CN101666366A - Micro-backflash cycloidal speed reducer of industrial robot - Google Patents

Micro-backflash cycloidal speed reducer of industrial robot Download PDF

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Publication number
CN101666366A
CN101666366A CN200910196984A CN200910196984A CN101666366A CN 101666366 A CN101666366 A CN 101666366A CN 200910196984 A CN200910196984 A CN 200910196984A CN 200910196984 A CN200910196984 A CN 200910196984A CN 101666366 A CN101666366 A CN 101666366A
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pin
gear
speed reducer
ring
needle tooth
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CN101666366B (en
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吴声震
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JIANGSU TAILAI REDUCER CO Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention relates to the technical field of a precise speed reducer, in particular to a micro-backflash cycloidal speed reducer of an industrial robot. The speed reducer is characterized in that:(1) an internal hole of an eccentric sleeve is levorotation multi-headed internal thread that is connected with levorotation multi-headed external thread on an input shaft; the input shaft is sequentially provided with a retaining ring, a disc-shaped spring, a cycloidal gear, a spacing ring, a cycloidal gear, a disc-shaped spring and a retaining ring; the phase angle of two eccentric sleeves is staggered by 180-Delta Psi degrees; the deflection angle Delta Psi leads the teeth of the cycloidal gear to closely lean against the counter-clockwise side of the upper half area of a needle tooth pin and the teeth of the other cycloidal gear to closely lean against the clockwise side of the lower half area of the needle tooth pin; (2) the needle tooth pin is contacted with a needle tooth shell in asemi-embedded way; the needle tooth pin hole on the needle tooth shell is obtained by cutting a continuous and smooth curve through linear cutting. The speed reducer has the beneficial effects that:(1) the manufacturing cost is lower than that of RV by 80-90%; (2) the mechanical manufacturing process is simple and the high-precision machining tool is not needed; and (3) the maintenance is convenient.

Description

Micro-backflash cycloidal speed reducer of industrial robot
[technical field]
The present invention relates to the precision speed reduction device technical field, a kind of micro-backflash cycloidal speed reducer of industrial robot.
[background technique]
(1) the RV retarder of the smart machine of Japanese Supreme Being people company: good rigidly, little return difference 0.5 '-6 ', shock resistance is good, requires the highi degree of accuracy manufacturing, and price is very high;
(2) CORT compound rolling free gear retarder (97100463): only being to change epicyclodial wheel with the main difference of RV is the hypocycloid gear ring, and complex structure requires highi degree of accuracy, estimates that manufacture cost will be very high;
(3) " speed reducer with micro back lash for industrial robot " (01102848.3) shortcoming is: (a) input shaft is hollow and have two to connect spiral chutes, thereby torsional strength is low, working life short; (b) impulsive load easily makes hair(-)pin in the input shaft (16) (13)Fracture; (c) acting of a slice cycloid wheel is only arranged, bearing capacity is not as two wheels of RV.
China once will copy the RV retarder and list 863 Program in, was born by prestigious university of domestic several institute and internal class manufactory, wished by imitated, domesticly oneself can produce the RV retarder.It is reported to copy and obtain very ten-strike in succession, yet the still essential import RV of domestically produced machine people illustrates success of 863 Program so far.
[summary of the invention] the object of the invention is: propose a kind of high bearing capacity, shock resistance, technology difficulty little, need very high precision machine tool, manufacture cost only to be the micro-backflash cycloidal speed reducer of industrial robot of the 80-90% of RV.Replacing the highi degree of accuracy manufacturing with structural design and eliminate return difference, is the one great innovation of industrial robot retarder, will lay the foundation for the development of China's industrial robot retarder.
Industrial robot retarder slow speed turbine stage adopt cycloid to be because, cycloidal gear teeth and half imbedding needle toothing have very high impact-resistant power, this feature is that any flute profile does not possess.Concrete technological scheme is as follows:
(a) for eliminating return difference Δ θ, with the phase angle 180 ° of duplex eccentric bushings that stagger, divided into two parts and process on left-handed multiple-internal screw thread and the input shaft outside thread separately and connect, device successively on the input shaft: " back-up ring, belleville spring-eccentric bushing-spacer ring-eccentric bushing-belleville spring, back-up ring ".When initial: the phase angle 180 °-Δ φ that staggers between two eccentric bushings, angle of yaw Δ φ is close to cycloid wheel gear teeth and the counterclockwise side of upper half gear pin, and the clockwise side of another cycloid wheel gear teeth and bottom half gear pin is close to; When input shaft rotates, spiral (line) connects can produce axial force, axial force makes eccentric bushing be rotated simultaneously axially movable, thereby change phase angle between two eccentric bushings, when pin wheel housing fixedly the time, input shaft (together with eccentric bushing) is when clockwise rotating, and then cycloid wheel rotates counterclockwise, i.e. the two switched in opposite; The function of back-up ring is the eccentric bushing axial limiting; The function of belleville spring is to reset and buffering;
(b) gear pin and pin wheel housing touch for partly burying toe joint, make gear pin have very high bending ability;
(c) Zhu Xiaolu " point out for 839 pages, influences RV retarder return difference principal element to be: gear pin hole circumferential position error, gear pin radius error, equidistantly reach the modification of moved distance error by the Gear Transmission Design handbook.Wherein with tradition " boring-fraising or bore hole be the car endoporus again " technology, realize highi degree of accuracy gear pin hole circumferential position error for the most difficult, the gear pin diameter is more little difficult more.Find in practice, gear pin hole on the pin wheel housing with in slow silk cutting machine tool cut out one continuously, smoothed curve and when obtaining, than it " boring-fraising or bore hole be the car endoporus again " technology, the surface roughness of wire cutting technology is good, form and position tolerance is little, adjacent apart from deviation＜0.008 or littler, make initial return difference very little.The gear pin diameter is more little, and the advantage of wire cutting technology is apparent more outstanding, is not that other process for machining can substitute more.Equidistantly, make cycloid tooth be in multiple tooth engagement behind the modification of moved distance, thereby stable drive, bearing capacity height, shock resistance.
Model machine OB-40E (according to RV40-E): N 1=1.05kW, high speed level: z 1=14, z 2=38, m=1.25; Slow speed turbine stage: z g=55, z b=56, i=1+ (55+1) 38/14=153, T=377 (Nm)
Rz=72.4, e=1.0, pin tooth dz=5.0 take turns wide b=10, K 1=0.7735, K 2=1.624, Y Max=1.5795, contact stress σ Jmax=8911 (TY Max/bR z 2) 0.5=950MPa,
Roll up the 2.11-165 page or leaf according to Xu Hao " mechanical design handbook ": Bearing Steel, C63, [σ Jmax]=1912MPa, so overload capacity is 4.05 times.Because appearing at, overload starts moment, so overload capacity will be bigger.
Beneficial effect of the present invention: return difference of (1) retarder and rigidity all can reach the manufacturing requirement of RV; (2) manufacture cost is than RV, than the low 80-90% of CORT; (3) the manufacturing technology difficulty is little, does not need the high-precision processing lathe; The work done of (4) two wheels, bearing capacity is identical with RV.
[description of drawings] Fig. 1 is the structural representation of the embodiment of the invention
[embodiment]
Micro-backflash cycloidal speed reducer of industrial robot embodiment as shown in Figure 1, be two or three cranks, two cycloid wheel double reduction structures, wherein: at a high speed level by be bound up on the central gear (1) on the motor D, two or three groups of uniform planetary pinion, two or three input shafts (15) and block bearing (6), (14) are formed; Frame (17) is formed by four or three locating studs (18) and screw connection with (22), and bearing (6), (14) place frame (22), (17) respective aperture respectively; Frame is bearing in the both sides of pin wheel housing (9) respectively by bearing (8), (13); Slow speed turbine stage by cycloid wheel (19), (21), be enclosed within the spacer ring (20) on the locating stud (18), single eccentric bushing (7) is formed with (12), gear pin (10) and pin wheel housing (9), phase angle between the two cycloid wheel θ=180 °-Δ θ (being seen as 180+ Δ θ) that staggers from other direction, Δ θ is each in addition return difference angle of forming of part machining error and assembly error, it is characterized in that:
(a) eccentric bushing (7) (12) endoporus is left-handed multiple-internal screw thread, going up corresponding outside thread with input shaft (15) connects, install back-up ring (4), spacer ring (11) and back-up ring (16) on the input shaft successively, wherein: install belleville spring and eccentric bushing (7) between back-up ring (4) and the spacer ring (11) successively; Install eccentric bushing (12) and belleville spring successively between spacer ring (11) and the back-up ring (16), two eccentric bushing phase angles, the 180 °-Δ φ that staggers, make initial position be: cycloid wheel (21) is when rotating counterclockwise, the gear teeth and upper half gear pin one side are close to, cycloid wheel (19) is when clockwise rotating, and the gear teeth and bottom half gear pin opposite side are close to; When input shaft rotates along pin: cycloid wheel (21) work done, and another cycloid wheel (19) is because under the responsive to axial force of eccentric bushing (12) levogyrate inner thread, rotate cycloid wheel and pin tooth opposite side and be close to work done, the work done simultaneously of two cycloid wheel, because cycloidal gear teeth is equidistant, make it to be in multiple tooth engagement behind the modification of moved distance, thus running steadily, bearing capacity is big; When motor stops, under the effect of belleville spring, get back to initial position: when input shaft (15) when rotating counterclockwise: cycloid wheel (19) work done, and another cycloid wheel (21) is because under the responsive to axial force of eccentric bushing (7) levogyrate inner thread, rotate cycloid wheel and pin tooth opposite side and be close to, the work done simultaneously of two cycloid wheel;
(b) gear pin (10) touches for partly burying toe joint with the gear pin hole on the pin wheel housing (9), the gear pin length of embedment is as the criterion not skid off from pin wheel housing, gear pin hole on the pin wheel housing with in slow silk cutting machine tool cut out one continuous, smoothed curve obtains, than it " boring-fraising or bore hole be the car endoporus again " technology (what obtain this moment is the broken line of a band flex point), the surface roughness of wire cutting technology is good, form and position tolerance is little, adjacent apart from deviation＜0.008 or littler, make initial return difference very little, the gear pin diameter is more little, the advantage of wire cutting technology is apparent more outstanding, is not that other process for machining can substitute more.
Two or three groups of planetary each groups are made up of the brass sheet (3) between two thin gears of uniform thickness (2), (5) and two gears, and wherein: gear (5) is used key joint with input shaft (15), and gear (2) is bound up on the gear (5).Its principle of eliminating return difference is: be fixed tightly on the gear (5) after another flank engagement of gear (2) deflection one small angle and central gear (1).
The foregoing description is to explanation of the present invention, is not limitation of the invention, any scheme after the simple transformation of the present invention is all belonged to protection scope of the present invention.

Claims (1)

1. micro-backflash cycloidal speed reducer of industrial robot, be two or three cranks, two cycloid wheel double reduction structures, wherein: level is made up of central gear (1), two or three groups of uniform external gear pumps, two or three input shafts (15) and block bearings (6) (14) at a high speed; Frame (17) is formed by four or three locating studs (18) and screw connection with (22), and bearing (6), (14) place frame (22), (17) respective aperture respectively; Frame is bearing in the both sides of pin wheel housing (9) by bearing (8) (13); Slow speed turbine stage by cycloid wheel (19) (21), be enclosed within the spacer ring (20) on the locating stud (18), single eccentric bushing (7) (12), gear pin (10) and pin wheel housing (9) and form, the phase angle of the two cycloid wheel 180 °-Δ θ (being seen as 180+ Δ θ) that staggers from other direction, the return difference angle that total error formed when Δ θ was processing and assembling is characterized in that:
(a) eccentric bushing (7), (12) endoporus are left-handed, multiple-internal screw thread, go up left-handed, bull outside thread connection with input shaft (15), install back-up ring (4) on the input shaft (15) successively, be fixed on spacer ring (11) and back-up ring (16) on the axle, wherein: install belleville spring and eccentric bushing (7) between back-up ring (4) and the spacer ring (11) successively; Install eccentric bushing (12) and belleville spring successively between spacer ring (11) and the back-up ring (16), the 180 °-Δ φ that staggers of the phase angle between two eccentric bushings, small deflection angle Δ φ makes: the counterclockwise side of cycloid wheel (21) gear teeth and upper half gear pin is close to; The clockwise side of cycloid wheel (19) gear teeth and bottom half gear pin is close to;
(b) gear pin (10) and pin wheel housing (9) touch for partly burying toe joint, and the degree of depth that gear pin is imbedded pin-and-hole is as the criterion not skid off from the pin wheel housing pin-and-hole, the gear pin hole on the pin wheel housing by wire cutting machine tool cut out one continuously, smoothed curve obtains.
CN2009101969844A 2009-10-12 2009-10-12 Micro-backflash cycloidal speed reducer of industrial robot Active CN101666366B (en)

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CN101806336A (en) * 2010-05-01 2010-08-18 吴声震 Wind power generation three-piece cycloidal variable propeller reducer
CN101813164A (en) * 2010-05-01 2010-08-25 吴声震 Wind power generation single-stage pitch control double-cycloid speed reducer
CN101813072A (en) * 2010-05-01 2010-08-25 吴声震 Wind power generation yawing cycloid speed reducer
CN101813163A (en) * 2010-05-01 2010-08-25 吴声震 Wind power generation double-cycloid yawing speed reducer
CN101825155A (en) * 2010-05-01 2010-09-08 吴声震 Wind power three-cycloid yawing reducer
CN101825059A (en) * 2010-05-01 2010-09-08 吴声震 Three-disk cycloid single pitch-controlled speed reducer of wind turbine
CN101825067A (en) * 2010-05-01 2010-09-08 吴声震 Wind generating cycloidal pitch-controlled speed reducer
CN101832238A (en) * 2010-05-01 2010-09-15 吴声震 Wind power generating three-sheet double cycloid single-stage pitch reducer
CN101832239A (en) * 2010-05-01 2010-09-15 吴声震 Wind power generating single-stage pitch cycloid reducer
CN101893063A (en) * 2010-07-16 2010-11-24 重庆大学 Planetary speed reducer with small tooth number difference
CN101949429A (en) * 2010-08-18 2011-01-19 吴声震 Single-stage cycloidal speed reducer of industrial robot
CN101963210A (en) * 2010-08-18 2011-02-02 吴声震 Three-piece type single-stage cycloid reducer of industrial robot
CN102392880A (en) * 2011-07-15 2012-03-28 南通振康机械有限公司 RV (reentry vehicle) reducer adopting bevel gear planet reducing mechanism
CN103016639A (en) * 2012-11-06 2013-04-03 吴小杰 Cycloidal speed reducer for RV-E simulation carrying welding robot
CN103016640A (en) * 2012-11-06 2013-04-03 吴小杰 Double-cycloid speed reducer for RV-E simulation carrying welding robot
CN103016637A (en) * 2012-11-06 2013-04-03 吴小杰 Cycloidal speed reducer for RV-C simulation carrying welding robot
CN103206493A (en) * 2013-04-28 2013-07-17 江苏泰来减速机有限公司 Replacing RV-E type industrial robot reducer
CN103206522A (en) * 2013-03-25 2013-07-17 洛阳沃德福工程技术有限公司 Decentralizing device for speed reducer
CN103234007A (en) * 2013-04-28 2013-08-07 江苏泰来减速机有限公司 Double-cycloid speed reducer of RV-E type substituted industrial robot
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CN103375541A (en) * 2012-04-25 2013-10-30 吴小杰 Self-braking cycloidal reducer of aerial cableway
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CN105221669A (en) * 2015-09-17 2016-01-06 吴建红 A kind of planetary gear mechanism, robot joint speed reducer and robot
CN105485322A (en) * 2016-01-25 2016-04-13 扬州大学 Expansion and eccentric sleeve type planet shaft of RV reducer
CN105736637A (en) * 2014-12-08 2016-07-06 吴小杰 Industrial robot hypocycloid reducer with zero return difference
CN105736647A (en) * 2016-05-12 2016-07-06 上海理工大学 Double-cycloidal-gear planetary speed reducer with adjustable reverse clearance error
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CN101813164B (en) * 2010-05-01 2012-07-04 吴声震 Wind power generation single-stage pitch control double-cycloid speed reducer
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CN103016637A (en) * 2012-11-06 2013-04-03 吴小杰 Cycloidal speed reducer for RV-C simulation carrying welding robot
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CN104696444B (en) * 2015-03-06 2019-02-01 浙江双联机械有限公司 Cycloidal speed reducer with zero back lash
CN104747658A (en) * 2015-03-06 2015-07-01 吴小杰 Zero-return-difference involute small-tooth-difference reduction box
CN104696444A (en) * 2015-03-06 2015-06-10 吴小杰 Zero return difference cycloid reducer
CN105221669A (en) * 2015-09-17 2016-01-06 吴建红 A kind of planetary gear mechanism, robot joint speed reducer and robot
CN105221669B (en) * 2015-09-17 2019-01-29 吴建红 A kind of planetary gear transmission mechanism, robot joint speed reducer and robot
CN105485322B (en) * 2016-01-25 2018-10-19 扬州大学 A kind of expanded eccentric sleeve type planet axis of RV retarders
CN105485322A (en) * 2016-01-25 2016-04-13 扬州大学 Expansion and eccentric sleeve type planet shaft of RV reducer
CN105952779A (en) * 2016-04-27 2016-09-21 浙江大学 RV reducer spindle fixed-pressure pre-tightening structure and method
CN105736647A (en) * 2016-05-12 2016-07-06 上海理工大学 Double-cycloidal-gear planetary speed reducer with adjustable reverse clearance error
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US20220074467A1 (en) * 2019-05-22 2022-03-10 Suzhou Huazhen Industry Rv Reducer Co., Ltd. Hollow reducer for high precision control
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