CN101963210A - Three-piece type single-stage cycloid reducer of industrial robot - Google Patents
Three-piece type single-stage cycloid reducer of industrial robot Download PDFInfo
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- CN101963210A CN101963210A CN2010102635557A CN201010263555A CN101963210A CN 101963210 A CN101963210 A CN 101963210A CN 2010102635557 A CN2010102635557 A CN 2010102635557A CN 201010263555 A CN201010263555 A CN 201010263555A CN 101963210 A CN101963210 A CN 101963210A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 18
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- 238000004519 manufacturing process Methods 0.000 abstract description 6
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Abstract
The invention relates to the technical field of reducers of industrial robots, in particular to a three-piece type single-stage cycloid reducer of an industrial robot, which is characterized in that (a) the speed is reduced in a single stage mode; (b) an output shaft adopts a large-diameter disk and a rigid cage structure is respectively supported at both ends; (c) an input shaft (3) is sequentially provided with an elastic collar (4), a disk spring (5), an eccentric bearing a, a partition ring (15), an eccentric bearing b, a disk spring (14) and an elastic collar (12), wherein the input shaft is connected with the two single eccentric bearings a and b by multiple threads in the same spiral direction. In an initial state, gear teeth of a cycloid gear A are tightly supported to a needle gear pin (16) at the upper half area of a needle gear shell (10) along a clockwise direction, and gear teeth of a cycloid gear B is tightly supported to the needle gear pin (16) at the lower half area of the needle gear shell (10) along an anticlockwise direction; and (d) the two single eccentric bearings a and b are formed by tightly assembling a standard roller bearing without an outer ring and an inner eccentric sleeve. The invention has the beneficial effects that: (1) after a meshing surface is worn, the return difference can be automatically compensated; (2) the process difficulty is low, and a high-precision machine tool is not needed; (3) the manufacturing cost is estimated as 25-35 percent of the manufacturing cost of an FA reducer; and (4) a load balance ring can increase the rigidity and the bending strength of a pillar pin.
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]
SUMITOMO CHEMICAL FA single reduction gear is the cycloid transmission of current new development, and Shanghai Communications University, Dalian scholar has done research for many years to this.FA retarder three capacity eccentric bearing phase angles equal 120 °, partly bury toothing.Its advantage 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 input speed allowable is 1500～1800r/min.
FA robot retarder subject matter is: the accuracy of manufacturing requirement is very high, Surface of action wearing and tearing back return difference can not compensate automatically.
China's 863 Program, state natural sciences fund repeat to list again and again, wish state internal gear expert, first-class manufactory on the RV basis, develop the own retarder of Chinese and replace RV.Yet, so far still must be supporting from Japanese import RV.
[summary of the invention]
The present invention system " micro-backflash cycloidal speed reducer of industrial robot " (200910196984.4) and RV retarder significant improvement, purpose is: a kind of medium accuracy of manufacturing is proposed, technology difficulty is little, return difference can compensate automatically, manufacture cost is estimated as RV, CORT 25～35% and can make the three-chip type single-stage cycloidal speed reducer for industrial robot of class RV-C hollow type.
Resiliently deformable return difference when the return difference of industrial robot retarder mainly comprises geometry return difference and load.Wherein:
Geometry return difference when (one) unloaded: kinematic accuracy represents by driving error (the present invention is the single-stage deceleration, thereby has only cycloid transmission and two links of output mechanism), return difference is worth 1 '～1.5 '.Gear pin hole circumferential position error in the cycloid transmission, gear pin radius error, equidistantly to reach the modification of moved distance error be how much return difference principal elements;
(2) resiliently deformable return difference (rigidity) during load: under the load movement situation, the total return difference that comprises the return difference that resiliently deformable causes can not surpass 6 ' (Zhu Xiaolu " 827 pages of Gear Transmission Design handbook).
The concrete technological scheme that how to design, make little return difference industrial robot retarder is as follows:
Zero return difference when (A) unloaded: in order to eliminate initial return difference, should make on the structure cycloid wheel A, B along be close on the pin wheel housing along the pin direction, 1/3 district pin tooth separately, cycloid wheel C be close to other 1/3 district's pin tooth on the pin wheel housing along contrary pin direction;
(B) two take turns synchronous work done during load, increase mesh stiffness, reduce juxtaposition metamorphose, its principle is as follows:
Eccentric bushing (nut) a, b are at both sides pre-pressure of the spring Q in cycloid wheel A, the B
0Act on down the spiral motion of potential respectively " the contrary pin that moves to right changes " and " moving to left changes along pin ", its latent torque M
0=Q
0(d
2/ 2) tg (λ+φ).When the nut right side or the m that moves to left (about 0.05～0.15), then the torque increase is M
1=(Q
0+ mp ') (d
2/ 2) tg (λ+φ)
When input shaft (right handed screw) when changeing clockwise: screw driving torque T=T
0+ Ma, wherein:
T
0Be that nut a, b make cycloid wheel A, B rotate counterclockwise the required moment of torsion of acting;
Ma be nut a, b promote vertically nut c move to right the torque that simultaneously contrary pin changes (with potentially move to left, to change (square) along pin opposite), obvious Ma should greater than or be slightly larger than M
0, and because the increase of spring pressure, torque M a also can increase.
Nut c move to right moment that simultaneously contrary pin rotates makes the C wheel gear teeth along relying on 1/3 district pin tooth in addition clockwise fast, realizes that power exports so A, B and the synchronously contrary pin of C wheel change.(p ' be the spring rigidity index, middle footpath d
2, lead angle λ, friction angle φ)
After the outage, rely on spring reset; Energising again, screw rod anti-(counterclockwise) change, B takes turns work done, and A takes turns hysteresis ... (C) output shaft adopts the rigidity cage structure of big diameter disc, two supports, and rigidity is big, shock resistance is high.
[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 is estimated as the 25-35% of FA retarder; 4. all carry ring and can improve pin rigidity and flexural strength.
[description of drawings]
Fig. 1. be the structural representation of the embodiment of the invention
Fig. 2 is an original state: (2-a) cycloid wheel A, the B gear teeth are close to 1/3 district's pin tooth along clockwise direction separately, and the structural representation that the cycloid wheel C gear teeth are close to other 1/3 district's pin tooth in the counterclockwise direction;
(2-b) capacity eccentric bearing a, b and c and the input shaft screw pair structural representation in cycloid wheel A, B and the C.
Fig. 3 is when the work: (3-a) structural representation that is close to the pin tooth along clockwise direction of cycloid wheel A, B and the C gear teeth;
(3-b) capacity eccentric bearing a, b and c and the input shaft screw pair structural representation in cycloid wheel A, B and the C.
[embodiment]
With reference to Fig. 1,2 and 3. a kind of three-chip type single-stage cycloidal speed reducer for industrial robot, by three cycloid wheel A, B and C and be contained in the capacity eccentric bearing of endoporus, pin wheel housing (10), gear pin (17), pin (7), column sleeve (6), input shaft (3) and W output mechanism are formed, and it is characterized in that:
(a) input shaft (3) slows down by the coaxial output of W output mechanism through the cycloid wheel single-stage;
(b) the W output mechanism is made up of left frame (1), right frame (18), pin (7) and column sleeve (6), according to pin left and right frame drive fit and screw (not shown) are connected one, left and right frame uses bearing (8), (11) to be bearing in pin wheel housing (10) both sides endoporus respectively, input shaft (3) two ends use bearing (2) and (13) to be bearing in left and right frame endoporus respectively, the W output mechanism adopts the rigidity cage structure of major diameter frame, two supports, thereby rigidity is big, shock resistance is high;
(c) install circlip (4), belleville spring (5), capacity eccentric bearing a, Bao Quan (15), capacity eccentric bearing b, spacer ring (16), capacity eccentric bearing c, belleville spring (14) and circlip (12) on the input shaft (3) successively, wherein:
Use with the rotation direction multiple thread between input shaft (3) and three single eccentric bearing a, b and the c and connect; The gear teeth that the axial length of the spacer ring (16) that is slidingly matched with axle should make cycloid wheel A and B along clockwise direction with pin wheel housing (10) on separately 1/3 district's gear pin (17) be close to, 1/3 district's gear pin (17) is close to and the cycloid wheel C gear teeth are gone up in addition with pin wheel housing (10) in the counterclockwise direction, therefore, capacity eccentric bearing a and b phase angle are 120 °, and a and c angle phi
1120 ° of ≈, b and c angle phi
2120 ° of ≈, φ
1≠ φ
2
(d) three single eccentric bearing a, b and c do not have the outer ring roller bearing with interior eccentric bushing close-fitting or excessively cooperates and add pin and form by standard, and three eccentric bushing endoporus be with multiple thread formation screw pair on rotation direction multiple thread and the input shaft (3).Theoretical calculation result shows that the employing standard does not have outer ring roller bearing+interior eccentric bushing structure, can satisfy the requirement in specified working life.The advantage that standard does not have outer ring roller bearing+interior eccentric bushing structure is: the machining difficulty of the bull nut of eccentric bushing in greatly reducing.
Described three-chip type single-stage cycloidal speed reducer for industrial robot is characterized in that: on the pin wheel housing pin holes with in be careful that silk thread cuts out one continuously, smoothed curve obtains.It is minimum partly to bury the toothing juxtaposition metamorphose.
" 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 thread cuts out one continuously, smoothed curve, surface roughness Ra 0.5～0.8 μ m (being equivalent to roll flute), 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 reduction speed ratio can reach 119, thereby when selecting 1000rpm or 1500rpm actuating motor for use, single-stage is slowed down can satisfy actual usage requirement.
Described three-chip type single-stage cycloidal speed reducer for industrial robot is characterized in that: cycloid wheel A, B and C are arranged, wherein: have one to be enclosed within and all to carry ring flat-plate (9) on the pin (7) between A and B two cycloid wheel between left and right frame; Have one to be enclosed within and all to carry ring flat-plate (19) on the pin (7) between B and C two cycloid wheel, place the column sleeve (6) of the uniform pin-and-hole of two cycloid wheel and cycloid wheel wide.All carry ring flat-plate (9), (19) have improved pin (7) mechanical strength and rigidity greatly.
Described three-chip type single-stage cycloidal speed reducer for industrial robot is characterized in that: input shaft (3) is a hollow shaft, and its 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.
The foregoing description is to explanation of the present invention rather than qualification, and any simple transformation all belongs to protection scope of the present invention.
Claims (4)
1. three-chip type single-stage cycloidal speed reducer for industrial robot, by three cycloid wheel A, B and C and be contained in the capacity eccentric bearing of endoporus, pin wheel housing (10), gear pin (17), pin (7), column sleeve (6), input shaft (3) and W output mechanism are formed, and it is characterized in that:
(a) input shaft (3) slows down by the coaxial output of W output mechanism through the cycloid wheel single-stage;
(b) W mechanism is made up of left frame (1), right frame (18), pin (7) and column sleeve (6), rely on pin (7) that left and right frame drive fit and screw (not shown) are connected one, left and right frame uses bearing (8), (11) to be bearing in pin wheel housing (10) both sides endoporus respectively, and input shaft (3) two ends use bearing (2) and (13) to be bearing in left and right frame endoporus respectively;
(c) install circlip (4), belleville spring (5), capacity eccentric bearing a, Bao Quan (15), capacity eccentric bearing b, spacer ring (16), capacity eccentric bearing c, belleville spring (14) and circlip (12) on the input shaft (3) successively, wherein:
Use with the rotation direction multiple thread between input shaft (3) and three single eccentric bearing a, b and the c and connect; The gear teeth that the axial length of spacer ring (16) should make cycloid wheel A and B along clockwise direction with pin wheel housing (10) on separately 1/3 district's gear pin (17) be close to, 1/3 district's gear pin (17) is close to and the cycloid wheel C gear teeth are gone up in addition with pin wheel housing (10) in the counterclockwise direction, thereby 120 ° at capacity eccentric bearing a and b phase angle, and a and c angle phi
1120 ° of ≈, b and c angle phi
2120 ° of ≈, φ
1≠ φ
2
(d) three single eccentric bearing a, b and c do not have the outer ring roller bearing with interior eccentric bushing close-fitting or excessively cooperates and add pin and form by standard, and three eccentric bushing endoporus be with multiple thread formation screw pair on rotation direction multiple thread and the input shaft (3).
2. three-chip type single-stage cycloidal speed reducer for industrial robot according to claim 1 is characterized in that: pin wheel housing (10) go up pin holes with in the silk thread of being careful cut out one continuous, smoothed curve and obtain.
3. three-chip type single-stage cycloidal speed reducer for industrial robot according to claim 1 and 2 is characterized in that: cycloid wheel A, B and C are arranged, wherein: have one to be enclosed within and all to carry ring flat-plate (9) on the pin (7) between A and B two cycloid wheel between left and right frame; Have one to be enclosed within and all to carry ring flat-plate (19) on the pin (7) between B and C two cycloid wheel, place the column sleeve (6) of the uniform pin-and-hole of three cycloid wheel and cycloid wheel wide.
4. according to the described three-chip type single-stage cycloidal speed reducer for industrial robot of claim 3, it is characterized in that: input shaft (3) is a hollow shaft, and its input end connects a driven gear (not shown), and left frame (1) has a center hole to communicate with the input shaft endoporus.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010263555 CN101963210B (en) | 2010-08-18 | 2010-08-18 | Three-piece type single-stage cycloid reducer of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010263555 CN101963210B (en) | 2010-08-18 | 2010-08-18 | Three-piece type single-stage cycloid reducer of industrial robot |
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|---|---|
| CN101963210A true CN101963210A (en) | 2011-02-02 |
| CN101963210B CN101963210B (en) | 2013-01-02 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102442733A (en) * | 2011-04-02 | 2012-05-09 | 吴小杰 | Large-torque cone-hypocycloid speed reducer of rotary brush aeration machine |
| CN103121615A (en) * | 2011-11-18 | 2013-05-29 | 吴小杰 | Permanent-magnet and constant-braking elevator inner cycloidal traction machine |
| CN103359591A (en) * | 2012-04-01 | 2013-10-23 | 黄溧震 | Traction machine |
| CN104565222A (en) * | 2015-01-02 | 2015-04-29 | 李响 | Interlayer body zero-return-difference type general inner cycloidal reduction box |
| CN104565221A (en) * | 2015-01-02 | 2015-04-29 | 李响 | Interlayer body zero-return-difference type general cycloidal reduction box |
| CN104565309A (en) * | 2015-01-02 | 2015-04-29 | 李响 | Interlayer body zero-return-difference type general small-tooth-difference reduction box |
| CN105003630A (en) * | 2015-07-22 | 2015-10-28 | 袁正敏 | Cycloidal gear reducer provided with incomplete bearings |
| CN110529559A (en) * | 2018-05-25 | 2019-12-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0560184A (en) * | 1991-03-19 | 1993-03-09 | Sumitomo Heavy Ind Ltd | Trochoidal tooth-profile inscribed type epicycle reduction gear structure |
| JP2003004106A (en) * | 2001-06-21 | 2003-01-08 | Sumitomo Heavy Ind Ltd | Transmission adopting eccentric oscillation type internal engagement planetary gear structure |
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
-
2010
- 2010-08-18 CN CN 201010263555 patent/CN101963210B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0560184A (en) * | 1991-03-19 | 1993-03-09 | Sumitomo Heavy Ind Ltd | Trochoidal tooth-profile inscribed type epicycle reduction gear structure |
| JP2003004106A (en) * | 2001-06-21 | 2003-01-08 | Sumitomo Heavy Ind Ltd | Transmission adopting eccentric oscillation type internal engagement planetary gear structure |
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN103359591A (en) * | 2012-04-01 | 2013-10-23 | 黄溧震 | Traction machine |
| CN104565222A (en) * | 2015-01-02 | 2015-04-29 | 李响 | Interlayer body zero-return-difference type general inner cycloidal reduction box |
| CN104565221A (en) * | 2015-01-02 | 2015-04-29 | 李响 | Interlayer body zero-return-difference type general cycloidal reduction box |
| CN104565309A (en) * | 2015-01-02 | 2015-04-29 | 李响 | Interlayer body zero-return-difference type general small-tooth-difference reduction box |
| CN104565221B (en) * | 2015-01-02 | 2017-05-03 | 李响 | Interlayer body zero-return-difference type general cycloidal reduction box |
| CN104565222B (en) * | 2015-01-02 | 2017-05-03 | 李响 | Interlayer body zero-return-difference type general inner cycloidal reduction box |
| CN105003630A (en) * | 2015-07-22 | 2015-10-28 | 袁正敏 | Cycloidal gear reducer provided with incomplete bearings |
| CN110529559A (en) * | 2018-05-25 | 2019-12-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
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|---|---|
| CN101963210B (en) | 2013-01-02 |
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