Nutation reducer and robot

Abstract

The utility model relates to the technical field of speed reducer, especially nutation speed reducer and robot, including bevel gear disc, synchronous gear disc, output gear disc and backlash adjusting part, the bevel gear disc is engaged with synchronous gear disc, output gear disc respectively, the backlash adjusting part is installed in one side of synchronous gear disc or output gear disc and makes synchronous gear disc or output gear disc float through the backlash adjusting part to realize backlash adjustment, the utility model discloses a backlash adjusting part is set up in one side of synchronous gear disc or output gear disc, can realize the adjustment of backlash to realize zero backlash, improve transmission accuracy and mechanical efficiency, reduce vibration and noise, improve component life.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and in particular to a nutation speed reducer and a robot. Background Technology

[0002] Nutting reducers achieve high reduction ratios by utilizing nutation motion (similar to the oscillation of a coin when tilted and spinning). When the input shaft rotates, the helical gear plate oscillates due to the contact of its inclined surfaces, transmitting power through the meshing of the synchronous and output gear plates, ultimately achieving a high reduction ratio. However, backlash often exists between the helical gear plate, the synchronous gear plate, and the output gear plate, resulting in "free travel" between the input and output shafts. When the input shaft changes direction, the output shaft must first eliminate the backlash before transmitting motion, causing a response delay and significantly reducing transmission accuracy. Backlash also causes tooth surface collisions at the moment of reversal, generating impact forces, leading to vibration and noise. Repeated impacts accelerate tooth surface wear and may even cause tooth root cracks, shortening component lifespan. Furthermore, backlash causes some input energy to be used to overcome tooth surface friction and impact rather than for effective transmission, reducing mechanical efficiency. Utility Model Content

[0003] This utility model solves the problems in related technologies and proposes a nutation reducer and robot. A backlash adjustment component is set on one side of the synchronous gear plate or output gear plate, which can realize the adjustment of backlash, thereby achieving zero backlash, improving transmission accuracy and mechanical efficiency, reducing vibration and noise, and improving component life.

[0004] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: a nutation reducer, including a helical gear disk, a synchronous gear disk, an output gear disk and a backlash adjustment component, wherein the helical gear disk meshes with the synchronous gear disk and the output gear disk respectively, and the backlash adjustment component is installed on one side of the synchronous gear disk or the output gear disk and the synchronous gear disk or the output gear disk floats through the backlash adjustment component to achieve backlash adjustment.

[0005] As a preferred embodiment, the backlash adjustment element is an elastic element.

[0006] As a preferred embodiment, an annular mounting groove is formed between the output toothed disc and the toothed disc housing, and the elastic element is installed in the mounting groove.

[0007] As a preferred embodiment, a thrust washer is also included, which is also installed in the mounting groove.

[0008] As a preferred embodiment, the inner ring of the synchronous gear disk is mounted on the input shaft via a first bearing, the inner ring of the helical gear disk is slidably mounted on the input shaft via a second bearing, the inner ring of the output gear disk is slidably mounted on the input shaft via a third bearing, and the outer ring of the output gear disk is also slidably relative to the output gear disk housing via a fourth bearing.

[0009] As a preferred embodiment, an annular mounting groove is formed between the synchronizing gear and the input gear box, and the elastic element is installed in the mounting groove.

[0010] As a preferred embodiment, it also includes a synchronization positioning block, wherein the synchronization gear plate has a positioning groove, the synchronization positioning block is placed in the positioning groove and fixed to the input gear plate box by bolts.

[0011] As a preferred embodiment, the inner ring of the synchronous positioning block is mounted on the input shaft via a first bearing, the inner ring of the helical gear disk is slidably mounted on the input shaft via a second bearing, the inner ring of the output gear disk is rolled on the input shaft via a third bearing, and the outer ring of the output gear disk also rolls relative to the output gear disk housing via a fourth bearing.

[0012] In another aspect, this utility model also provides a robot including a nutation reducer as described in any of the preceding embodiments.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model provides a backlash adjustment component on one side of the synchronous gear plate or output gear plate, which can realize the adjustment of backlash, thereby achieving zero backlash, improving transmission accuracy and mechanical efficiency; reducing vibration and noise, and improving component life; a thrust washer is also installed in the mounting groove, which can compensate for the gap, adjust the preload, limit axial displacement, distribute load, reduce wear, and ensure efficient, stable and safe operation of the machinery. Attached Figure Description

[0014] Figure 1 This is a right view of Embodiment 1 of this utility model; Figure 2 This is a utility model Figure 1 Sectional view of AA; Figure 3 This is a right view of Embodiment 2 of this utility model; Figure 4 This is a utility model Figure 3 BB section view in the middle.

[0015] In the picture: 1. Helical gear disc, 2. Synchronizing gear disc, 3. Output gear disc, 4. Deep groove ball bearing, 5. Needle roller bearing, 6. Input gear disc housing, 7. Synchronizing positioning block, 8. Input shaft, 9. Backlash adjustment component, 10. Output gear disc housing, 11. Thrust washer. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0017] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, or combinations thereof.

[0018] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0019] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0020] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0021] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0022] Example 1 like Figures 1 to 2 As shown, a nutation reducer includes a helical gear disk 1, a synchronous gear disk 2, and an output gear disk 3. The helical gear disk 1 has teeth on both sides, and these teeth mesh with the synchronous gear disk 2 and the output gear disk 3 respectively. The output gear disk 3 has one fewer tooth than the helical gear disk 1. The inner ring of the synchronous gear disk 2 is mounted on the input shaft 8 via a deep groove ball bearing 4. The synchronous gear disk 2 is fixed to the input gear disk housing 6 by bolts, and the input gear disk housing 6 is fixed to the output gear disk housing 10 by bolts. The inner ring of the helical gear disk 1 is slidably mounted on the input shaft 8 via a needle roller bearing 5 (here, the needle roller bearing...). The outer ring of the output gear 3 is fixed to the helical gear 1 and the inner ring of the needle roller bearing 5 can slide axially relative to the input shaft 8. The inner ring of the output gear 3 is slidably mounted on the input shaft 8 through the needle roller bearing 5 (here, the outer ring of the needle roller bearing 5 is fixed to the inner ring of the output gear 3 and the inner ring of the needle roller bearing 5 can slide axially relative to the input shaft 8). The outer ring of the output gear 3 slides relative to the output gear box 10 through the needle roller bearing 5 (here, the outer ring of the needle roller bearing 5 is fixed to the outer ring of the output gear 3 and the inner ring of the needle roller bearing 5 can slide axially relative to the output gear box 10).

[0023] To adjust the backlash of the nutated reducer, a backlash adjustment component 9 is provided. The backlash adjustment component 9 is made of an elastic element, such as a wave spring or a disc spring. An annular mounting groove is formed between the output gear box 10 and the output gear 3. The mounting groove is opened on the output gear box 10, and the elastic element is installed in the mounting groove. Through the elastic element, the backlash can be adjusted to achieve zero backlash, improve transmission accuracy and mechanical efficiency, reduce vibration and noise, and improve component life.

[0024] In one embodiment, a thrust washer 11 is also included. The thrust washer 11 is also installed in the mounting groove. The thrust washer 11 abuts against one side of the output gear 3. The thrust washer 11 can compensate for the gap, adjust the preload, limit axial displacement, distribute the load, reduce wear, and ensure efficient, stable and safe operation of the machine.

[0025] Example 2 like Figure 3-4 As shown, unlike Embodiment 1, in this embodiment, an annular mounting groove is formed between the synchronous gear 2 and the input gear box 6. The mounting groove is opened on the synchronous gear 2, and the elastic element is installed in the mounting groove. The synchronous gear 2 is used to adjust the back clearance by floating. In this way, the output gear 3 can be fixed, avoiding the problem that the output gear 3 cannot adjust the back clearance by the rigid connection of the mechanical connection at the application end.

[0026] In one embodiment, a synchronization positioning block 7 is also included. The synchronization gear 2 has a positioning groove. The synchronization positioning block 7 is placed in the positioning groove and fixed to the input gear box 6 by bolts. The synchronization gear 2 and the synchronization positioning block 7 are not fixed together. Therefore, the synchronization gear 2 can float under the action of the elastic element.

[0027] Furthermore, unlike Embodiment 1, in this embodiment, the synchronous positioning block 7 is mounted on the input shaft 8 via a deep groove ball bearing 4, the inner ring of the output gear 3 is rolled on the input shaft 8 via a deep groove ball bearing 4, and the outer ring of the output gear 3 rolls relative to the output gear box 10 via a deep groove ball bearing 4.

[0028] Example 3 In another aspect, this utility model also provides a robot, including the nutation reducer in Embodiment 1.

[0029] Example 4 In another aspect, this utility model also provides a robot, including the nutation reducer in embodiment 2.

[0030] The above are preferred embodiments of this utility model. Those skilled in the art can make changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments described above. Any obvious improvements, substitutions or modifications made by those skilled in the art based on this utility model shall fall within the protection scope of this utility model.

Claims

1. A nutation reducer, comprising a helical gear disk (1), a synchronous gear disk (2), and an output gear disk (3), wherein the helical gear disk (1) meshes with the synchronous gear disk (2) and the output gear disk (3) respectively, characterized in that: It also includes a backlash adjustment component (9), which is installed on one side of the synchronizing gear plate (2) or the output gear plate (3) and causes the synchronizing gear plate (2) or the output gear plate (3) to float to achieve backlash adjustment.

2. The nutating reducer according to claim 1, characterized in that: The back clearance adjustment element (9) is an elastic element.

3. The nutating reducer according to claim 2, characterized in that: An annular mounting groove is formed between the output gear plate (3) and the output gear plate box (10), and the elastic element is installed in the mounting groove.

4. The nutating reducer according to claim 3, characterized in that: It also includes a thrust washer (11), which is also installed in the mounting groove.

5. The nutating reducer according to claim 3, characterized in that: The inner ring of the synchronous gear disk (2) is mounted on the input shaft (8) via a deep groove ball bearing (4), the inner ring of the helical gear disk (1) is slidably mounted on the input shaft (8) via a needle roller bearing (5), the inner ring of the output gear disk (3) is slidably mounted on the input shaft (8) via a needle roller bearing (5), and the outer ring of the output gear disk (3) is also slidably relative to the output gear disk housing (10) via a needle roller bearing (5).

6. The nutating reducer according to claim 2, characterized in that: An annular mounting groove is formed between the synchronous gear plate (2) and the input gear plate box (6), and the elastic element is installed in the mounting groove.

7. The nutating reducer according to claim 6, characterized in that: It also includes a synchronous positioning block (7), on which a positioning groove is provided, and the synchronous positioning block (7) is placed in the positioning groove and fixed to the input gear box (6) by bolts.

8. The nutating reducer according to claim 7, characterized in that: The inner ring of the synchronous positioning block (7) is mounted on the input shaft (8) via a deep groove ball bearing (4), the inner ring of the helical gear plate (1) is slidably mounted on the input shaft (8) via a needle roller bearing (5), the inner ring of the output gear plate (3) is rolled on the input shaft (8) via a deep groove ball bearing (4), and the outer ring of the output gear plate (3) also rolls relative to the output gear plate box (10) via a deep groove ball bearing (4).

9. A robot comprising a nutation reducer as described in any one of claims 1-8.

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