CN101963210B - 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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- CN101963210B CN101963210B CN 201010263555 CN201010263555A CN101963210B CN 101963210 B CN101963210 B CN 101963210B CN 201010263555 CN201010263555 CN 201010263555 CN 201010263555 A CN201010263555 A CN 201010263555A CN 101963210 B CN101963210 B CN 101963210B
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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 Dalian hands over large scholar this to be done for many years research.FA retarder three capacity eccentric bearing phase angles equal 120 °, partly bury toothing.Its advantage is: (1) volume is little, lightweight; (2) because there not being pin gear sleeve, the maximum deceleration ratio can reach 119 (" calculating of three-cycloid gear driver cycloid wheel intensity " 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 large, 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, the rear return difference of Surface of action wearing and tearing can not auto-compensation.
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: propose that a kind of medium accuracy of manufacturing, technology difficulty are little, return difference can auto-compensation, manufacturing cost estimation is 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 single-stage speed reducing, thereby only has 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: in 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
0Effect is lower, the spiral motion of difference potential " the contrary pin that moves to right turns " and " move to left and turn 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 torque is increased to M
1=(Q
0+ mp ') (d
2/ 2) tg (λ+φ)
When input shaft (right handed screw) when turning clockwise: screw driving torque T=T
0+ Ma, wherein:
T
0That 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 contrary pin simultaneously turns (with potentially move to left, to turn (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 moment that contrary pin simultaneously rotates that moves to right makes the C wheel gear teeth along relying on fast clockwise in addition 1/3 district pin tooth, so A, B and C wheel turn the realization power stage against pin synchronously.(p ' be the spring rigidity index, central diameter d
2, lead angle λ, friction angle φ)
After the outage, rely on spring reset; Again energising, screw rod anti-(counterclockwise) turn, 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 large, 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. return difference energy auto-compensation after Surface of action weares and teares; 2. technology difficulty little, do not need high precision machine tool; 3. manufacturing cost estimation is 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 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.
When Fig. 3 is 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) cycloid wheel A, B and C inner eccentric shaft hold a, b and c and input shaft screw pair structural representation.
[embodiment]
With reference to Fig. 1 .2 and 3. 1 kinds of three-chip type single-stage cycloidal speed reducer for industrial robot, by input shaft 3, first, second is with the 3rd cycloid wheel (A, B, C) and be contained in the wheel endoporus, corresponding first, second and the 3rd capacity eccentric bearing (a, b, c), pin wheel housing 10, gear pin 17 and W output mechanism form with it, it is characterized in that:
Install in turn the first circlip 4 on the described input shaft 3, the first belleville spring 5, the first capacity eccentric bearing (a), thin circle 15, the second capacity eccentric bearing (b), the first spacer ring 16, the 3rd capacity eccentric bearing (c), the second belleville spring 14 and the second circlip 12, described input shaft 3 and three capacity eccentric bearing (a, b, c) use between with the rotation direction multiple thread and connect, the axial length of the first spacer ring 16 should make first, two cycloid wheel (A, B) the gear teeth along clockwise direction with pin wheel housing 10 on separately 1/3 district's gear pin 17 be close to, and the 3rd cycloid wheel (C) gear teeth in the counterclockwise direction with pin wheel housing 10 in addition 1/3 district's gear pin 17 be close to, described first, two capacity eccentric bearing (a, b) phase angle is 120 °, and first, three capacity eccentric bearing (a, c) angle phi
1120 ° of ≈, second and third capacity eccentric bearing (b, c) angle phi
2120 ° of ≈, φ
1≠ φ
2, described input shaft 3 is coaxial with the W output mechanism;
Described W output mechanism is comprised of left and right frame (1,18), pin 7 and column sleeve 6, rely on pin 7 with left and right frame (1,18) drive fit and screw attachment one, left and right frame (1,18) uses respectively first and second bearing (8,11) to be bearing in pin wheel housing 10 both sides endoporus, described input shaft 3 two ends use respectively third and fourth bearing (2,13) to be bearing in left and right frame (1,18) endoporus, the W output mechanism adopts the cage structure of major diameter frame, two supports, and rigidity is large, shock resistance;
Described first, second with the 3rd capacity eccentric bearing (a, b, c) by standard without outer ring roller bearing and interior eccentric bushing close-fitting or excessively cooperate and add pin and form, three interior eccentric bushing endoporus are with the rotation direction multiple thread, multiple thread consists of screw pair on described multiple thread and the input shaft 3, the calculated results shows, the employing standard can satisfy the requirement in specified working life without outer ring roller bearing+interior eccentric bushing structure.Standard is the machining difficulty that greatly reduces the bull nut of interior eccentric bushing without the advantage of outer ring roller bearing+interior eccentric bushing structure;
On the described pin wheel housing 10 pin holes with in be careful that silk thread cuts out one continuously, smoothed curve obtains, " 839 pages of Gear Transmission Design handbook are pointed out: " affecting 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 " technique, the needle pin diameter is less, and the advantage of wire cutting technology is more aobvious outstanding, and reduction speed ratio can reach 119, thereby when selecting 1000rpm or 1500rpm actuating motor, single-stage speed reducing can satisfy actual operation requirements;
Between the described left and right frame (1,18) in three cycloid wheel (A, B, C): have one to be enclosed within on the pin 7 first and all to carry and have one to be enclosed within second on the pin 7 and all to carry ring flat-plate 19 between ring flat-plate 9, second and third cycloid wheel (B, C) between first and second cycloid wheel (A, B), place the column sleeve 6 of the uniform pin-and-hole of three cycloid wheel (A, B, C) wide with cycloid wheel, first and second all carries ring flat-plate (9,19) and has greatly improved pin 7 mechanical strengths and rigidity;
Described input shaft 3 is hollow shaft, its input end connects a driven gear, and left frame 1 has a center hole to communicate with the input shaft endoporus, and the input end driven gear is in order to mesh with the actuating motor driving gear, form hollow structure, be used for replacing RV-C, the RD-C hollow decelerator of Japan.
Above-described embodiment is to explanation of the present invention rather than restriction, and any simple transformation all belongs to protection scope of the present invention.
Claims (1)
1. three-chip type single-stage cycloidal speed reducer for industrial robot, by input shaft (3), first, second with the 3rd cycloid wheel (A, B, C) and with it corresponding, be contained in first, second and the 3rd capacity eccentric bearing (a, b, c), pin wheel housing (10), gear pin (17) and the W output mechanism of taking turns endoporus and form, it is characterized in that:
Install in turn the first circlip (4) on the described input shaft (3), the first belleville spring (5), the first capacity eccentric bearing (a), thin circle (15), the second capacity eccentric bearing (b), the first spacer ring (16), the 3rd capacity eccentric bearing (c), the second belleville spring (14) and the second circlip (12), described input shaft (3) and three capacity eccentric bearing (a, b, c) use between with the rotation direction multiple thread and connect, the axial length of the first spacer ring (16) makes first, two cycloid wheel (A, B) the gear teeth along clockwise direction with pin wheel housing (10) on separately 1/3 district's gear pin (17) be close to, and the 3rd cycloid wheel (C) gear teeth are close to the upper in addition 1/3 district's gear pin (17) of pin wheel housing (10) in the counterclockwise direction, described first, two capacity eccentric bearing (a, b) phase angle is 120 °, and first, three capacity eccentric bearing (a, c) angle phi
1120 ° of ≈, second and third capacity eccentric bearing (b, c) angle phi
2120 ° of ≈, φ
1≠ φ
2, described input shaft (3) is coaxial with the W output mechanism;
Described W output mechanism is comprised of left and right frame (1,18), pin (7) and column sleeve (6), rely on pin (7) with left and right frame (1,18) drive fit and screw attachment one, left and right frame (1,18) uses respectively first and second bearing (8,11) to be bearing in pin wheel housing (10) both sides endoporus, and described input shaft (3) two ends use respectively third and fourth bearing (2,13) to be bearing in left and right frame (1,18) endoporus;
Described first, second with the 3rd capacity eccentric bearing (a, b, c) by standard without outer ring roller bearing and interior eccentric bushing close-fitting or excessively cooperate and add pin and form, three interior eccentric bushing endoporus are with the rotation direction multiple thread, and the upper multiple thread of described multiple thread and input shaft (3) consists of screw pair;
The upper pin holes of described pin wheel housing (10) with in the silk thread of being careful cut out one continuous, smoothed curve and obtain;
Between the described left and right frame (1,18) in three cycloid wheel (A, B, C): have one to be enclosed within pin (7) upper first and all to carry and have one to be enclosed within second on the pin (7) and all to carry ring flat-plate (19) between ring flat-plate (9), second and third cycloid wheel (B, C) between first and second cycloid wheel (A, B), place the column sleeve (6) of the uniform pin-and-hole of three cycloid wheel (A, B, C) and cycloid wheel wide;
Described input shaft (3) is hollow shaft, and its input end connects a driven gear, 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 CN101963210A (en) | 2011-02-02 |
| CN101963210B true CN101963210B (en) | 2013-01-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102442733B (en) * | 2011-04-02 | 2013-03-27 | 吴小杰 | Large-torque cone-hypocycloid speed reducer of rotary brush aeration 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 |
| CN104565222B (en) * | 2015-01-02 | 2017-05-03 | 李响 | Interlayer body zero-return-difference type general inner cycloidal reduction box |
| CN104565221B (en) * | 2015-01-02 | 2017-05-03 | 李响 | Interlayer body zero-return-difference type general cycloidal reduction box |
| CN104565309B (en) * | 2015-01-02 | 2017-05-17 | 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 (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
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|---|---|---|---|---|
| JP3034629B2 (en) * | 1991-03-19 | 2000-04-17 | 住友重機械工業株式会社 | Trochoid tooth type inscribed planetary gear structure |
| JP4818535B2 (en) * | 2001-06-21 | 2011-11-16 | 住友重機械工業株式会社 | A transmission employing an eccentric oscillating internal meshing planetary gear structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
Non-Patent Citations (3)
| Title |
|---|
| JP特公平8-6785B2 1996.01.29 |
| JP特开2003-4106A 2003.01.08 |
| JP特开平5-60184A 1993.03.09 |
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