TWI438355B - Deceleration device - Google Patents

Description

Speed reducer

The invention relates to a reduction gear.

As an important part of mechanical transmission, the speed reducer is widely used in robots, automobiles and other industries. Commonly used reduction gears usually use two intermeshing gears with different diameters to achieve deceleration.

A reduction gear device includes a casing, a gear disposed on the casing, a crankshaft having an eccentric portion disposed in the casing, and a cycloid wheel disposed on the eccentric portion and provided with gear teeth. The cycloidal wheel is interlocked with the eccentric portion of the crankshaft, and the input rotation is decelerated to obtain an output rotation by revolving while meshing with the internal gear. However, in order to achieve a high degree of meshing coincidence and obtain a smooth output, the cycloidal wheel of the above-mentioned reduction gear device usually forms closely arranged teeth on its outer circumferential surface, and the number of gear teeth to be set is large and the overall size of the reduction gear device is required. When restricted, the gear teeth need to be made very small, and the teeth are also small in the circumferential direction, and even the tooth roots will have overlapping interference, which makes the cycloid wheel and its teeth more difficult to manufacture. Large, high production costs and complex structure. In addition, the gears are stored in the backlash, and as the friction increases for a long time, the backlash becomes larger and the transmission error becomes larger.

In view of the above, it is necessary to provide a reduction gear having a simple structure and high transmission accuracy.

A speed reduction device includes a transmission component and a power component. The transmission component includes an active component, a first driven component, a second driven component, a first transmission component, a second transmission component and two pretensioning mechanisms. The power component is connected with the active component to provide the rotational power of the active component. The first transmission component is wound around the active component and the first driven component, and the first driven component is driven to rotate by the driving of the active component, and the second transmission component is wound. Actuating the first follower and the second follower, and driving the second follower under the driving of the first follower, the two pretensioning mechanisms elastically resisting the first transmission member and the second transmission member respectively The second transmission member includes a transmission portion, and the transmission portion is provided with a through hole through which the active member passes, and one end of the active member passes through the through hole.

The speed reducing device is wound around the driving member and the first driven member by the first transmission member, and the second transmission member is wound around the first driven member and the second driven member, thereby driving the first driven member and the first driven member The second follower rotates without using a complicated structure such as a gear, and has a simple structure and a low production cost. Moreover, the two pre-tensioning mechanisms are elastically resisted with the first transmission member and the second transmission member, respectively, to prevent the first transmission member and the second transmission member from being loosened for a long time, thereby improving the precision of the reduction device.

100‧‧‧Deceleration device

10‧‧‧Transmission components

11‧‧‧Active parts

12‧‧‧First follower

121‧‧‧ driven shaft

123‧‧‧ driven wheel

125‧‧‧ accommodating slot

13‧‧‧Second follower

131‧‧‧Transmission Department

1311‧‧‧Connected end

1313‧‧‧ side wall

1315‧‧‧ curved edges

1317‧‧‧ Containing trough

133‧‧‧Drive rod

135‧‧‧through hole

137‧‧‧Rotary axis

14‧‧‧First transmission

15‧‧‧Second transmission parts

16‧‧‧Fixed parts

161‧‧‧ Positioning block

163‧‧‧Adjustment block

165‧‧‧disc shrapnel

167‧‧‧ Connecting rod

19‧‧‧Pre-tightening mechanism

191‧‧‧Adjustment

1912‧‧‧Responsible Department

1913‧‧‧Rotary shaft

192‧‧‧ bearing

193‧‧‧Resistance

194‧‧‧ Guides

1941‧‧‧ pole

1942‧‧‧Thread

1943‧‧‧Block

195‧‧‧Sliding bracket

1951‧‧‧Ontology

1952‧‧‧through hole

1953‧‧‧ Reception trough

1954‧‧‧Connecting Department

196‧‧‧Flexible parts

197‧‧‧fasteners

198‧‧‧Connecting parts

1981‧‧‧ screw hole

30‧‧‧Power components

50‧‧‧ bracket

53‧‧‧floor

51‧‧‧ side panels

1 is a perspective assembled view of a reduction gear transmission according to an embodiment of the present invention.

Figure 2 is a perspective assembled view of the transmission assembly of the reduction gear unit of Figure 1.

Figure 3 is a partial perspective assembled view of the reduction gear of Figure 1 from another perspective.

Figure 4 is a partially exploded view of the reduction gear of Figure 3.

Figure 5 is an exploded perspective view of the transmission assembly of the reduction gear unit of Figure 1.

The speed reducer of the present invention will be further developed in conjunction with the accompanying drawings and specific embodiments. Detailed description.

Referring to FIG. 1, a reduction gear transmission 100 according to an embodiment of the present invention can be applied to a mechanical device such as a robot. The speed reduction device 100 includes a transmission assembly 10, a power component 30 that provides transmission power for the transmission assembly 10, and a bracket 50 that supports the transmission assembly 10.

Referring to FIG. 2 together, the transmission assembly 10 includes an active member 11, a first follower 12, a second follower 13, a first transmission member 14, a second transmission member 15, a fixing member 16, and two pretensioning mechanisms 19. . The first transmission member 14 is wound around the driving member 11 and the first driven member 12, and the second transmission member 15 is wound around the first driven member 12 and the second driven member 13. The fixing member 16 fixedly connects the end of the first transmission member 14 with the first follower member 12, and the end of the second transmission member 15 is fixedly coupled to the second follower member 13. The two pretensioning mechanisms 19 are fixed to the bracket 50 and elastically abut against the first transmission member 14 and the second transmission member 15, respectively.

Referring to FIGS. 3 and 4, the active member 11 is substantially cylindrical and has one end connected to the power component 30.

The first follower 12 includes a driven shaft 121 and a driven wheel 123 formed around the driven shaft 121. The driven shaft 121 is substantially cylindrical, and the diameter of the driven shaft 121 is smaller than the diameter of the driven wheel 123. The driven wheel 123 is provided with a spirally disposed receiving groove 125. The ratio of the diameter of the driven wheel 123 to the diameter of the active member 11 is the first stage gear ratio.

The second follower 13 includes a transmission portion 131, a transmission rod 133 extending from one end of the transmission portion 131, a through hole 135 formed in the transmission portion 131, and a rotation shaft 137 passing through the transmission portion 131. The transmission portion 131 is substantially a fan-shaped structure, and includes a connecting end 1311, two side walls 1313 extending from the connecting end 1311, and a curved edge 1315 connecting the two side walls 1313. A receiving groove 1317 is defined in the arc-shaped edge 1315. In the embodiment, the arc-shaped edge 1315 is provided with four receiving slots 1317, and the four receiving slots 1317 are substantially flat. Row. The drive rod 133 extends away from the curved edge 1315 from the connecting end 1311. The through hole 135 is located between the side wall 1313 and the curved edge 1315. The rotating shaft 137 is partially housed in the connecting end 1311. The ratio of the radius of the sector structure of the transmission portion 131 to the radius of the driven shaft 121 of the first follower 12 is the second stage transmission ratio. The fan angle of the transmission portion 131 of the second follower 13 is obtained by multiplying the ratio of the number of rotations of the first follower 12 to the second-stage transmission ratio and multiplying by three hundred and sixty degrees.

The first transmission member 14 is wound around the accommodating groove 125 of the driven member 123 and the driven wheel 123 of the first follower 12. The number of turns of the first transmission member 14 on each of the receiving slots 125 of the first follower member 12 is smaller than the number of turns remaining on the receiving slot 125 to ensure the realization of the transmission. The first transmission member 14 can be a steel wire rope, a steel belt or the like, and only needs to have sufficient strength and toughness to ensure a good transmission. In the present embodiment, the first transmission member 14 is a wire rope.

The second transmission member 15 is wound in the receiving shaft 121 of the first follower 12 and the receiving groove 1317 of the second follower 13. The second transmission member 15 can be a steel wire rope, a steel belt or the like, and only needs to have sufficient strength and toughness to ensure good transmission. The number of the second transmission members 15 can also be determined according to factors such as the actual required strength and the size of the reduction gear unit 100. In this embodiment, the second transmission member 15 is a steel wire rope.

In the present embodiment, there are four fixing members 16, two of which are used to fix the end of the first transmission member 14 to the driven wheel 123 of the first follower 12, and the remaining fixing members 16 are used for the second transmission member 15. The end is fixed to the transmission portion 131 of the second follower 13. Each fixing member 16 includes a positioning block 161, an adjusting block 163, a disk-shaped elastic piece 165, a connecting rod 167, and a screw (not shown).

Referring to FIG. 5, each pretensioning mechanism 19 includes an adjusting member 191, two bearings 192, two resisting members 193, two guiding members 194, a sliding bracket 195, two elastic members 196, and four tights. Firmware 197 and a connector 198.

The adjusting member 191 includes a cylindrical abutting portion 1912 and two rotating shaft portions 1913 provided at both ends of the abutting portion 1912. The two bearings 192 are respectively sleeved on the two shaft portions 1913. The abutting member 193 is substantially open-looped and abuts against the outer side of the bearing 192 to prevent the bearing 192 from coming off the shaft portion 1913.

The guide member 194 includes a rod portion 1941 and a blocking portion 1943 provided at one end of the rod portion 1941. The rod portion 1941 is formed with a thread 1942 away from one end of the blocking portion 1943.

The sliding bracket 195 includes a body 1951 and two connecting portions 1954 extending from both ends of one side of the body 1951 toward the same side of the body 1951. A through hole 1952 is formed in a side of the body 1951 connected to the connecting portion 1954. A receiving groove 1953 is formed on the inner surface of each connecting portion 1954. The bearing 192 and the abutting member 193 are received in the receiving groove 1953.

In the present embodiment, the elastic member 196 is a cylindrical spring. Of course, the elastic member 196 can also be a rectangular spring, and the rectangular spring provides a larger elastic force than the cylindrical spring. The fastener 197 is a nut.

The connecting member 198 is provided with a four screw hole 1981. The two screw holes 1981 are provided for the two guiding members 194, and the other two screw holes 1981 are provided for screws (not shown) to fix the connecting member 198 to the bracket 50.

The power component 30 is a motor having a rotating shaft (not shown).

Referring to FIG. 1, the bracket 50 is substantially U-shaped and includes a bottom plate 53 and side plates 51 extending perpendicularly from opposite edges of the bottom plate 53 respectively.

Referring to FIG. 1 to FIG. 5 , when the speed reducer 100 is assembled, the opposite ends of the rotating shaft 137 of the second follower 13 are respectively received in the two side plates 51 of the bracket 50 and the two side plates 51 . Turn the connection. The power component 30 is fixed on one side plate 51 of the bracket 50. After the driving member 11 passes through the through hole 135 of the second follower 13, one end is rotatably connected to the rotating shaft of the power component 30 through the side plate 51, and the other end passes through. The other side plate 51 is rotatably coupled to the side plate 51. Both ends of the first follower 12 respectively pass through the two side plates 51 and are rotatable relative to the two side plates 51. The axis of the driven shaft 121 of the first follower 12 is substantially parallel to the axis of the active member 11. After the first transmission member 14 is wound on the driving member 11 for several times, the two ends are respectively wound into the receiving grooves 125 of the driven wheel 123 of the first follower 12. The two ends of the first transmission member 14 are fixedly connected to the driven wheel 123 by a fixing member 16, respectively. The positioning block 161 of the fixing member 16 is fixed on the driven wheel 123 by screws. The connecting rod 167 passes through the disc-shaped elastic piece 165 and the adjusting block 163 and is fixedly connected with the positioning block 161. One end of the first transmission member 14 is inserted and adjusted. After block 163, it is fixed by screw screwing adjustment block 163. The other fixing member 16 fixes the other end of the second transmission member 15 to the other driven wheel 123 in the same manner. The two second transmission members 15 are wound around the driven shaft 121 between the two driven wheels 123 of the first follower 12, and then wound into the second follower 13 and respectively received in the two spaced apart portions. In the receiving slot 1317. The two ends of each of the second transmission members 15 are respectively fixed to the two side walls 1313 of the second driven member 13 by fixing members 16 in the same manner as the ends of the first transmission member 14. The two guiding members 194 of the pretensioning mechanism 19 are respectively inserted into the through holes 1952 of the sliding bracket 195. The two bearings 192 are respectively sleeved on the two shaft portions 1913 of the adjusting member 191. The abutting member 193 is abutted against the outer side of the bearing 192 and received together in the receiving groove 1953 of the sliding bracket 195. The two elastic members 196 are respectively sleeved on the two guiding members 194. The four fasteners 197 are sleeved on the two guiding members 194 and screwed with the threads 1942 of the guiding members 194. The threads 1942 of the two guide members 194 are screwed into the screw holes 1981 of the connector 198. Finally, the connecting piece 198 of one of the pretensioning mechanisms 19 is fixedly connected to the bottom plate 53 of the bracket 50, and the connecting piece 198 of the other pretensioning mechanism 19 is fixedly connected to one of the side plates 51 of the bracket 50.

When the speed reducing device 100 is in operation, the power unit 30 drives the driving member 11 to rotate. For convenience of description, in the present embodiment, it is assumed that the driving member 11 is rotated in the positive direction (i.e., rotated in the clockwise direction). When the driving member 11 rotates in the positive direction, the portion of the first transmission member 14 close to the power component 30 gradually circulates from the driving member 11 and wraps around the receiving groove 125 of the first driven member 12 close to the driven wheel 123 of the power member 30. The portion of the first transmission member 14 remote from the power member 30 is then withdrawn from the receiving groove 125 of the other driven wheel 123. The first follower 12 is rotated in the opposite direction by the first transmission member 14, so that the second transmission member 15 wound on the driven shaft 121 of the first follower 12 is partially wound into the second driven member. In the receiving groove 1317 of the 13th, another portion is wound out from the adjacent receiving groove 1317, thereby driving the second follower 13 to rotate in the positive direction. After the driving member 11 rotates a certain number of turns in the positive direction, the power component 30 automatically adjusts the rotation of the driving member 11 in the opposite direction in the positive direction. Accordingly, the first driven member 12 rotates in the positive direction, and the second driven member 13 will turn in the opposite direction. The adjusting member 191 of the two pretensioning mechanisms 19 is rotatable to reduce the frictional force when the first transmission member 14 and the second transmission member 15 are resisted. The sliding bracket 195 is slidable relative to the guiding member 194 and abuts against the elastic member 196 to elastically resist the adjusting member 191 and the first transmitting member 14 and the second transmitting member 15.

The deceleration device 100 of the embodiment of the present invention is wound around the active member 11 and the first follower 12 by the first transmission member 14, and the second transmission member 15 is wound around the first follower 12 and the second follower 13 Therefore, the first follower 12 and the second follower 13 are driven to rotate, and a complicated structure such as a gear is not required, and the structure is simple and the production cost is low. Moreover, the two pre-tensioning mechanisms 19 elastically resist the first transmission member 14 and the second transmission member 15, respectively, to prevent the first transmission member 14 and the second transmission member 15 from being loosened for a long time, thereby improving the precision of the reduction gear unit 100. .

Further, the through hole 135 is formed in the second follower 13 to make the transmission portion 131 The empty structure allows the active member 11 to pass therethrough, thereby making the reduction gear unit 100 compact.

Further, the disc-shaped elastic piece 165 in the fixing member 16 maintains the first transmission member 14 and the second transmission member 15 in a tension state by elastic restoring force, when the first transmission member 14 or the second transmission member 15 is used for a long time. Thereafter, when the looseness exceeds the range in which the elastic restoring force of the disk-shaped elastic piece 165 can be tightened, the disk-shaped elastic piece 165 can be compressed by the screw connecting rod 167, so that the first transmission member 14 or the second transmission member 15 is tightened again. So as to avoid slipping and the like.

It can be understood that the pretensioning mechanism 19 is not limited to the structure in the embodiment, and may be other structures, and only needs to be elastically resisted by the first transmission member 14 or the second transmission member 15, for example, made of elastic material. The support column is formed with a roller at a free end thereof, and the support column is elastically deformed when the roller abuts against the first transmission member 14 or the second transmission member 15.

In summary, the present invention complies with the requirements of the invention patent, and submits a patent application according to law. The above is only a preferred embodiment of the present invention, and equivalent modifications or variations made by those skilled in the art will be included in the following claims.

10‧‧‧Transmission components

11‧‧‧Active parts

12‧‧‧First follower

13‧‧‧Second follower

14‧‧‧First transmission

15‧‧‧Second transmission parts

16‧‧‧Fixed parts

19‧‧‧Pre-tightening mechanism

Claims (9)

A speed reduction device includes a transmission component and a power component, the transmission component includes an active component and a first driven component, and the power component is coupled to the active component to provide rotational power of the active component, and the improvement is: the transmission The assembly further includes a second follower, a first transmission member, a second transmission member and two pre-tensioning mechanisms, the first transmission member being wound around the active member and the first driven member, and the active member Driving the first follower to rotate, the second transmission member is wound on the first follower and the second follower, and the second follower is driven by the first follower The two pre-tensioning mechanisms are respectively elastically resisted by the first transmission member and the second transmission member, and the second transmission member includes a transmission portion, and the transmission portion is provided with a through hole through which the active member passes. One end of the active member passes through the through hole. The deceleration device of claim 1, wherein the first follower is disposed side by side with the active member, and the rotation axis of the first follower is parallel to the rotation axis of the active member. The deceleration device of claim 2, wherein the first follower comprises a driven shaft and a driven wheel formed around the driven shaft, the first transmission member is wound on the active member, and two The end is wound around the driven wheel of the first follower. The deceleration device of claim 3, wherein the second transmission member is wound on the driven shaft of the first follower, and both ends are wound around the transmission portion. The deceleration device of claim 4, wherein the second follower The transmission portion is fan-shaped. The deceleration device of claim 4, wherein the transmission assembly further comprises two fixing members respectively fixing the two ends of the first transmission member to the driven wheel, and two of the second transmission members. The ends are respectively fixed to the fixing members on the second follower. The deceleration device of claim 1, wherein each pretensioning mechanism comprises a guiding member, a sliding bracket sliding relative to the guiding member, an adjusting member rotatably coupled to the sliding bracket, and abutting the sliding bracket Elastic parts. The deceleration device of claim 7, wherein each pretensioning mechanism further comprises a fastener fixedly sleeved on the guiding member, the elastic member is sleeved on the guiding member and abuts against the guiding member Between the piece and the sliding bracket. The speed reduction device of claim 7, wherein the adjusting member comprises a resisting portion and two rotating shaft portions disposed at two ends of the resisting portion, each pretensioning mechanism further comprising a rotatably sleeved on the two rotating shafts In the second bearing, the sliding bracket is provided with two receiving slots for receiving the two bearings.