CN101832365A - Industrial robot single-stage cycloidal reducer - Google Patents
Industrial robot single-stage cycloidal reducer Download PDFInfo
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- CN101832365A CN101832365A CN201010169941A CN201010169941A CN101832365A CN 101832365 A CN101832365 A CN 101832365A CN 201010169941 A CN201010169941 A CN 201010169941A CN 201010169941 A CN201010169941 A CN 201010169941A CN 101832365 A CN101832365 A CN 101832365A
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Abstract
The invention relates to the technical field of the fine reducer, in particular to an industrial robot single-stage cycloidal reducer. The reducer is characterized in that the input shaft and the output shaft are the same, single reduction can be realized; and the phase angle of two eccentric bearings is not equal to 180 degrees, each eccentric bearing is formed by fitting the inner bore of the inner ring of a standard bearing K with an eccentric sleeve (14) tightly, the inner bore is linked with the input shaft through a multiple thread, and the input shaft is provided with a shaft circlip, an eccentric bearing a, a disk spring, an eccentric bearing b and another shaft circlip in turn. In the initial state, the gear teeth of a cycloidal gear A are close to the top half region of the gear pins of a pin wheel housing clockwise, and the gear teeth of a cycloidal gear B are close to the bottom half region of the gear pins of the pin wheel housing anticlockwise. The beneficial effects of the invention are as follows: (1) after the meshing surface is worn, the return difference can be compensated automatically; (2) the process difficulty is low, the high-accuracy machine tool is not needed; (3) the equipment investment is less; (4) the production cost of the reducer is only 75-85% of that of the RV or CORT; (5) the production circle is short; and (6) the single-stage reduction structure is simpler than the RV two-stage reduction structure, parts are less, and the heat dissipation performance is good.
Description
[technical field]
The present invention relates to industrial robot retarder technical field, a kind of industrial robot single-stage cycloidal reducer.
[background technique] the present invention changes double reduction into single-stage on the basis that " speed reducer with micro back lash for industrial robot " (01102848.3) model machine is achieved success.Background technique divides single-stage to slow down and two kinds of double reductions:
(1) double reduction: one-level involute planetary+one-level cycloid (or thickening tooth)
(a) the smart machine RV of Japanese Supreme Being people; (b) Nakib Teske Co., Ltd " is attached to the retarder on the articulation part of industrial robot " (200580027453.2); (c) Beijing Institute of Aeronautics Chen Shixian professor CORT (97100463).The problem of three inventions is: 1. return difference can not compensate automatically; 2. accuracy of manufacturing requires high; 3. complex structure, in addition part is many, heat dispersion can be not very good;
(d) thickening tooth retarder: Shanghai Communications University, Dalian Wei Yangang professor " new type annular plate type RV actuator " (200710010135.6) and the virtuous professor of the Li Gui of Harbin Institute of Technology " RV30A type thickening tooth retarder " (national 863 Program).
U.S. A.S.Beam proposed " thickening tooth " so far in 1954, domesticly also do not set up complete " thickening tooth " theory of computation, few people study working machine tool, and particularly the grinding machine design is theoretical with manufacturing, lathe manufacturer is failed to understand in market can not invest considerable capital to develop working machine tool under the situation, therefore " thickening tooth " will be difficult to enter each field of industry, the development of this is slow again conversely " thickening tooth " theoretical research and manufacturing.RV is fine illustration: China's late nineteen eighties RV that just begins one's study, and 20 years so far are in the past, and China's 863 Program, state natural sciences fund repeat to list again and again, so far still " research ".
(2) single-stage is slowed down:
The advantage of the Chen Xiaoan of University Of Chongqing professor " accurate cycloid pin gear epicyclic transmission apparatus " (200810069737.3) is to eliminate return difference, but has only the work done of a slice wheel, when return difference increases, must shut down and adjust.
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, develop industrial robot retarders more advanced than Japanese RV, 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 industrial robot single-stage cycloidal reducer of the 75-85% of RV, CORT.Concrete technological scheme is as follows:
(a) for eliminating return difference, two single eccentric bearing phase angles are not equal to 180 °, and its endoporus and input shaft are used with the rotation direction multiple thread and connect, and install successively on the input shaft " back-up ring-capacity eccentric bearing a-belleville spring-capacity eccentric bearing b-circlip for shaft ".
Be initially in zero return difference state: the cycloid wheel A gear teeth are close to pin wheel housing upper half needle pin along clockwise direction; And the cycloid wheel B gear teeth are close to the bottom half needle pin in the counterclockwise direction.When the dextrorotation input shaft changes clockwise: cycloid wheel A work done, because under the effect of right-handed thread, eccentric bushing b is moving axially rotation simultaneously, and cycloid wheel B and pin tooth opposite side are close to, thereby the work done simultaneously of two cycloid wheel; During power failure, under the effect of belleville spring, cycloid wheel B gets back to initial position.In like manner, when input shaft rotates counterclockwise: cycloid wheel B work done, because under the effect of right-handed thread, eccentric bushing a is moving axially rotation simultaneously, and cycloid wheel A and pin tooth opposite side are close to, thereby the work done simultaneously of two cycloid wheel.
(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 slow silk cutting machine tool cut out one continuously, smoothed curve.Line cutting best surface roughness is Ra0.5--0.8 μ m (being equivalent to roll flute), 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 in the background technique two stage reduction gears such as RV, and its novelty, creativeness and practicability are embodied in: 1. Surface of action wearing and tearing back return difference can compensate automatically; 2. remove three eccentric shafts, 6 bearings and 7 gears, simplify the structure, increased heat-dissipating space, eliminated processing and assembly error that three eccentric shafts bring; 3. technology difficulty little, do not need high precision machine tool; 4. manufacture cost only is the 75-85% of RV, CORT; 5. all carry ring and can improve the rigidity and the flexural strength of pin.
[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. 1,2,3 and 4. a kind of industrial robot single-stage cycloidal reducer, comprise input shaft (3), cycloid wheel A, B and be contained in the capacity eccentric bearing a of cycloid wheel endoporus, b, gear pin (7), pin wheel housing (8) and W output mechanism, wherein: W mechanism is by left frame (1), right frame (12), pin (5) and column sleeve (4) are formed, rely on pin with a left side, right frame drive fit connects one, a left side, right frame relies on bearing (6) respectively, (10) be bearing in pin wheel housing (8) both sides endoporus, input shaft (3) two ends use bearing (2) and (11) to be bearing in a left side respectively, right frame endoporus is characterized in that:
(a) export from input shaft (3) to the W output mechanism, input is coaxial with output, 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 pin wheel housing adopts, reduction speed ratio can reach 119, therefore can select 1000 for use, the 2000r/min actuating motor, best with 1000r/min, the FA high accurate speed reducer is input as 1500r/min;
(b) have one to be enclosed within and all to carry ring (9) on the pin (5) between cycloid wheel A and the B, column sleeve (4) width equals the cycloid wheel width.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) two single eccentric bearing a and b phase angle are not equal to 180 °, its endoporus is used with the rotation direction multiple thread with input shaft (3) and is connected, install circlip, capacity eccentric bearing a, belleville spring, capacity eccentric bearing b and circlip on the input shaft successively, multiple-threaded lead angle is λ=22 °-30 °, its original state is, the cycloid wheel A gear teeth are close to pin wheel housing upper half gear pin along clockwise direction, and the cycloid wheel B gear teeth are close to pin wheel housing (8) bottom half gear pin in the counterclockwise direction.
Be initially in zero return difference state: the cycloid wheel A gear teeth are close to pin wheel housing upper half gear pin along clockwise direction; And the cycloid wheel B gear teeth are close to pin wheel housing (8) bottom half gear pin in the counterclockwise direction.When the dextrorotation input shaft changes clockwise: cycloid wheel A work done, because under the effect of right-handed thread, eccentric bushing b is moving axially rotation simultaneously, and cycloid wheel B and pin tooth opposite side are close to, thereby the work done simultaneously of two cycloid wheel; During power failure, under the effect of belleville spring, cycloid wheel B gets back to initial position.In like manner, when input shaft rotates counterclockwise: cycloid wheel B work done, because under the effect of right-handed thread, eccentric bushing a is moving axially rotation simultaneously, and cycloid wheel A and pin tooth opposite side are close to, thereby the work done simultaneously of two cycloid wheel.
Described industrial robot single-stage cycloidal reducer is characterized in that: capacity eccentric bearing is formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), and two eccentric bushing endoporus are 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 the purpose of standard rolling bearing endoporus close-fitting eccentric bushing, simultaneously also because standard rolling bearing is good and cheap.
Described industrial robot single-stage cycloidal reducer, it is characterized in that: capacity eccentric bearing is formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), two eccentric bushing endoporus have two with rotation direction spiral chute (or skewed slot), two grooves stagger 180 °, spiral chute lift angle (or oblique angle) is 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 (or skewed slot) separately.Spiral chute, skewed slot mechanical processing technique are simpler than multiple thread.
Described industrial robot single-stage cycloidal reducer is characterized in that: input shaft (3) is a hollow shaft, and input end connects a driven gear (not shown), and left frame (1) has a center hole to communicate with the input shaft endoporus.The input end driven gear forms hollow structure in order to mesh with the actuating motor driving gear, is used for replacing RV-C, the RD-C hollow retarder of Japan.(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. industrial robot single-stage cycloidal reducer, comprise input shaft (3), cycloid wheel A, B and be contained in capacity eccentric bearing a, b, gear pin (7), pin wheel housing (8) and the W output mechanism of taking turns endoporus, wherein: W mechanism is made up of left frame (1), right frame (12), pin (5) and column sleeve (4), rely on pin that left and right frame drive fit is connected one, left and right frame relies on bearing (6), (10) to be bearing in pin wheel housing (8) both sides endoporus respectively, input shaft (3) two ends use bearing (2) and (11) to be bearing in left and right frame 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, column sleeve (4) is wide with cycloid wheel;
(c) phase angle between two single eccentric bearing a, the b is not equal to 180 °, the capacity eccentric bearing endoporus is used with the rotation direction multiple thread with input shaft (3) and is connected, lead angle is λ=22 °-30 °, install circlip, capacity eccentric bearing a, belleville spring, capacity eccentric bearing b and circlip on the input shaft successively, original state is, the cycloid wheel A gear teeth are close to pin wheel housing upper half gear pin along clockwise direction, and the cycloid wheel B gear teeth are close to pin wheel housing (8) bottom half gear pin in the counterclockwise direction.
2. industrial robot single-stage cycloidal reducer according to claim 1 is characterized in that: capacity eccentric bearing is formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), and two eccentric bushing endoporus are that lift angle λ=22 °-30 ° are with the rotation direction multiple thread.
3. industrial robot single-stage cycloidal reducer according to claim 1, it is characterized in that: capacity eccentric bearing is formed by standard rolling bearing K endoporus close-fitting eccentric bushing (14), two eccentric bushing endoporus have two with rotation direction spiral chute (or skewed slot), two grooves stagger 180 °, spiral chute lift angle (or oblique angle) is 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 (or skewed slot) separately.
4. industrial robot single-stage cycloidal reducer according to claim 1 and 2 is characterized in that: input shaft (3) is a hollow shaft, and input end connects a driven gear (not shown), and left frame (1) has a center hole to communicate with the input shaft endoporus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010169941A CN101832365A (en) | 2010-04-17 | 2010-04-17 | Industrial robot single-stage cycloidal reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010169941A CN101832365A (en) | 2010-04-17 | 2010-04-17 | Industrial robot single-stage cycloidal reducer |
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| CN101832365A true CN101832365A (en) | 2010-09-15 |
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| CN201010169941A Withdrawn CN101832365A (en) | 2010-04-17 | 2010-04-17 | Industrial robot single-stage cycloidal reducer |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305270A (en) * | 2011-03-01 | 2012-01-04 | 吴小杰 | High-bearing capacity braking cycloidal speed reducer |
| CN102691753A (en) * | 2011-03-22 | 2012-09-26 | 精工爱普生株式会社 | Speed reducer, robot hand and robot |
| WO2015058360A1 (en) * | 2013-10-21 | 2015-04-30 | 山东帅克机械制造股份有限公司 | Bearing-type rv speed reducer |
| CN104696444A (en) * | 2015-03-06 | 2015-06-10 | 吴小杰 | Zero return difference cycloid reducer |
| CN108533695A (en) * | 2018-07-06 | 2018-09-14 | 重庆大学 | A kind of adjustable change transverse tooth thickness Cycloidal pin-wheel drive device |
| CN108679190A (en) * | 2018-06-06 | 2018-10-19 | 重庆大学 | Novel flexible offset-type gear robot retarder |
-
2010
- 2010-04-17 CN CN201010169941A patent/CN101832365A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305270A (en) * | 2011-03-01 | 2012-01-04 | 吴小杰 | High-bearing capacity braking cycloidal speed reducer |
| CN102691753A (en) * | 2011-03-22 | 2012-09-26 | 精工爱普生株式会社 | Speed reducer, robot hand and robot |
| WO2015058360A1 (en) * | 2013-10-21 | 2015-04-30 | 山东帅克机械制造股份有限公司 | Bearing-type rv speed reducer |
| CN104696444A (en) * | 2015-03-06 | 2015-06-10 | 吴小杰 | Zero return difference cycloid reducer |
| 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 |
| CN108679190A (en) * | 2018-06-06 | 2018-10-19 | 重庆大学 | Novel flexible offset-type gear robot retarder |
| CN108679190B (en) * | 2018-06-06 | 2024-05-24 | 重庆大学 | Novel flexible compensation type gear robot speed reducer |
| CN108533695A (en) * | 2018-07-06 | 2018-09-14 | 重庆大学 | A kind of adjustable change transverse tooth thickness Cycloidal pin-wheel drive device |
| CN108533695B (en) * | 2018-07-06 | 2021-07-27 | 重庆大学 | Adjustable variable tooth thickness cycloidal pin gear transmission device |
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| C04 | Withdrawal of patent application after publication (patent law 2001) | ||
| WW01 | Invention patent application withdrawn after publication |
Open date: 20101027 |