of the guide block is set as the A bonding surface. The position is determined by high-precision welding tooling, and the A bonding surface and the B bonding surface are welded together by resistance welding or diffusion welding.

5. The welded movable tooth frame of the movable tooth reducer according to claim 4, characterized in that: The movable gear frame is welded by distributed welding. The guide block is first welded to the movable gear frame base. After other parts are installed and assembled, the movable gear frame cover plate is welded to the array of guide blocks to form a closed radial rectangular groove.

6. The welded movable tooth frame of the movable tooth reducer according to claim 5, characterized in that: The welded tooling includes a positioning steel ball, a tooling positioning piece and a tooling base, the tooling base is located between the movable gear rack base and the movable gear rack cover plate, and the inner ring area on one side of the tooling base is in contact with the wall surface of the movable gear rack base, the tooling positioning piece and the step provided on one side of the movable gear rack base are mutually clamped, and the two sides of the tooling positioning piece are respectively in contact with the outer ring area of ​​the tooling base and the wall surface of the movable gear rack base, and the positioning steel ball is located between the inner side of the tooling positioning piece and the outer wall of the step on the movable gear rack base.

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