CN101666366B - Micro-backflash cycloidal speed reducer of industrial robot - Google Patents
Micro-backflash cycloidal speed reducer of industrial robot Download PDFInfo
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- CN101666366B CN101666366B CN2009101969844A CN200910196984A CN101666366B CN 101666366 B CN101666366 B CN 101666366B CN 2009101969844 A CN2009101969844 A CN 2009101969844A CN 200910196984 A CN200910196984 A CN 200910196984A CN 101666366 B CN101666366 B CN 101666366B
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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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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 a semi-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
[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 is prone to make 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 quite a few institute and internal class manufactory, hoped through 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 explains 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 characteristic is that any flute profile does not possess.Concrete technological scheme is following:
(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, and axial force makes eccentric bushing be rotated simultaneously axially movable, thereby changes 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, equidistance and 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 more difficult.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.Make cycloid tooth be in multiple tooth engagement behind equidistance, the modification of moved distance, thereby stable drive, bearing capacity are high, 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/bRz
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]
As shown in Figure 1; A kind of micro-backflash cycloidal speed reducer of industrial robot; Be two or three crank double cycloid wheels double reduction structure, wherein: level is uniformly distributed with external gear pump, two or three input shafts (15) and block bearing (6,14) and forms by being bound up on central gear (1) on the motor D, two or three groups at a high speed; Frame (17,22) is formed by four or three locating studs (18) and screw connection, and bearing (6,14) places 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 said two cycloid wheel 180 °-Δ θ that staggers; The return difference angle that total error formed when Δ θ was processing and assembling is characterized in that:
(a) single eccentric bushing (7,12) endoporus is left-handed multiple-internal screw thread; Going up left-handed bull outside thread with input shaft (15) connects; Install back-up ring (4), spacer ring (11) and back-up ring (16) on the input shaft (15) successively, wherein: install belleville spring and single eccentric bushing (7) between back-up ring (4) and the spacer ring (11) successively; Install single eccentric bushing (12) and belleville spring successively between spacer ring (11) and the back-up ring (16); Phase angle between the two single eccentric bushings 180 °-Δ φ that staggers, small deflection angle Δ φ makes initial position be: cycloid wheel (21) gear teeth and the counterclockwise side of upper half gear pin are close to; The clockwise side of another cycloid wheel (19) gear teeth and bottom half gear pin is close to.When input shaft (15) rotates along pin: cycloid wheel (21) work done; And another cycloid wheel (19) is because under the responsive to axial force of single 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 the multiple tooth engagement of cycloid wheel, thereby running is steady, 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 owing under the responsive to axial force of single eccentric bushing (7) levogyrate inner thread, rotate cycloid wheel and pin tooth opposite side to 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 from pin wheel housing, not skid off; Gear pin hole on the pin wheel housing with in slow silk cutting machine tool cut out one continuously, smoothed curve obtains, than it " boring-fraising or bore hole be the car endoporus again " technology (what obtain at 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, and 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 to qualification of the present 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 is two or three a crank double cycloid wheel double reduction structure, and wherein: level is uniformly distributed with external gear pump, two or three input shafts (15) and block bearing (6,14) and is formed by central gear (1), two or three groups at a high speed; Frame (17,22) is formed by four or three locating studs (18) and screw connection, and block bearing (6,14) places 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 two 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 said two cycloid wheel 180 °-Δ θ that staggers; The return difference angle that total error formed when Δ θ was processing and assembling is characterized in that:
(a) single eccentric bushing (7,12) endoporus is left-handed multiple-internal screw thread; Going up left-handed bull outside thread with input shaft (15) connects; Install back-up ring (4), spacer ring (11) and back-up ring (16) on the input shaft (15) successively, wherein: install belleville spring and single eccentric bushing (7) between back-up ring (4) and the spacer ring (11) successively; Install single eccentric bushing (12) and belleville spring successively between spacer ring (11) and the back-up ring (16), the 180 °-Δ ψ that staggers of the phase angle between two single eccentric bushings, small deflection angle Δ ψ makes: cycloid wheel (21) gear teeth and the counterclockwise side of upper half gear pin are close to; The clockwise side of another cycloid wheel (19) gear teeth and bottom half gear pin is close to;
(b) gear pin (10) touches for partly burying toe joint with pin wheel housing (9), and the degree of depth that gear pin is imbedded pin-and-hole is as the criterion from the pin wheel housing pin-and-hole, not skid off, and the gear pin hole on the pin wheel housing cuts out a continuous smoothed curve by wire cutting machine tool and obtains.
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| CN2009101969844A CN101666366B (en) | 2009-10-12 | 2009-10-12 | Micro-backflash cycloidal speed reducer of industrial robot |
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|---|---|---|---|
| CN2009101969844A CN101666366B (en) | 2009-10-12 | 2009-10-12 | Micro-backflash cycloidal speed reducer of industrial robot |
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| CN101666366A CN101666366A (en) | 2010-03-10 |
| CN101666366B true CN101666366B (en) | 2012-01-04 |
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Effective date of registration: 20130125 Address after: 225419, Taixing village, Zhang Qiao Town, Jiangsu four Patentee after: Jiangsu Tailai Reducer Co., Ltd. Address before: Kunyang town 325400 Zhejiang County of Pingyang province Bai Shi Jie No. four building 761 room Patentee before: Wu Shengzhen |