Transmission mechanism, speed reducer and robot

Abstract

The utility model provides a transmission mechanism, a speed reducer and a robot. The transmission mechanism comprises a driving shaft which is rotatably arranged; a driving tooth part is arranged at the driving end of the driving shaft; the driving tooth part is meshed with a transmission tooth part of the transmission gear; in the extending direction of the driving shaft, one of the driving tooth part and the transmission tooth part is in a gradually-expanding shape, and the other one of the driving tooth part and the transmission tooth part is in a gradually-shrinking shape matched with the gradually-expanding shape; the elastic piece is provided with a fixed end and an elastic end which are oppositely arranged in the extending direction of the driving shaft, and the elastic end abuts against the transmission gear so that when the tooth thickness of the driving tooth part or the tooth thickness of the transmission tooth part changes, the transmission tooth part can slide in the axial direction of the driving shaft relative to the driving tooth part. By means of the technical scheme, the technical problem that in the prior art, transmission errors are large when a driving shaft and a transmission gear are meshed for operation can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of transmission mechanisms, and in particular to a transmission mechanism, a reducer and a robot. Background Art

[0002] Currently, if Figures 1 to 3 As shown in the figure, the RV reducer (rotating vector reducer) is a precision reducer widely used as a joint reducer in articulated industrial robots. It has the advantages of small size, light weight, long life, high precision, high rigidity, a wide transmission ratio range, and high transmission efficiency. The RV reducer is a two-stage reducer consisting of a pinwheel meshing reduction mechanism and a planetary meshing reduction mechanism. During operation, the drive shaft moves back and forth in forward and reverse directions. Therefore, when the drive shaft and the external teeth of the planetary gears mesh, the size of the tooth gap between them directly affects the reducer's accuracy, lifespan, and vibration noise.

[0003] However, due to structural limitations, the external meshing teeth of the reducer drive shaft and planetary gears in the prior art are straight teeth along the tooth width. To avoid interference caused by manufacturing and assembly errors, and to prevent frictional heat and tooth thickness expansion during meshing, which could lead to seizure, a certain amount of backlash exists between the drive shaft and the external teeth of the planetary gears. This backlash can lead to transmission errors, impact vibration, and noise. Utility Model Content

[0004] The main purpose of the utility model is to provide a transmission mechanism, a reducer and a robot to solve the technical problem of large transmission error when the drive shaft and the transmission gear are engaged and running in the prior art.

[0005] In order to achieve the above object, according to one aspect of the present invention, a transmission mechanism is provided, comprising:

[0006] A drive shaft is rotatably provided; a drive gear portion is provided on a drive end of the drive shaft;

[0007] The transmission gear is meshed with the drive tooth portion and the transmission tooth portion of the transmission gear; along the extension direction of the drive shaft, one of the drive tooth portion and the transmission tooth portion is a gradually expanding shape, and the other of the drive tooth portion and the transmission tooth portion is a gradually contracting shape adapted to the gradually expanding shape;

[0008] The elastic member has a fixed end and an elastic end which are arranged relatively along the extension direction of the drive shaft. The elastic end abuts against the transmission gear so that when the tooth thickness of the drive tooth portion or the tooth thickness of the transmission tooth portion changes, the transmission tooth portion slides relative to the drive tooth portion along the axial direction of the drive shaft.

[0009] Furthermore, the cross section of the driving tooth portion along the extension direction of the driving shaft is trapezoidal or V-shaped; and / or,

[0010] The cross section of the transmission tooth portion along the extending direction of the drive shaft is trapezoidal or V-shaped.

[0011] Furthermore, the driving tooth portion includes a first meshing surface and a second meshing surface that are arranged opposite to each other; along the extension direction of the driving shaft, the distance between the first meshing surface and the second meshing surface gradually increases or decreases;

[0012] wherein the angle between the extension direction of the first meshing surface and the extension direction of the drive shaft is A1, A1≤2°; and / or,

[0013] An included angle between an extension direction of the second meshing surface and an extension direction of the drive shaft is A2, and A2≤2°.

[0014] Furthermore, the transmission tooth portion includes a third meshing surface and a fourth meshing surface that are arranged opposite to each other; along the extension direction of the drive shaft, the distance between the third meshing surface and the fourth meshing surface gradually decreases or increases;

[0015] wherein the included angle between the extension direction of the third meshing surface and the extension direction of the drive shaft is B1, B1≤2°; and / or,

[0016] An included angle between an extension direction of the fourth meshing surface and an extension direction of the drive shaft is B2, and B2≤2°.

[0017] Furthermore, the transmission gear has a first side and a second side arranged at intervals along the axial direction of the drive shaft, and the tooth width of the transmission tooth portion in the circumferential direction of the transmission gear gradually increases from the first side to the second side; the elastic member is attached to the second side of the transmission gear.

[0018] Furthermore, the transmission mechanism further comprises:

[0019] The eccentric shaft is provided with a transmission gear sleeved on the eccentric shaft and is in transmission connection with the eccentric shaft so as to drive the eccentric shaft through the transmission gear;

[0020] Wherein, the elastic member is an elastic washer, and the elastic washer is sleeved on the eccentric shaft; or,

[0021] There are multiple elastic members, and the multiple elastic members are arranged at intervals along the circumference of the eccentric shaft.

[0022] Furthermore, the transmission mechanism further comprises:

[0023] The limiting member is arranged on the eccentric shaft and is located on the side of the elastic member away from the transmission gear. The limiting member is used to abut the end of the elastic member away from the transmission gear to limit the elastic member in the extension direction of the drive shaft.

[0024] Furthermore, the position of the limiting member can be adjusted.

[0025] According to another aspect of the present invention, a reducer is provided, comprising: the transmission mechanism provided above.

[0026] According to another aspect of the present invention, a robot is provided, comprising: the reducer provided above.

[0027] By applying the technical solution of the present invention, it is possible to make one of the drive tooth portion and the transmission tooth portion have a gradually expanding shape, and the other of the drive tooth portion and the transmission tooth portion have a gradually contracting shape that matches the gradually expanding shape, and cooperate with the abutment of the elastic member on the transmission gear, so that when the drive tooth portion and the transmission tooth portion generate heat due to meshing friction and cause the tooth thickness to expand and thicken, the transmission gear can slide along the axial direction of the drive shaft, squeezing the elastic member to produce a larger deformation, thereby avoiding the drive tooth portion and the transmission tooth portion from getting stuck to each other. At the same time, when the drive tooth portion and the transmission tooth portion become thinner due to meshing wear, the transmission gear can slide along the axial direction of the drive shaft under the abutment of the elastic member, ensuring that the drive tooth portion and the transmission tooth portion always fit each other, thereby reducing the transmission error during the operation of the transmission mechanism, reducing operating vibration and noise. Therefore, by using the technical solution of the present invention, it is possible to solve the technical problem of large transmission error during the meshing operation of the drive shaft and the transmission gear in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 Shows a front view of an RV reducer in the prior art;

[0030] Figure 2 A cross-sectional view of an RV reducer in the prior art is shown;

[0031] Figure 3 A schematic diagram showing the matching relationship between the driving gear portion and the transmission gear portion in the prior art is shown;

[0032] Figure 4 shows a cross-sectional view of a transmission mechanism provided according to the first embodiment of the present utility model;

[0033] Figure 5 A cross-sectional view showing a partial structure of a transmission mechanism provided according to the first embodiment of the present utility model;

[0034] Figure 6 Shown Figure 5 Cross-sectional view of the middle EE section;

[0035] Figure 7 Shown Figure 5Cross-sectional view of the middle FF section;

[0036] Figure 8 A schematic diagram showing the matching relationship between the driving tooth portion and the transmission tooth portion of the transmission mechanism provided in accordance with the first embodiment of the present utility model is shown.

[0037] The above drawings include the following reference numerals:

[0038] 10. Drive shaft; 11. Drive tooth portion; 111. First meshing surface; 112. Second meshing surface; 12. Main body; 13. Drive portion;

[0039] 20. Transmission gear; 21. Transmission tooth portion; 211. Third meshing surface; 212. Fourth meshing surface; 22. First side; 23. Second side;

[0040] 30. Elastic parts;

[0041] 40. Eccentric shaft;

[0042] 50. Limiting parts;

[0043] 60. Planet carrier;

[0044] 70. Cycloid wheel;

[0045] 80, needle teeth;

[0046] 90. Needle tooth shell. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] like Figures 4 to 8 As shown, embodiment 1 of the present invention provides a transmission mechanism, which includes a drive shaft 10, a transmission gear 20 and an elastic member 30. The drive shaft 10 is rotatably arranged; a drive tooth portion 11 is provided on the drive end of the drive shaft 10. The drive tooth portion 11 and the transmission tooth portion 21 of the transmission gear 20 are meshed and arranged; along the extension direction of the drive shaft 10, one of the drive tooth portion 11 and the transmission tooth portion 21 is a gradually expanding shape, and the other of the drive tooth portion 11 and the transmission tooth portion 21 is a gradually contracting shape adapted to the gradually expanding shape. The elastic member 30 has a fixed end and an elastic end that are relatively arranged along the extension direction of the drive shaft 10, and the elastic end abuts against the transmission gear 20 so that when the tooth thickness of the drive tooth portion 11 or the tooth thickness of the transmission tooth portion 21 changes, the transmission tooth portion 21 slides relative to the drive tooth portion 11 along the axial direction of the drive shaft 10.

[0049] The transmission mechanism provided by the first embodiment of the present invention can be configured such that one of the drive tooth portion 11 and the transmission tooth portion 21 is of a gradually expanding shape and the other of the drive tooth portion 11 and the transmission tooth portion 21 is of a gradually contracting shape that matches the gradually expanding shape, and the elastic member 30 abuts against the transmission gear 20, so that when the drive tooth portion 11 and the transmission tooth portion 21 generate heat due to meshing friction and cause the tooth thickness to expand and thicken, the transmission gear 20 can slide along the axial direction of the drive shaft 10, squeezing the elastic member 30 to produce a greater deformation, thereby preventing the drive tooth portion 11 and the transmission tooth portion 21 from getting stuck to each other. At the same time, when the drive tooth portion 11 and the transmission tooth portion 21 become thinner due to meshing wear, the transmission gear 20 can slide along the axial direction of the drive shaft 10 under the abutment of the elastic member 30, ensuring that the drive tooth portion 11 and the transmission tooth portion 21 always fit each other, thereby reducing transmission errors during operation of the transmission mechanism and reducing operating vibration and noise. Therefore, the transmission mechanism provided in this embodiment can solve the technical problem of large transmission error during meshing operation of the drive shaft and the transmission gear in the prior art.

[0050] Specifically, the transmission tooth portion 21 slides axially relative to the drive tooth portion 11 along the drive shaft 10 until the meshing surface of the transmission tooth portion 21 and the meshing surface of the drive tooth portion 11 can be in contact with each other. Specifically, the state in which the meshing surface of the transmission tooth portion 21 and the meshing surface of the drive tooth portion 11 can be in contact with each other is a meshing state without tooth gap.

[0051] Specifically, the elastic end abutting against the transmission gear 20 means that the elastic member 30 generates elastic deformation. Specifically, the elastic deformation generated by the elastic member 30 is greater than or equal to 0.1 mm and less than or equal to 0.5 mm.

[0052] Specifically, the cross-section of the drive tooth portion 11 along the extension direction of the drive shaft 10 is trapezoidal or V-shaped. With this structural arrangement, when the tooth thickness expands and thickens due to meshing friction and heat generation, the transmission gear 20 can slide along the oblique side of the trapezoidal or V-shaped surface, squeezing the elastic member 30 to produce a greater deformation, thereby preventing the drive tooth portion 11 and the transmission tooth portion 21 from getting stuck together. When the drive tooth portion 11 and the transmission tooth portion 21 become thinner due to meshing wear, the transmission gear 20 can slide along the oblique side of the trapezoidal or V-shaped surface under the abutment of the elastic member 30, ensuring that the drive tooth portion 11 and the transmission tooth portion 21 always fit together.

[0053] Specifically, the cross-section of the transmission tooth portion 21 along the extension direction of the drive shaft 10 is trapezoidal or V-shaped. With this structural arrangement, when the tooth thickness expands and thickens due to meshing friction and heat generation, the transmission gear 20 can slide along the oblique side of the trapezoidal or V-shaped surface, squeezing the elastic member 30 to produce a greater deformation, thereby preventing the drive tooth portion 11 and the transmission tooth portion 21 from getting stuck together. When the drive tooth portion 11 and the transmission tooth portion 21 become thinner due to meshing wear, the transmission gear 20 can slide along the oblique side of the trapezoidal or V-shaped surface under the abutment of the elastic member 30, ensuring that the drive tooth portion 11 and the transmission tooth portion 21 always fit together.

[0054] Specifically, the driving tooth portion 11 includes a first meshing surface 111 and a second meshing surface 112 that are arranged opposite to each other; along the extension direction of the driving shaft 10, the distance between the first meshing surface 111 and the second meshing surface 112 gradually increases or decreases. The angle between the extension direction of the first meshing surface 111 and the extension direction of the driving shaft 10 is A1, and A1≤2°. With such a structural arrangement, the greater the angle between the meshing surface and the extension direction of the driving shaft 10, the greater the axial force generated when the transmission tooth portion 21 and the driving tooth portion 11 are engaged. When the axial force between the two is greater than the force required for the elastic member 30 to deform, the transmission gear 20 will slide along the direction from the driving shaft 10 to the elastic member 30, making it impossible for the transmission tooth portion 21 and the driving tooth portion 11 to maintain a meshing state with no tooth gap between each other. Therefore, setting A1≤2° can facilitate controlling the axial force generated when the transmission tooth portion 21 and the driving tooth portion 11 mesh together so as not to be too large, thereby facilitating better ensuring a backlash-free meshing state between the transmission tooth portion 21 and the driving tooth portion 11 .

[0055] Specifically, the driving tooth portion 11 includes a first meshing surface 111 and a second meshing surface 112 that are arranged opposite to each other; along the extension direction of the driving shaft 10, the distance between the first meshing surface 111 and the second meshing surface 112 gradually increases or decreases. The angle between the extension direction of the second meshing surface 112 and the extension direction of the driving shaft 10 is A2, and A2≤2°. With such a structural arrangement, the greater the angle between the meshing surface and the extension direction of the driving shaft 10, the greater the axial force generated when the transmission tooth portion 21 and the driving tooth portion 11 are engaged. When the axial force between the two is greater than the force required for the elastic member 30 to deform, the transmission gear 20 will slide along the direction from the driving shaft 10 to the elastic member 30, making it impossible for the transmission tooth portion 21 and the driving tooth portion 11 to maintain a meshing state with no tooth gap between each other. Therefore, setting A2≤2° can facilitate controlling the axial force generated when the transmission tooth portion 21 and the driving tooth portion 11 mesh together so as not to be too large, thereby facilitating better ensuring a backlash-free meshing state between the transmission tooth portion 21 and the driving tooth portion 11 .

[0056] Specifically, A1 = A2. This makes it easier to manufacture the drive tooth portion 11 and ensures that the axial force generated by the meshing of the transmission tooth portion 21 and the drive tooth portion 11 during forward and reverse rotation of the drive shaft 10 is the same, thereby improving the operational stability of the transmission mechanism.

[0057] In this embodiment, the transmission tooth portion 21 includes a third meshing surface 211 and a fourth meshing surface 212 that are arranged opposite to each other; along the extension direction of the drive shaft 10, the distance between the third meshing surface 211 and the fourth meshing surface 212 gradually decreases or increases. The angle between the extension direction of the third meshing surface 211 and the extension direction of the drive shaft 10 is B1, and B1 ≤ 2°. With such a structural arrangement, the greater the angle between the meshing surface and the extension direction of the drive shaft 10, the greater the axial force generated when the transmission tooth portion 21 and the drive tooth portion 11 are engaged. When the axial force between the two is greater than the force required for the elastic member 30 to deform, the transmission gear 20 will slide along the direction from the drive shaft 10 to the elastic member 30, making it impossible for the transmission tooth portion 21 and the drive tooth portion 11 to maintain a meshing state with no tooth gap between each other. Therefore, setting B1≤2° can facilitate controlling the axial force generated when the transmission tooth portion 21 and the driving tooth portion 11 mesh together so as not to be too large, thereby facilitating better ensuring a backlash-free meshing state between the transmission tooth portion 21 and the driving tooth portion 11 .

[0058] In this embodiment, the transmission tooth portion 21 includes a third meshing surface 211 and a fourth meshing surface 212 that are arranged relative to each other; along the extension direction of the drive shaft 10, the distance between the third meshing surface 211 and the fourth meshing surface 212 gradually decreases or increases. The angle between the extension direction of the fourth meshing surface 212 and the extension direction of the drive shaft 10 is B2, and B2 ≤ 2°. With such a structural arrangement, the greater the angle between the meshing surface and the extension direction of the drive shaft 10, the greater the axial force generated when the transmission tooth portion 21 and the drive tooth portion 11 are engaged. When the axial force between the two is greater than the force required for the elastic member 30 to deform, the transmission gear 20 will slide along the direction from the drive shaft 10 to the elastic member 30, making it impossible for the transmission tooth portion 21 and the drive tooth portion 11 to maintain a meshing state with no tooth gap between each other. Therefore, setting B2≤2° can facilitate controlling the axial force generated when the transmission tooth portion 21 and the driving tooth portion 11 mesh together so as not to be too large, thereby facilitating better ensuring a backlash-free meshing state between the transmission tooth portion 21 and the driving tooth portion 11 .

[0059] Specifically, B1 = B2. This makes it easier to manufacture the transmission tooth portion 21 and ensures that the axial force generated by the meshing of the transmission tooth portion 21 and the drive tooth portion 11 during forward and reverse rotation of the drive shaft 10 is the same, thereby improving the operational stability of the transmission mechanism.

[0060] Specifically, along the extension direction of the drive shaft 10, the distance between the first meshing surface 111 and the second meshing surface 112 gradually increases, and the distance between the third meshing surface 211 and the fourth meshing surface 212 gradually decreases; or, along the extension direction of the drive shaft 10, the distance between the first meshing surface 111 and the second meshing surface 112 gradually decreases, and the distance between the third meshing surface 211 and the fourth meshing surface 212 gradually increases.

[0061] Specifically, the slopes of the first meshing surface 111, the second meshing surface 112, the third meshing surface 211, and the fourth meshing surface 212 are all positively correlated with the elastic coefficient of the elastic member 30. With this structural arrangement, since the greater the slope of the meshing surface, the greater the axial force generated by the meshing of the transmission tooth portion 21 and the drive tooth portion 11, to ensure that the elastic member 30 can withstand the axial force generated by the meshing of the transmission tooth portion 21 and the drive tooth portion 11, the slopes of the first meshing surface 111, the second meshing surface 112, the third meshing surface 211, and the fourth meshing surface 212 are all positively correlated with the elastic coefficient of the elastic member 30, thereby better ensuring the operational stability of the transmission mechanism.

[0062] In this embodiment, the transmission gear 20 has a first side 22 and a second side 23 spaced apart along the axial direction of the drive shaft 10. The tooth width of the transmission tooth portion 21 in the circumferential direction of the transmission gear 20 gradually increases from the first side 22 to the second side 23. The elastic member 30 is attached to the second side of the transmission gear 20. With this structural arrangement, by attaching the elastic member 30 to the second side of the transmission gear 20, when the drive tooth portion 11 and the transmission tooth portion 21 engage and generate heat due to friction, causing the tooth thickness to expand and thicken, the transmission gear 20 can slide from the first side 22 to the second side 23, squeezing the elastic member 30 to generate greater deformation, thereby preventing the drive tooth portion 11 and the transmission tooth portion 21 from becoming stuck to each other. At the same time, when the driving tooth portion 11 and the transmission tooth portion 21 become thinner due to meshing wear, the transmission gear 20 can slide along the second side 23 to the first side 22 under the abutment of the elastic member 30, ensuring that the meshing surface of the driving tooth portion 11 and the meshing surface of the transmission tooth portion 21 are always in contact with each other, thereby reducing the transmission error during operation of the transmission mechanism and reducing operating vibration and noise.

[0063] Specifically, the drive shaft 10 includes a main body 12 and a driving part 13 that are connected to each other. The main body 12 is used to connect to the motor drive, and the driving tooth part 11 is arranged on the driving part 13; along the direction from the main body 12 to the driving part 13, the driving tooth part 11 is a tapered shape, and the transmission tooth part 21 is a gradually expanding shape. The elastic member 30 is arranged on the side of the transmission gear 20 away from the main body 12.

[0064] In this embodiment, the transmission mechanism further includes an eccentric shaft 40, and the transmission gear 20 is sleeved on the eccentric shaft 40 and is in transmission connection with the eccentric shaft 40, so as to drive the eccentric shaft 40 via the transmission gear 20. The elastic member 30 is an elastic washer sleeved on the eccentric shaft 40. This structural arrangement is simple and easy to set up, and the elastic washer can generate a uniform abutting force on the transmission gear 20, thereby better ensuring that the meshing surfaces of the drive tooth portion 11 and the meshing surfaces of the transmission tooth portion 21 are always in contact with each other.

[0065] Specifically, the motor's power is transmitted to the drive shaft 10. The drive shaft 10 transmits the power to the transmission gear 20 via the meshing between the drive tooth portion 11 and the transmission tooth portion 21. The transmission gear 20 transmits the power to the eccentric shaft 40 via an internal spline fit. The eccentric motion of the eccentric portion of the eccentric shaft 40 transmits the power to the cycloid gear 70 via the bearing hole of the cycloid gear 70. The cycloid gear 70 meshes with the pin teeth 80 and the pin gear housing 90 to generate rotation, transmitting the power to the planetary carrier 60. The planetary carrier 60 outputs the power via a bolted connection. Specifically, the transmission gear 20 is a planetary gear.

[0066] Specifically, the transmission mechanism also includes an eccentric shaft 40. The transmission gear 20 is sleeved on the eccentric shaft 40 and is in transmission connection with the eccentric shaft 40, thereby driving the eccentric shaft 40 through the transmission gear 20. The elastic member 30 is an elastic washer sleeved on the eccentric shaft 40. The tooth width of the transmission tooth portion 21 in the circumferential direction of the transmission gear 20 gradually increases from the first side 22 to the second side 23. The elastic member 30 is attached to the second side of the transmission gear 20. This structural arrangement reduces interference with the eccentric motion of the eccentric portion of the eccentric shaft 40.

[0067] Specifically, the transmission mechanism further includes an eccentric shaft 40, and the transmission gear 20 is sleeved on the eccentric shaft 40 and is in transmission connection with the eccentric shaft 40, so as to drive the eccentric shaft 40 through the transmission gear 20. There are multiple elastic members 30, and the multiple elastic members 30 are spaced apart along the circumference of the eccentric shaft 40. Specifically, the multiple elastic members 30 are evenly spaced along the circumference of the eccentric shaft 40. In this way, the multiple elastic members 30 can generate a uniform abutment force on the transmission gear 20, thereby better ensuring that the meshing surfaces of the drive tooth portion 11 and the meshing surfaces of the transmission tooth portion 21 are always in contact with each other.

[0068] Specifically, the transmission mechanism further includes a stopper 50, which is disposed on the eccentric shaft 40 and located on a side of the elastic member 30 away from the transmission gear 20. The stopper 50 is used to abut the end of the elastic member 30 away from the transmission gear 20 to limit the elastic member 30 in the extension direction of the drive shaft 10. With this structural arrangement, the stopper 50 can limit the elastic member 30, preventing the elastic member 30 from being displaced and losing contact with the transmission gear 20 when subjected to the axial pushing force of the transmission gear 20.

[0069] Specifically, the position of the stopper 50 is adjustable. With this structural arrangement, the elastic deformation of the elastic member 30 can be adjusted by adjusting the position of the stopper 50, thereby adapting to the different axial forces generated by the meshing of different drive teeth 11 and transmission teeth 21. This ensures that the meshing surfaces of the drive teeth 11 and the transmission teeth 21 always fit together, thereby reducing transmission errors during operation of the transmission mechanism and reducing operating vibration and noise.

[0070] Specifically, in order to better ensure the stability of the limit, the limit member 50 is a limit ring, and the limit ring is sleeved on the eccentric shaft 40. Specifically, the limit member 50 is a retaining spring.

[0071] A second embodiment of the present invention provides a reducer, which includes the transmission mechanism provided in the first embodiment.

[0072] The reducer provided by the second embodiment of the present invention can be configured such that one of the drive tooth portion 11 and the transmission tooth portion 21 is of a gradually expanding shape and the other of the drive tooth portion 11 and the transmission tooth portion 21 is of a gradually contracting shape that matches the gradually expanding shape, and the elastic member 30 abuts against the transmission gear 20, so that when the drive tooth portion 11 and the transmission tooth portion 21 generate heat due to meshing friction and cause the tooth thickness to expand and thicken, the transmission gear 20 can slide along the axial direction of the drive shaft 10, squeezing the elastic member 30 to produce a greater deformation, thereby preventing the drive tooth portion 11 and the transmission tooth portion 21 from getting stuck to each other. At the same time, when the drive tooth portion 11 and the transmission tooth portion 21 become thinner due to meshing wear, the transmission gear 20 can slide along the axial direction of the drive shaft 10 under the abutment of the elastic member 30, ensuring that the drive tooth portion 11 and the transmission tooth portion 21 always fit each other, thereby reducing the transmission error during the operation of the transmission mechanism and reducing the operating vibration and noise. Therefore, the reducer provided in this embodiment can solve the technical problem in the prior art of large transmission error during meshing operation of the drive shaft and the transmission gear.

[0073] Specifically, the reducer provided in the second embodiment is an RV reducer.

[0074] A third embodiment of the present invention provides a robot, which includes the reducer provided in the second embodiment.

[0075] The robot provided by the third embodiment of the present invention can be configured such that one of the drive tooth portion 11 and the transmission tooth portion 21 is of a gradually expanding shape and the other of the drive tooth portion 11 and the transmission tooth portion 21 is of a gradually contracting shape that matches the gradually expanding shape, and the elastic member 30 is in contact with the transmission gear 20, so that when the drive tooth portion 11 and the transmission tooth portion 21 generate heat due to meshing friction and cause the tooth thickness to expand and thicken, the transmission gear 20 can slide along the axial direction of the drive shaft 10, squeezing the elastic member 30 to produce a greater deformation, thereby preventing the drive tooth portion 11 and the transmission tooth portion 21 from getting stuck with each other. At the same time, when the drive tooth portion 11 and the transmission tooth portion 21 become thinner due to meshing wear, the transmission gear 20 can slide along the axial direction of the drive shaft 10 under the contact of the elastic member 30, ensuring that the drive tooth portion 11 and the transmission tooth portion 21 always fit each other, thereby reducing the transmission error during the operation of the transmission mechanism and reducing the operating vibration and noise. Therefore, the robot provided in this embodiment can solve the technical problem in the prior art of large transmission errors during meshing operation of the drive shaft and the transmission gear.

[0076] Specifically, the robot provided in Example 3 is a six-axis robot.

[0077] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the input shaft and the planetary gear are in a backlash-free state when meshing externally, thereby improving the accuracy of the reducer, reducing impact and vibration, extending the life of the entire machine, and reducing the noise of the entire machine.

[0078] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0079] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0080] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0081] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0082] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A transmission mechanism, characterized in that: include: A drive shaft (10) is rotatably arranged; a drive tooth portion (11) is arranged on the drive end of the drive shaft (10); The transmission gear (20) is meshed with the driving tooth portion (11) and the transmission tooth portion (21) of the transmission gear (20); along the extending direction of the driving shaft (10), one of the driving tooth portion (11) and the transmission tooth portion (21) is in a gradually expanding shape, and the other of the driving tooth portion (11) and the transmission tooth portion (21) is in a gradually contracting shape adapted to the gradually expanding shape; An elastic member (30) having a fixed end and an elastic end disposed opposite to each other along an extension direction of the drive shaft (10), wherein the elastic end abuts against the transmission gear (20) so as to enable the transmission gear (21) to slide relative to the drive gear (11) along the axial direction of the drive shaft (10) when the tooth thickness of the drive tooth portion (11) or the tooth thickness of the transmission tooth portion (21) changes.

2. The transmission mechanism according to claim 1, characterized in that: The cross section of the driving tooth portion (11) along the extension direction of the driving shaft (10) is trapezoidal or V-shaped; and / or, The cross section of the transmission tooth portion (21) along the extension direction of the drive shaft (10) is trapezoidal or V-shaped.

3. The transmission mechanism according to claim 1, characterized in that: The driving tooth portion (11) comprises a first meshing surface (111) and a second meshing surface (112) arranged opposite to each other; along the extending direction of the driving shaft (10), the distance between the first meshing surface (111) and the second meshing surface (112) gradually increases or decreases; wherein the angle between the extension direction of the first meshing surface (111) and the extension direction of the drive shaft (10) is A1, A1≤2°; and / or, The angle between the extension direction of the second meshing surface (112) and the extension direction of the drive shaft (10) is A2, A2≤2°.

4. The transmission mechanism according to claim 1, characterized in that: The transmission tooth portion (21) comprises a third meshing surface (211) and a fourth meshing surface (212) that are arranged opposite to each other; along the extension direction of the drive shaft (10), the distance between the third meshing surface (211) and the fourth meshing surface (212) gradually decreases or increases; wherein the angle between the extension direction of the third meshing surface (211) and the extension direction of the drive shaft (10) is B1, B1≤2°; and / or, The angle between the extension direction of the fourth meshing surface (212) and the extension direction of the drive shaft (10) is B2, B2≤2°.

5. The transmission mechanism according to claim 1, characterized in that: The transmission gear (20) has a first side (22) and a second side (23) spaced apart in the axial direction of the drive shaft (10); the tooth width of the transmission tooth portion (21) in the circumferential direction of the transmission gear (20) gradually increases from the first side (22) to the second side (23); and the elastic member (30) is attached to the second side of the transmission gear (20).

6. The transmission mechanism according to claim 1, characterized in that: The transmission mechanism further comprises: an eccentric shaft (40), wherein the transmission gear (20) is sleeved on the eccentric shaft (40) and is in transmission connection with the eccentric shaft (40), so as to drive the eccentric shaft (40) through the transmission gear (20); Wherein, the elastic member (30) is an elastic washer, and the elastic washer is sleeved on the eccentric shaft (40); or, There are a plurality of elastic members (30), and the plurality of elastic members (30) are arranged at intervals along the circumference of the eccentric shaft (40).

7. The transmission mechanism according to claim 6, characterized in that: The transmission mechanism further comprises: A limiting member (50) is provided on the eccentric shaft (40) and is located on a side of the elastic member (30) away from the transmission gear (20). The limiting member (50) is used to abut against an end of the elastic member (30) away from the transmission gear (20) to limit the elastic member (30) in the extension direction of the drive shaft (10).

8. The transmission mechanism according to claim 7, characterized in that: The position of the limiting member (50) is adjustable.

9. A reducer, characterized in that: include: The transmission mechanism according to any one of claims 1 to 8.

10. A robot, characterized in that: include: The reducer of claim 9.

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