CN104847873A - 全密封式一体型rv减速机 - Google Patents

全密封式一体型rv减速机 Download PDF

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CN104847873A
CN104847873A CN201510250289.7A CN201510250289A CN104847873A CN 104847873 A CN104847873 A CN 104847873A CN 201510250289 A CN201510250289 A CN 201510250289A CN 104847873 A CN104847873 A CN 104847873A
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speed reducer
input shaft
output
end flange
input
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CN104847873B (zh
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纪仕飞
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NANTONG ZHENKANG WELDING ELECTROMECHANIC CO Ltd
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NANTONG ZHENKANG WELDING ELECTROMECHANIC CO Ltd
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    • 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
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
    • 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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/025—Support of gearboxes, e.g. torque arms, or attachment to other devices
    • 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
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • 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
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • 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
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)

Abstract

本发明公开了一种全密封式一体型RV减速机，包括由针齿壳、摆线线轮与滚针构成第二级摆线针轮减速结构及由输入轴、行星轮构成的第一级行星减速机构、输出盘架，其特征是：在输出盘架的外侧设置输出端盖，且输出端盖通过螺丝固定在RV减速机的输出盘架上，输出端盖上加工多个与输出盘架上的输出螺纹孔对应的通孔，针齿壳与输入端法兰连接，输入端法兰与输入轴之间设置输入轴支撑轴承，在输入端法兰与输入轴之间设置骨架油封；输入端法兰上设置多个伺服电机安装用螺纹孔。本发明结构合理，工作性能好；具有全密封结构。

Description

全密封式一体型RV减速机
技术领域
本发明涉及一种RV减速机。
背景技术
RV减速机是在摆线针轮传动基础上发展起来的一种新型减速机。有两级减速结构：第一级是行星减速结构，第二级是摆线针轮减速结构。具有高刚度、高精度、大扭矩、传动效率高等优点，比单纯的摆线针轮行星传动具有更小的体积和更大的过载能力，在日本机器人的传动机构中，已在很大程度上逐渐取代单纯的摆线针轮行星传动和谐波传动。
图1是传统RV减速机的结构简图。主要零部件：针齿壳1、偏心轴2、行星轮3、输入轴4、输出盘架5、角接触球轴承6、摆线轮7。行星轮3和输入轴4构成第一级行星减速结构；针齿壳1、摆线线轮7与滚针构成第二级摆线针轮减速结构；偏心轴2把两级减速结构有机连接，有效传递负载。
传统RV减速机的安装形式见图2。用户需要设计制造输出端面法兰8、固定端法兰9、订制的输入轴10等主要精密连接部件。订制的输入轴10与伺服电机11固定连接，伺服电机11与固定端法兰9连接，这些连接最终必须保证订制的输入轴10齿轮端跳动小于0.03mm，与RV减速机的同轴度小于0.03mm。这对现场组装这些部件提出了很高的精度要求。RV减速机腔体内必须加入指定油脂，油脂的加入量需填满90%内部空间。这些工作量不但精密度要求高，周期长，还很难保证装配质量一致性，导致用户使用极不方便。
传统RV减速机在工业机器人外部轴及各种旋转转台上安装时，以上问题尤为突出。需要设计一种能够大大降低用户使用难度、使用成本并能保证装配一致性的全密封式一体型RV减速机。
发明内容
本发明的目的在于提供一种结构合理，工作性能好的全密封式一体型RV减速机。
本发明的技术解决方案是：
一种全密封式一体型RV减速机，包括由针齿壳、摆线线轮与滚针构成第二级摆线针轮减速结构及由输入轴、行星轮构成的第一级行星减速机构、输出盘架，其特征是：在输出盘架的外侧设置输出端盖，且输出端盖通过螺丝固定在RV减速机的输出盘架上，输出端盖上加工多个与输出盘架上的输出螺纹孔对应的通孔，针齿壳与输入端法兰连接，输入端法兰与输入轴之间设置输入轴支撑轴承，在输入端法兰与输入轴之间设置骨架油封；输入端法兰上设置多个伺服电机安装用螺纹孔。
本发明结构合理，工作性能好；具有全密封结构。
RV减速机在出厂前内部已经添加适量油脂，用户无需再考虑油脂添加和密封问题。
伺服电机与RV减速机连接极为方便。用户只需把伺服电机输出轴插入RV减速机输入轴内，通过螺丝把伺服电机固定在输入端法兰13上，无需考虑安装法兰设计制造与精密装配，大大降低RV减速机使用难度和使用成本，保证简单装配后性能一致性。
不改变传统RV减速机的输出结构。输出端盖12通过螺丝固定在RV减速机的输出盘架上。输出端盖12上加工多个通孔，对应RV减速机的输出螺纹孔，保证不改变传统RV减速机的输出结构。
附图说明
下面结合附图和实施例对本发明作进一步说明。
图1是传统型RV减速机结构简图。
图2是传统型RV减速机的安装形式示意图。
图3是本发明一个实施例的结构示意图。
具体实施方式
一种全密封式一体型RV减速机，包括由针齿壳、摆线线轮与滚针构成第二级摆线针轮减速结构及由输入轴、行星轮构成的第一级行星减速机构、输出盘架，在输出盘架的外侧设置输出端盖，且输出端盖通过螺丝固定在RV减速机的输出盘架上，输出端盖上加工多个与输出盘架上的输出螺纹孔对应的通孔，针齿壳与输入端法兰连接，输入端法兰与输入轴之间设置输入轴支撑轴承，在输入端法兰与输入轴之间设置骨架油封；输入端法兰上设置多个伺服电机安装用螺纹孔。
本发明在传统RV减速机结构基础上增加了以下几个重要部件：输出端盖12、输入端法兰13、输入端骨架油封14、输入轴支撑轴承15。
输出端盖12通过螺丝固定在RV减速机的输出盘架上。输出端盖12上加工多个通孔，对应RV减速机的输出螺纹孔，保证不改变传统RV减速机的输出结构。
伺服电机与全密封式一体型RV减速机通过螺纹孔16连接固定，安装方便简单。
输入端骨架油封14保证RV减速机内部油脂不会渗漏，尤其是防止油脂渗入伺服电机，从而影响伺服电机运转性能。
输入轴支撑轴承15保证订制的输入轴与RV减速机的同轴度小于0.03mm。伺服电机与输出轴连接时不会影响输入轴与RV减速机的同轴度。
全密封式一体型RV减速机在出厂前内部已经添加适量油脂（通常是RV减速机内部腔体体积的90%），用户无需再考虑油脂添加和密封问题。

Claims (1)

1.一种全密封式一体型RV减速机，包括由针齿壳、摆线线轮与滚针构成第二级摆线针轮减速结构及由输入轴、行星轮构成的第一级行星减速机构、输出盘架，其特征是：在输出盘架的外侧设置输出端盖，且输出端盖通过螺丝固定在RV减速机的输出盘架上，输出端盖上加工多个与输出盘架上的输出螺纹孔对应的通孔，针齿壳与输入端法兰连接，输入端法兰与输入轴之间设置输入轴支撑轴承，在输入端法兰与输入轴之间设置骨架油封；输入端法兰上设置多个伺服电机安装用螺纹孔。
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106594184A (zh) * 2016-12-19 2017-04-26 传仕重工(苏州)有限公司 一种减速器的双齿轮关节结构
CN106763522A (zh) * 2015-11-20 2017-05-31 广州市增城恒亿机械厂 行星摆线减速机
CN108716536A (zh) * 2018-08-02 2018-10-30 南通振康焊接机电有限公司 一种减速机输出端密封结构及其构成的rv减速机
CN108869704A (zh) * 2018-08-18 2018-11-23 卿茂荣 一种rv减速机角接触轴承的预压锁紧装置
CN108916370A (zh) * 2018-09-25 2018-11-30 珠海格力电器股份有限公司 滚针、减速器和机器人
CN111379830A (zh) * 2020-03-25 2020-07-07 烟台艾迪精密机械股份有限公司 一种rv减速倍力扭矩装置
WO2021046795A1 (en) * 2019-09-12 2021-03-18 Abb Schweiz Ag Robot, connection assembly and assembly method thereof

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CN101136566A (zh) * 2006-09-01 2008-03-05 吴小杰 机电一体化减速机
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CN203743324U (zh) * 2014-03-25 2014-07-30 李辛 一种纯滚针啮合rv减速机
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CN101136566A (zh) * 2006-09-01 2008-03-05 吴小杰 机电一体化减速机
RU2506685C2 (ru) * 2011-06-16 2014-02-10 Федеральное государственное военное образовательное учреждение высшего профессионального образования Военная академия Ракетных войск стратегического назначения имени Петра Великого МО РФ Преобразователь энергии на базе планетарного циклоидального редуктора - пэ пцр
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106763522A (zh) * 2015-11-20 2017-05-31 广州市增城恒亿机械厂 行星摆线减速机
CN106594184A (zh) * 2016-12-19 2017-04-26 传仕重工(苏州)有限公司 一种减速器的双齿轮关节结构
CN108716536A (zh) * 2018-08-02 2018-10-30 南通振康焊接机电有限公司 一种减速机输出端密封结构及其构成的rv减速机
CN108716536B (zh) * 2018-08-02 2020-07-14 南通振康焊接机电有限公司 一种减速机输出端密封结构及其构成的rv减速机
CN108869704A (zh) * 2018-08-18 2018-11-23 卿茂荣 一种rv减速机角接触轴承的预压锁紧装置
CN108916370A (zh) * 2018-09-25 2018-11-30 珠海格力电器股份有限公司 滚针、减速器和机器人
CN108916370B (zh) * 2018-09-25 2020-04-21 珠海格力电器股份有限公司 减速器和机器人
WO2021046795A1 (en) * 2019-09-12 2021-03-18 Abb Schweiz Ag Robot, connection assembly and assembly method thereof
CN111379830A (zh) * 2020-03-25 2020-07-07 烟台艾迪精密机械股份有限公司 一种rv减速倍力扭矩装置

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