CN101806335A - Three-chip type single-stage cycloidal speed reducer for industrial robot - Google Patents
Three-chip type single-stage cycloidal speed reducer for industrial robot Download PDFInfo
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- CN101806335A CN101806335A CN201010169907A CN201010169907A CN101806335A CN 101806335 A CN101806335 A CN 101806335A CN 201010169907 A CN201010169907 A CN 201010169907A CN 201010169907 A CN201010169907 A CN 201010169907A CN 101806335 A CN101806335 A CN 101806335A
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Abstract
The invention relates to the technical field of speed reducers for industrial robots, in particular to a three-chip type single-stage cycloidal speed reducer for the industrial robot. The three-chip type single-stage cycloidal speed reducer for the industrial robot is characterized in that: (a) an input shaft and an outer shaft are coaxial and are used for single-stage speed reduction; (b) the phase angles of three single eccentric bearings a, b and c are not equal to 120 degrees, the inner holes of the single eccentric bearings a, b and c are connected with the input shaft by using multi-head threads with same turning directions, an elastic retaining ring, the eccentric bearings a and b, a disc-shaped spring, the eccentric bearing c and an elastic retaining ring are sequentially arranged on the input shaft, and the lead angle lambda of the threads is equal to 22 degrees-30 degrees. The invention has the initial state that the wheel teeth of a cycloidal wheel A and a cycloidal wheel B are abutted with needle teeth in the 2/3 zone of a needle tooth shell along the clockwise direction, and the wheel teeth of a cycloidal wheel C are abutted with the needle teeth in the 1/3 zone of the needle tooth shell (8). The invention has the advantages of automatic compensation of a return difference after engagement faces are abraded, small technological difficulty, no need of high-precision machine tool, less equipment investment, low manufacturing cost which is only 75%-85% of that of RV and COR, short production period, simpler structure of the single-stage speed reducer than that of RV two-stage speed reducer, less additional members and good heat radiation.
Description
[technical field]
The present invention relates to industrial robot retarder technical field, a kind of three-chip type single-stage cycloidal speed reducer for industrial robot.
[background technique] the present invention changes double reduction into single-stage to slow down on the basis that " speed reducer with micro back lash for industrial robot " (01102848.3) model machine is achieved success, SUMITOMO CHEMICAL FA retarder is exactly that single-stage is slowed down, and input speed is 1500r/min.
FA three pieces type retarder is the cycloid transmission device of latest development in the current boundary, and scholars such as professor Guan Tianmin of China Dalian University Of Communications have done long-term theoretical research to this, delivered many papers.Three pieces type is meant in two cycloid wheel of tradition has increased a slice cycloid wheel, and the phase angle of three wheels is 120 °, and adopts and partly bury toothing.The traditional two-piece that compares, the advantage of three pieces type is: (1) volume is little, in light weight; (2) because of there not being pin gear sleeve, the maximum deceleration ratio can reach 119 (" the moving cycloidal gear of speed reducer intensity of three-disk cycloid wheel pin swing is calculated " Machine Designs 2007.10); (3) the rotary arm bearing weak link is improved; (4) pin tooth and pin stress equalization, stable drive; (5) bearing capacity increases by 50% in theory; (6) partly bury toothing, rigidity is big, strong shock resistance.FA three pieces type retarder the high-mechanic application, is just more and more used in the industrial robot transmission in common transmission.FA three pieces type retarder input speed allowable is 1500-1800r/min.
FA robot retarder subject matter is: Surface of action wearing and tearing back return difference can not compensate automatically, accuracy of manufacturing requires very high.
China's 863 Program, state natural sciences fund repeat to list again and again, wish that domestic ivy gear expert, professor and first-class manufactory can autonomous innovations on the basis of RV, FA, develop industrial robot retarders more advanced than Japanese RV, FA, Chinese oneself.Yet the domestically produced machine people still must be supporting from Japanese import RV so far.
[summary of the invention]
The object of the invention is: propose a kind ofly to wear and tear that the back return difference can compensate automatically, technology difficulty is little, do not need high precision machine tool, manufacture cost only to be the three-chip type single-stage cycloidal speed reducer for industrial robot of the 75-85% of RV, CORT.
The industrial robot retarder 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, phase angle between capacity eccentric bearing a and the b equals 120 °, and the phase angle between a and c and b and the c is not equal to 120 °, its endoporus and input shaft (3) are used with the rotation direction multiple thread and are connect, install circlip on the input shaft successively, capacity eccentric bearing a and b, belleville spring, capacity eccentric bearing c and circlip, lead angle is λ=22 °-30 °, its original state is, the cycloid wheel A and the cycloid wheel B gear teeth are close to 2/3 district's gear teeth of hypocycloid gear ring (8) along clockwise direction, and the cycloid wheel C gear teeth are close to other 1/3 district's gear teeth of hypocycloid gear ring (8) in the counterclockwise direction.
When the dextrorotation input shaft changes clockwise: cycloid wheel A and B work done, because under the effect of right-handed thread, eccentric bushing c is moving axially rotation simultaneously, and cycloid wheel C and pin tooth opposite side are close to, thereby three cycloid wheel A, B and C work done simultaneously; During power failure, under the effect of belleville spring, cycloid wheel C gets back to initial position.In like manner, when input shaft rotates counterclockwise: cycloid wheel C work done, because under the effect of right-handed thread, eccentric bushing a and b are moving axially rotation simultaneously, and cycloid wheel A, B and pin tooth opposite side are close to, thereby three cycloid wheel A, B and C work done simultaneously.
(b) " the Gear Transmission Design handbook is pointed out for 839 pages: " influencing RV retarder return difference principal element is: gear pin hole circumferential position error, gear pin radius error, equidistantly reach the modification of moved distance error." facts have proved, on the pin wheel housing pin holes with in be careful that silk cutting machine tool cuts out one continuously, smoothed curve.Line cutting best surface roughness is Ra0.5--0.8 μ m (being equivalent to grinding), and cutting accuracy is ± 0.005mm.Than it " boring-fraising or bore hole be the car endoporus again " technology, the needle pin diameter is more little, and the advantage of wire cutting technology is apparent more outstanding, and when being careful the silk thread cutting process during pin wheel housing adopts, reduction speed ratio can reach 119.
[beneficial effect] the present invention contrasts FA high accurate speed reducer in the background technique, and its novelty, creativeness and practicability are embodied in: 1. Surface of action wearing and tearing back return difference can compensate automatically; 2. technology difficulty little, do not need high precision machine tool; 3. manufacture cost only is the 75-85% of FA retarder; 4. all carry ring and can improve pin rigidity and flexural strength.
[description of drawings]
Fig. 1. the structural representation of the embodiment of the invention
Fig. 2. the structural representation that capacity eccentric bearing inner ring of the present invention connects with hollow input shaft multiple thread
Fig. 3. the structural representation of capacity eccentric bearing endoporus two spiral chutes of the present invention or skewed slot and input shaft band pin
Fig. 4. the structural representation of standard rolling bearing K inner ring close-fitting eccentric bushing endoporus two spiral chutes or skewed slot and input shaft band pin
[embodiment]
With reference to Fig. 1,2 and 3. a kind of three-chip type single-stage cycloidal speed reducer for industrial robot, comprise capacity eccentric bearing a, b and c, gear pin (7), pin wheel housing (8) and W output mechanism in input shaft (3), cycloid wheel A, B and C and the endoporus, wherein W mechanism is made up of left frame (1), right frame (12), pin (7) and column sleeve (4), left and right frame relies on and connects one with the pin close-fitting, left and right frame uses bearing (6), (10) to be bearing in pin wheel housing (8) both sides endoporus respectively, it is characterized in that:
(a) export from input shaft (3) to the W output mechanism, input is coaxial with output to be that single-stage is slowed down, according to RV retarder output speed is 15-60r/min, and when being careful the silk thread cutting process in the pin wheel housing employing, reduction speed ratio can reach 119, the FA high accurate speed reducer is input as 1500r/min, so the present invention can satisfy the usage requirement of industrial robot fully;
(b) have one to be enclosed within and all to carry ring (9) on the pin (5) between cycloid wheel A and the B, have one to be enclosed within and all to carry ring (9a) on the pin (5) between cycloid wheel B and the C, column sleeve (4) is wide with cycloid wheel.All carry ring and can improve the rigidity and the flexural strength of pin; Length is overlapped to shorten to improve and is lubricated with stressed more reasonable.
(c) phase angle between capacity eccentric bearing a and the b equals 120 °, and the phase angle between a and c and b and the c is not equal to 120 °, its endoporus and input shaft (3) are used with the rotation direction multiple thread and are connect, install circlip on the input shaft successively, capacity eccentric bearing a and b, belleville spring, capacity eccentric bearing c and circlip, lead angle is λ=22 °-30 °, its original state is, the cycloid wheel A and the cycloid wheel B gear teeth are close to 2/3 district's gear teeth of hypocycloid gear ring (8) along clockwise direction, and the cycloid wheel C gear teeth are close to other 1/3 district's gear teeth of hypocycloid gear ring (8) in the counterclockwise direction.
When the dextrorotation input shaft changes clockwise: cycloid wheel A and B work done, because under the effect of right-handed thread, eccentric bushing c is moving axially rotation simultaneously, and cycloid wheel C and pin tooth opposite side are close to, thereby three cycloid wheel A, B and C work done simultaneously; During power failure, under the effect of belleville spring, cycloid wheel C gets back to initial position.In like manner, when input shaft rotates counterclockwise: cycloid wheel C work done, because under the effect of right-handed thread, eccentric bushing a and b are moving axially rotation simultaneously, and cycloid wheel A, B and pin tooth opposite side are close to, thereby three cycloid wheel A, B and C work done simultaneously.
Described three-chip type single-stage cycloidal speed reducer for industrial robot is characterized in that: three capacity eccentric bearings are formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), and the eccentric bushing endoporus is that lift angle λ=22 °-30 ° are with the rotation direction multiple thread.Capacity eccentric bearing is to reduce the machining difficulty of capacity eccentric bearing by standard rolling bearing endoporus close-fitting eccentric bushing purpose, simultaneously also because standard rolling bearing is good and cheap.
Described three-chip type single-stage cycloidal speed reducer for industrial robot, it is characterized in that: three capacity eccentric bearings are formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), the eccentric bushing endoporus has two with rotation direction spiral chute (or skewed slot), two groove phase angles are 180 °, spiral chute lift angle (or oblique angle) λ=22 °-30 °, input shaft (3) radially assembles two straight pins (13), and straight pin two ends extension places in the two capacity eccentric bearing endoporus spiral chutes separately.Spiral chute, skewed slot mechanical processing technique are simpler than multiple thread.
Described three-chip type single-stage cycloidal speed reducer for industrial robot is characterized in that: left frame (1) has a center hole, and input shaft (3) is a hollow shaft, and the input end of input shaft connects a driven gear (not shown).The input end driven gear forms hollow structure in order to mesh with the actuating motor driving gear, just can replace RV-C, RD-C hollow type.(200580027453.2) embodiment two, three that the patent of invention of background technique such as Japanese Nakib Teske Co., Ltd " is attached to the retarder on the articulation part of industrial robot " with four for adding a pair of reduction gear outside the double reduction.
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 (4)
1. three-chip type single-stage cycloidal speed reducer for industrial robot, capacity eccentric bearing a, the b and c, gear pin (7), pin wheel housing (8) and the W output mechanism that comprise input shaft (3), cycloid wheel A, B and C and endoporus, wherein W mechanism is made up of left frame (1), right frame (12), pin (7) and column sleeve (4), left and right frame relies on and connects one with the pin close-fitting, left and right frame relies on bearing (6), (10) to be bearing in pin wheel housing (8) both sides endoporus respectively, it is characterized in that:
(a) input shaft (3) is coaxial with the W output mechanism, and single-stage is slowed down;
(b) have one to be enclosed within and all to carry ring (9) on the pin (5) between cycloid wheel A and the B, have one to be enclosed within and all to carry ring (9a) on the pin (5) between cycloid wheel B and the C, column sleeve (4) width equals the cycloid wheel width.
(c) phase angle between capacity eccentric bearing a and the b equals 120 °, and the phase angle between a and c and b and the c is not equal to 120 °, three capacity eccentric bearing endoporus are used with the rotation direction multiple thread with input shaft (3) and are connected, install circlip on the input shaft successively, capacity eccentric bearing a and b, belleville spring, capacity eccentric bearing c and circlip, lead angle λ=22 °-30 °, its original state is, the cycloid wheel A and the cycloid wheel B gear teeth are close to 2/3 district's gear teeth of hypocycloid gear ring (8) along clockwise direction, and the cycloid wheel C gear teeth are close to other 1/3 district's gear teeth of hypocycloid gear ring (8) in the counterclockwise direction.
2. according to the described three-chip type single-stage cycloidal speed reducer for industrial robot of claim 1, it is characterized in that: three capacity eccentric bearings are formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), and the eccentric bushing endoporus is that lift angle λ=22 °-30 ° are with the rotation direction multiple thread.
3. according to the described three-chip type single-stage cycloidal speed reducer for industrial robot of claim 1, it is characterized in that: three capacity eccentric bearings are formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), the eccentric bushing endoporus has two with rotation direction spiral chute (or skewed slot), two groove phase angles are 180 °, spiral chute lift angle (or oblique angle) λ=22 °-30 °, input shaft (3) radially assembles two straight pins (13), and straight pin two ends extension places in the two capacity eccentric bearing endoporus spiral chutes separately.
4. according to claim 1 or 2 described three-chip type single-stage cycloidal speed reducer for industrial robot, it is characterized in that: left frame (1) has a center hole, and input shaft (3) is a hollow shaft, and the input end of input shaft connects a driven gear (not shown).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201010169907A CN101806335A (en) | 2010-04-17 | 2010-04-17 | Three-chip type single-stage cycloidal speed reducer for industrial robot |
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| CN201010169907A CN101806335A (en) | 2010-04-17 | 2010-04-17 | Three-chip type single-stage cycloidal speed reducer for industrial robot |
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| CN101806335A true CN101806335A (en) | 2010-08-18 |
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| CN201010169907A Withdrawn CN101806335A (en) | 2010-04-17 | 2010-04-17 | Three-chip type single-stage cycloidal speed reducer for industrial robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305271A (en) * | 2011-03-01 | 2012-01-04 | 吴小杰 | High-bearing capacity braking three-cycloidal gear speed reducer |
| CN102442733A (en) * | 2011-04-02 | 2012-05-09 | 吴小杰 | Large-torque cone-hypocycloid speed reducer of rotary brush aeration machine |
| CN103032278A (en) * | 2011-10-01 | 2013-04-10 | 吴小杰 | Wind-electricity constant braking cycloid pitch-variable gearbox |
| CN103032522A (en) * | 2011-10-01 | 2013-04-10 | 吴小杰 | Cycloid pitch-variable gearbox for wind driven generator |
| CN103121615A (en) * | 2011-11-18 | 2013-05-29 | 吴小杰 | Permanent-magnet and constant-braking elevator inner cycloidal traction machine |
| CN108608462A (en) * | 2018-05-07 | 2018-10-02 | 苏州尚贤医疗机器人技术股份有限公司 | A kind of quadruple precision compensation method for large-scale heavy duty mechanical arm |
| CN108999935A (en) * | 2018-08-16 | 2018-12-14 | 杨荣刚 | Accurate cycloid Roller speed reducer |
| CN112112948A (en) * | 2020-10-20 | 2020-12-22 | 贵州群建精密机械有限公司 | Method and device for improving bearing capacity of small-tooth-difference transmission output mechanism |
-
2010
- 2010-04-17 CN CN201010169907A patent/CN101806335A/en not_active Withdrawn
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305271A (en) * | 2011-03-01 | 2012-01-04 | 吴小杰 | High-bearing capacity braking three-cycloidal gear speed reducer |
| CN102442733A (en) * | 2011-04-02 | 2012-05-09 | 吴小杰 | Large-torque cone-hypocycloid speed reducer of rotary brush aeration machine |
| CN102442733B (en) * | 2011-04-02 | 2013-03-27 | 吴小杰 | Large-torque cone-hypocycloid speed reducer of rotary brush aeration machine |
| CN103032278A (en) * | 2011-10-01 | 2013-04-10 | 吴小杰 | Wind-electricity constant braking cycloid pitch-variable gearbox |
| CN103032522A (en) * | 2011-10-01 | 2013-04-10 | 吴小杰 | Cycloid pitch-variable gearbox for wind driven generator |
| CN103032278B (en) * | 2011-10-01 | 2015-01-07 | 吴小杰 | Wind-electricity constant braking cycloid pitch-variable gearbox |
| CN103121615A (en) * | 2011-11-18 | 2013-05-29 | 吴小杰 | Permanent-magnet and constant-braking elevator inner cycloidal traction machine |
| CN103121615B (en) * | 2011-11-18 | 2015-09-02 | 陈伟 | Permanent magnetism permanent elevator brake hypocycloid towing machine |
| CN108608462A (en) * | 2018-05-07 | 2018-10-02 | 苏州尚贤医疗机器人技术股份有限公司 | A kind of quadruple precision compensation method for large-scale heavy duty mechanical arm |
| CN108608462B (en) * | 2018-05-07 | 2021-04-27 | 苏州尚贤医疗机器人技术股份有限公司 | Quadruple precision compensation method for large heavy-duty mechanical arm |
| CN108999935A (en) * | 2018-08-16 | 2018-12-14 | 杨荣刚 | Accurate cycloid Roller speed reducer |
| CN112112948A (en) * | 2020-10-20 | 2020-12-22 | 贵州群建精密机械有限公司 | Method and device for improving bearing capacity of small-tooth-difference transmission output mechanism |
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Open date: 20100818 |