CN104712709A - RV reducer with novel structure - Google Patents
RV reducer with novel structure Download PDFInfo
- Publication number
- CN104712709A CN104712709A CN201510125096.9A CN201510125096A CN104712709A CN 104712709 A CN104712709 A CN 104712709A CN 201510125096 A CN201510125096 A CN 201510125096A CN 104712709 A CN104712709 A CN 104712709A
- Authority
- CN
- China
- Prior art keywords
- reducer
- speed reducer
- servo motor
- output shaft
- flange
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
-
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Details Of Gearings (AREA)
- Retarders (AREA)
Abstract
The invention discloses a RV reducer with a novel structure. The RV reducer with the novel structure comprises a RV reducer shell, a first level planetary reduction mechanism and a second level cycloid reduction mechanism are arranged in the RV reducer shell, a planetary gear of the first level planetary reduction mechanism is meshed with a center gear on one end of an input shaft, the input shaft and an output shaft of a servo motor are the same shaft, and the center gear is manufactured and made at the tail end of the output end of the servo motor; one end of the RV reducer shell is connected with a servo motor shell through a flange, the output shaft of the servo motor and the flange are sealed through a skeleton sealing ring, and an output end cover is arranged on the other end of the RV reducer shell. The RV reducer with the novel structure is reasonable in structure, the precision is high, and the noise is low.
Description
Technical field
The present invention relates to a kind of RV speed reducer.
Background technique
It is high that RV speed reducer has precision, and volume is little, the feature that bearing torque is high, is widely used in industrial robot field.Fig. 1 is the structure diagram of traditional RV speed reducer, and both sides are all open architecture, and during use, both sides all need to seal.Gear centered by one end of input shaft, engages with the planetary pinion of RV speed reducer, forms first order planetary gear speed reducing mechanism; The other end of input shaft is connected with actuating motor.Cycloid wheel, needle roller and pin wheel housing form second level cycloid reduction mechanism.Fig. 2 is the structure diagram of permanent-magnet brushless AC actuating motor, is widely used in industrial robot transmission portion.Actuating motor and RV speed reducer together form the joint part of industrial robot.
Traditional robot building business needs to purchase RV speed reducer, actuating motor, precision machined basic machine, lubricant grease, sealer and seal ring respectively, and then Fine Boring becomes joint of robot position.This operation not only causes robot building business manufacturing efficiency low, also brings following problems:
One, the input shaft band central gear end of RV speed reducer, teeth portion radial beat eccentricity is less than 0.03mm.This just requires to accomplish high-accuracy cooperation between the output shaft of actuating motor and the input shaft of RV speed reducer, considerably increases difficulty of processing and the processing cost of servo motor output shaft and RV speed reducer input shaft.Fig. 3 is that the input shaft of RV speed reducer is fixed on the output shaft of actuating motor, if the band central gear end circular runout of RV speed reducer input shaft is greater than 0.03mm, then RV speed reducer noise in operating decibel value significantly improves, and reduces RV speed reducer running efficiency simultaneously;
Two, the installation concentricity of actuating motor and RV speed reducer is less than 0.02mm.This just proposes very high required precision to robot body manufacture.Precision manufactureing and the detection of robot body considerably increase the cost of production of robot;
Three, need in RV speed reducer cavity to add appropriate lubricant grease.On-the-spot at robot building, the operation adding lubricant grease in RV speed reducer cavity is extremely loaded down with trivial details, very easily metallic dust or powder is cut and brings speed reducer cavity into, cause internal grease to pollute, thus reduction speed reducer working life.And the sealing of the adding quantity of grease and grease also has compared with high technology difficulty.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, the RV speed reducer of the new structure that precision is high, noise is low.
Technical solution of the present invention is:
A kind of RV speed reducer of new structure, comprise RV reducer shell (pin wheel housing), primary planet reducing gear, secondary cycloid reduction mechanism are set in RV reducer shell, the planetary pinion of primary planet reducing gear engages with the central gear of input shaft one end, it is characterized in that: the output shaft of input shaft and actuating motor is the same axis, central gear is be processed at the end of servo motor output shaft; One end of RV reducer shell and Servomotor shells are by Flange joint, and sealed by backbone sealing ring between servo motor output shaft and flange, the other end of RV reducer shell arranges output end cap.
Output end cap and flange arrange one respectively and adds row's grease holes.
The present invention is rational in infrastructure; Compare with conventional construction RV speed reducer, there is following advantage:
One, the accuracy of manufacturing greatly reducing robot body requires and testing requirement, thus reduces manufacture difficulty and the manufacture cost of robot body;
Two, the input shaft of the output shaft of actuating motor and RV speed reducer is united two into one become a complete coupling shaft, can be easy to realize RV speed reducer input end teeth portion radial beat eccentricity and be less than 0.03mm.RV speed reducer noise can be reduced, raise the efficiency;
Three, the concentricity requirement between actuating motor and RV speed reducer is ensured by adpting flange.Adpting flange is much less than robot body volume, easy precision machining and Precision measurement;
Four, be with the hermetically sealed RV speed reducer structure of actuating motor integrated design, substantially increase the manufacturing efficiency of robot building business, reduce robot building cost.
The output shaft of actuating motor and the input shaft of RV speed reducer unite two into one, and become a complete coupling shaft.Accurate gear hobbing or roll flute processing are just carried out in the processing of this root coupling shaft on the basis extending former servo motor output shaft, can not increase difficulty of processing and processing cost.
Concentricity requirement between actuating motor and RV speed reducer is ensured by adpting flange.Adpting flange is much less than robot body volume, easy precision machining and Precision measurement.Lubricant grease adds before can mounting cover with RV output end of reducer in RV speed reducer assembly process and joining, extremely convenient.After RV speed reducer uses certain hour, need to change lubricant grease, row's grease holes can be added from two and carry out.Actuating motor and adpting flange place can use backbone sealing ring, prevent the lubricant grease of RV speed reducer cavity from entering motor internal.
Use the RV speed reducer of this structure, robot building business only need tighten the installation that multiple bolt can complete joint of robot position.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the structure diagram of traditional RV speed reducer.
Fig. 2 is the structure diagram of permanent-magnet brushless AC actuating motor.
Fig. 3 is the schematic diagram that the input shaft of traditional RV speed reducer is fixed on servo motor output shaft.
Fig. 4 is the schematic diagram that the output shaft of actuating motor of the present invention and the input shaft of RV speed reducer unite two into one.
Fig. 5 is the structural representation of one embodiment of the invention.
Embodiment
A kind of RV speed reducer of new structure, comprise RV reducer shell 1, primary planet reducing gear, secondary cycloid reduction mechanism are set in RV reducer shell, the planetary pinion 2 of primary planet reducing gear engages with the central gear 3 of input shaft 8 one end, the output shaft of input shaft and actuating motor 4 is the same axis, and central gear is be processed at the end of servo motor output shaft; One end of RV reducer shell is connected by flange 5 with Servomotor shells, is sealed between servo motor output shaft and flange by backbone sealing ring 6, and the other end of RV reducer shell arranges and exports end cap 7.
Output end cap and flange arrange one respectively and adds row's grease holes 9,10.
Claims (2)
1. the RV speed reducer of a new structure, comprise RV reducer shell, primary planet reducing gear, secondary cycloid reduction mechanism are set in RV reducer shell, the planetary pinion of primary planet reducing gear engages with the central gear of input shaft one end, it is characterized in that: the output shaft of input shaft and actuating motor is the same axis, central gear is be processed at the end of servo motor output shaft; One end of RV reducer shell and Servomotor shells are by Flange joint, and sealed by backbone sealing ring between servo motor output shaft and flange, the other end of RV reducer shell arranges output end cap.
2. the RV speed reducer of new structure according to claim 1, is characterized in that: on output end cap and flange, arrange one respectively add row's grease holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510125096.9A CN104712709A (en) | 2015-03-23 | 2015-03-23 | RV reducer with novel structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510125096.9A CN104712709A (en) | 2015-03-23 | 2015-03-23 | RV reducer with novel structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104712709A true CN104712709A (en) | 2015-06-17 |
Family
ID=53412314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510125096.9A Pending CN104712709A (en) | 2015-03-23 | 2015-03-23 | RV reducer with novel structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104712709A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106996437A (en) * | 2016-01-22 | 2017-08-01 | 广州长仁工业科技有限公司 | The hollow reductor of RV planet cycloids |
| CN107322588A (en) * | 2017-08-25 | 2017-11-07 | 湖北荣屹昊机器人科技有限公司 | A kind of transmission module device of industrial robot |
| CN110120722A (en) * | 2019-06-18 | 2019-08-13 | 北京航空航天大学 | A kind of integrated speed-reducing motor |
| CN110185748A (en) * | 2019-06-05 | 2019-08-30 | 南通振康机械有限公司 | Integral type robot joint structure |
| CN111795817A (en) * | 2020-07-27 | 2020-10-20 | 西安交通大学 | RV reduction gear capability test device based on many sensing fuse |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88212130U (en) * | 1988-02-06 | 1988-11-09 | 湖南省机械研究所 | Low-speed motor with gear |
| JPH04140538A (en) * | 1990-10-02 | 1992-05-14 | Kayaba Ind Co Ltd | Hydraulic driving device with speed reducer |
| CN2516749Y (en) * | 2001-12-29 | 2002-10-16 | 郑州机械研究所 | Controllable-speed speed-changing gear box |
| WO2005038332A2 (en) * | 2003-10-09 | 2005-04-28 | Corus Uk Ltd. | Method and apparatus for lubricating a sealed bearing assembly by supplying grease and gas through separate supply lines |
| CN2729013Y (en) * | 2004-09-20 | 2005-09-28 | 岳波 | Distribution valve for granular material |
| CN2839646Y (en) * | 2005-10-12 | 2006-11-22 | 玉环恒力泵业有限公司 | The position structure of gear pump driving tooth axle |
| CN2874134Y (en) * | 2005-12-20 | 2007-02-28 | 上海强峰减速机械制造有限公司 | Speed reducing machine |
| CN102278460A (en) * | 2011-07-15 | 2011-12-14 | 南通振康焊接机电有限公司 | Toothed sleeve seat with built-in oil groove of cycloidal pinwheel planetary driving device |
| CN202301771U (en) * | 2011-10-27 | 2012-07-04 | 上海减速机械厂有限公司 | Rotary speed reducer of crane |
| CN203382149U (en) * | 2013-07-23 | 2014-01-08 | 开瑞振动机械（上海）有限公司 | Horizontal pipe eccentric driver lubricating device for vibrating conveying device |
| CN203730567U (en) * | 2013-12-24 | 2014-07-23 | 广东明阳风电产业集团有限公司 | Yaw bearing lubricating structure of yaw system of wind turbine generator unit |
| CN204628435U (en) * | 2015-03-23 | 2015-09-09 | 南通振康焊接机电有限公司 | The RV speed reducer of new structure |
-
2015
- 2015-03-23 CN CN201510125096.9A patent/CN104712709A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88212130U (en) * | 1988-02-06 | 1988-11-09 | 湖南省机械研究所 | Low-speed motor with gear |
| JPH04140538A (en) * | 1990-10-02 | 1992-05-14 | Kayaba Ind Co Ltd | Hydraulic driving device with speed reducer |
| CN2516749Y (en) * | 2001-12-29 | 2002-10-16 | 郑州机械研究所 | Controllable-speed speed-changing gear box |
| WO2005038332A2 (en) * | 2003-10-09 | 2005-04-28 | Corus Uk Ltd. | Method and apparatus for lubricating a sealed bearing assembly by supplying grease and gas through separate supply lines |
| CN2729013Y (en) * | 2004-09-20 | 2005-09-28 | 岳波 | Distribution valve for granular material |
| CN2839646Y (en) * | 2005-10-12 | 2006-11-22 | 玉环恒力泵业有限公司 | The position structure of gear pump driving tooth axle |
| CN2874134Y (en) * | 2005-12-20 | 2007-02-28 | 上海强峰减速机械制造有限公司 | Speed reducing machine |
| CN102278460A (en) * | 2011-07-15 | 2011-12-14 | 南通振康焊接机电有限公司 | Toothed sleeve seat with built-in oil groove of cycloidal pinwheel planetary driving device |
| CN202301771U (en) * | 2011-10-27 | 2012-07-04 | 上海减速机械厂有限公司 | Rotary speed reducer of crane |
| CN203382149U (en) * | 2013-07-23 | 2014-01-08 | 开瑞振动机械（上海）有限公司 | Horizontal pipe eccentric driver lubricating device for vibrating conveying device |
| CN203730567U (en) * | 2013-12-24 | 2014-07-23 | 广东明阳风电产业集团有限公司 | Yaw bearing lubricating structure of yaw system of wind turbine generator unit |
| CN204628435U (en) * | 2015-03-23 | 2015-09-09 | 南通振康焊接机电有限公司 | The RV speed reducer of new structure |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106996437A (en) * | 2016-01-22 | 2017-08-01 | 广州长仁工业科技有限公司 | The hollow reductor of RV planet cycloids |
| CN107322588A (en) * | 2017-08-25 | 2017-11-07 | 湖北荣屹昊机器人科技有限公司 | A kind of transmission module device of industrial robot |
| CN110185748A (en) * | 2019-06-05 | 2019-08-30 | 南通振康机械有限公司 | Integral type robot joint structure |
| CN110185748B (en) * | 2019-06-05 | 2022-02-22 | 南通振康机械有限公司 | Integrated robot joint structure |
| CN110120722A (en) * | 2019-06-18 | 2019-08-13 | 北京航空航天大学 | A kind of integrated speed-reducing motor |
| CN111795817A (en) * | 2020-07-27 | 2020-10-20 | 西安交通大学 | RV reduction gear capability test device based on many sensing fuse |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150617 |