CN104964004A - Industrial robot RV speed reducer - Google Patents

Industrial robot RV speed reducer Download PDF

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Publication number
CN104964004A
CN104964004A CN201510431122.0A CN201510431122A CN104964004A CN 104964004 A CN104964004 A CN 104964004A CN 201510431122 A CN201510431122 A CN 201510431122A CN 104964004 A CN104964004 A CN 104964004A
Authority
CN
China
Prior art keywords
wheel
aciculiform
crankshaft
upper cover
lower seat
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
Application number
CN201510431122.0A
Other languages
Chinese (zh)
Inventor
池永华
吴映雄
蔡贵阳
谢敏波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GREATOO Inc
Original Assignee
GREATOO Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by GREATOO Inc filed Critical GREATOO Inc
Priority to CN201510431122.0A priority Critical patent/CN104964004A/en
Publication of CN104964004A publication Critical patent/CN104964004A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/029Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/08General details of gearing of gearings with members having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • F16H2001/323Toothed 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

Abstract

The invention discloses an industrial robot RV speed reducer. The industrial robot RV speed reducer comprises a needle-shaped wheel. Needle teeth are arranged on the inner side of the needle-shaped wheel. One side of the needle-shaped wheel is rotationally connected with an upper cover through a rolling bearing, the other side of the needle-shaped wheel is rotationally connected with a lower seat through a rolling bearing, the center positions of the upper cover and the lower seat are rotationally connected with a center gear, the center gear is of a hollow structure, three planet gear sets are arranged between the center gear and the needle-shaped wheel and evenly distributed, and the planet gear sets are in transmission connection with the center gear and the needle-shaped wheel. Friction force consumption is reduced, the calorific value is reduced, output efficiency is improved, total cost is reduced, reliability is improved, and the service life of products is prolonged.

Description

A kind of industrial robot RV retarder
Technical field
The present invention relates to a kind of RV retarder, especially relate to a kind of RV retarder of Six-DOF industrial robot.
Background technique
RV retarder is since coming out in 1986, become reliable, that accurately operation the is indispensable kernel component of industrial robot, it is a kind of application planet transmission principle, cycloidal pin is adopted to vow the gearing down machinery of engagement, there is the advantages such as compact structure, volume is little, lightweight, stable drive, kinematic accuracy are high, noise is little, velocity ratio is large, bearing capacity is high, applicability is strong, safety reliability is large, be widely used in the mechanical deceleration device of numerous industries such as industrial robot, automatic packaging, accurate medical apparatus and field technological equipment, well received.The complex structure of common robot RV reducer, comprises pin wheel housing, planetary wheel carrier, three crankshafts, cycloid wheel and is arranged on two pairs of tapering needle bearings between crankshaft and planetary wheel carrier, is arranged on by pair bearing of three on arbor between eccentric wheel and cycloid wheel, is arranged on two pairs of bearings between pin wheel housing and planetary wheel carrier.The robot RV reducer major part applied in the market is from external import, common RV retarder often complex structure, volume is large, and difficulty of processing is large, requires that the problem considered is many in design, cost is high, and the friction and wear produced between each component is comparatively large, gap is also comparatively large, therefore its transmission performance is poor, transmission efficiency is lower and working life is short, seriously constrains the development of robot of China and equipment industry.
Summary of the invention
The object of the present invention is to provide a kind of industrial robot RV retarder, be intended to reduce its frictional force consumption, heating value reduces, and improves delivery efficiency, reduces overall cost, improves reliability, extends the working life of product.
The present invention, comprise aciculiform wheel (aciculiform wheel also claims pin wheel housing), the inner side of aciculiform wheel has pin tooth, the wherein side of aciculiform wheel is rotatably connected to upper cover by rolling bearing, opposite side is rotatably connected to lower seat by rolling bearing, the central position of described upper cover and lower seat is rotatably connected to central gear, central gear adopts hollow structure, described central gear and aciculiform are provided with three groups of planetary gear set between taking turns, three groups of planetary gear set are uniformly distributed, and described planetary gear set and central gear and aciculiform are taken turns and is in transmission connection respectively.
The present invention, described planetary gear set comprises the crankshaft be rotationally connected respectively with upper cover and lower seat, position on crankshaft between upper cover and lower seat is provided with the cycloid wheel that the pin tooth of taking turns with aciculiform is meshed, described cycloid wheel is connected with crankshaft rotation, crankshaft and central gear are in transmission connection, wherein one end of crankshaft covers from above stretches out and is connected with involute planet gear, involute planet gear has external tooth and internal tooth, internal tooth is meshed with crankshaft, and external tooth is meshed with central gear.
The present invention, is provided with oil sealing, is bolted to connection between described upper cover and lower seat between described aciculiform wheel and lower seat.
The present invention, has the following advantages:
1, the central gear be connected with motor gear shaft drive takes hollow mechanism, makes it possible to intert in speed reducer inside cable etc., achieves the space-efficient design of device joint.
2, adopt main bearing built-in mechanism, improve reliability, reduce overall cost, the number of required constituent parts can be reduced, easy for installation, and angular contact ball bearing is installed, therefore, it is possible to support external load.
3, the rotary motion of motor gear axle passes to three planetary gear set through central gear; Carry out first order deceleration.Primary transmission is larger than scope, by changing the number of teeth of first order speed reducer middle gear, can obtain the larger velocity ratio of scope easily.
4, adopt two reduction gear, vibration is reduced, after the first order is slowed down, make the rotating speed of jack shaft bearing can not become too high, be conducive to the working life of improving mechanism, the revolution speed of cycloid wheel slows down, therefore the inertia of second level Cycloidal pin-wheel drive part can be made to reduce.
5, owing to have employed the twin columns supporting mechanism of upper cover and lower seat, improve the support exists of crankshaft, make its moment of torsion rigidity large, vibrate little, impact resistance strong (500% of nominal torque).
6, owing to have employed three equally distributed planet wheels and crankshaft, can power dividing be carried out, and upper cover produces revolution with crankshaft, while produce spinning motion around axle to pass to crankshaft, cause cycloid wheel to produce eccentric motion.When aciculiform wheel is fixing, cycloid wheel is rotated, and by the bearing above covered, the angular velocity of cycloid wheel is passed to lower seat, therefore its bearing capacity is large.
7, crankshaft and cycloid wheel place, adopts the supporting of rolling contact mechanism, so its starting power is excellent, and transmission efficiency is high.And the friction produced between each component is little, gap is little, therefore its transmission performance is good, long service life.
8, retarder uses pin gear mechanism, can obtain backlash so little, and impact resistance is strong, is engaged the many effects of number while cycloid wheel and pin.
Below in conjunction with drawings and Examples, the present invention is further described.
Accompanying drawing explanation
Fig. 1-Fig. 3 is the structure principle chart of embodiment; Wherein: Fig. 1 is the A-A sectional view of Fig. 2, and Fig. 2 is left view, and Fig. 3 is right elevation.
In figure, 1, central gear; 2, involute planet gear; 3, crankshaft; 4, cycloid wheel; 5, lower seat; 6, aciculiform wheel; 61, pin tooth; 7, upper cover; 8, rolling bearing; 9, needle bearing; 10, tapered roller bearing; 11, bolt; 12, oil sealing.
Embodiment
With reference to Fig. 1-Fig. 3, a kind of industrial robot RV retarder, comprise aciculiform wheel 6, the inner side of aciculiform wheel 6 has pin tooth 61, the upside of aciculiform wheel 6 is rotatably connected to upper cover 7 by rolling bearing 8a, downside is rotatably connected to lower seat 5 by rolling bearing 8b, oil sealing 12 is provided with between aciculiform wheel 6 and lower seat 5, be fixedly connected with by bolt 11 between described upper cover 7 with lower seat 5, the central position of described upper cover 7 is rotatably connected to central gear 1 by rolling bearing 8c, central gear 1 adopts hollow structure, central gear 1 has input gear and output gear, three groups of planetary gear set are provided with between the output gear of described central gear 1 and aciculiform take turns 6, three groups of planetary gear set are uniformly distributed, described three groups of planetary gear set are taken turns 6 with the output gear of central gear 1 and aciculiform respectively and are in transmission connection.Described planetary gear set comprises crankshaft 3, crankshaft 3 is rotationally connected respectively by tapered roller bearing 10 and upper cover 7 and lower seat 5, crankshaft 3 is provided with two cycloid wheel 4 between upper cover 7 and lower seat 5, the pin tooth 61 that cycloid wheel 4 and aciculiform are taken turns on 6 is meshed, described two cycloid wheel 4 are connected with two cams of crankshaft 3 respectively by needle bearing 9, the upper end of crankshaft 3 is stretched out from upper cover 7 and is connected with involute planet gear 2, involute planet gear 2 has external tooth and internal tooth, internal tooth is meshed with crankshaft 3, external tooth is meshed with the output gear of central gear 1.
During work, the rotation of motor gear axle, rotational power inputs from the input gear of central gear 1, passes to involute planet gear 2, slow down according to gear ratio by the output gear of central gear 1, and this is the first reduction part; Involute planet gear 2 is connected to crankshaft 3, becomes the input of the second reduction part, in the eccentric part of crankshaft 3, installs cycloid wheel 4 by rolling bearing, and in addition, the only pin of more than the number of teeth of cycloid wheel 4 one inside aciculiform wheel 6, to wait tooth pitch arrangement.If fixing aciculiform wheel 6 rotates involute planet gear 2, then cycloid wheel 4 also carries out eccentric motion due to the eccentric motion of crankshaft 3, if now crankshaft 3 rotates one week, then cycloid wheel 4 will rotate a tooth along the direction contrary with crankshaft 3, cycloid wheel 4 drives aciculiform to take turns 6 again and rotates, this is the second reduction part, and the rotational power after deceleration exports from aciculiform wheel 6.

Claims (3)

1. an industrial robot RV retarder, comprise aciculiform wheel (6), the inner side of aciculiform wheel (6) has pin tooth (61), it is characterized in that: the wherein side of aciculiform wheel (6) is rotatably connected to upper cover (7) by rolling bearing, opposite side is rotatably connected to lower seat (5) by rolling bearing, described upper cover (7) is rotatably connected to central gear (1) with the central position of lower seat (5), central gear (1) adopts hollow structure, described central gear (1) and aciculiform are taken turns between (6) and are provided with three groups of planetary gear set, three groups of planetary gear set are uniformly distributed, described planetary gear set and central gear (1) and aciculiform are taken turns (6) and are in transmission connection respectively.
2. industrial robot RV retarder according to claim 1, it is characterized in that: planetary gear set comprises the crankshaft (3) be rotationally connected respectively with upper cover (7) and lower seat (5), position crankshaft (3) is positioned between upper cover (7) and lower seat (5) is provided with the cycloid wheel (4) of to take turns the pin tooth on (6) with aciculiform and being meshed, described cycloid wheel (4) and crankshaft (3) are rotationally connected, crankshaft (3) and central gear (1) are in transmission connection, wherein one end of crankshaft (3) is stretched out from upper cover (7) and is connected with involute planet gear (2), involute planet gear (2) has external tooth and internal tooth, internal tooth is meshed with crankshaft (3), external tooth is meshed with central gear (1).
3. industrial robot RV retarder according to claim 1 and 2, is characterized in that: between described aciculiform wheel (6) and lower seat (5), be provided with oil sealing (12), be fixedly connected with between described upper cover (7) with lower seat (5) by bolt (11).
CN201510431122.0A 2015-07-21 2015-07-21 Industrial robot RV speed reducer Pending CN104964004A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510431122.0A CN104964004A (en) 2015-07-21 2015-07-21 Industrial robot RV speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510431122.0A CN104964004A (en) 2015-07-21 2015-07-21 Industrial robot RV speed reducer

Publications (1)

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CN104964004A true CN104964004A (en) 2015-10-07

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105526314A (en) * 2016-02-01 2016-04-27 武汉市精华减速机制造有限公司 Direct-connected offset reducer
CN106641110A (en) * 2016-11-18 2017-05-10 吴小杰 High-rigidity hollow RV speed reducer for industrial robot
CN108138913A (en) * 2015-11-03 2018-06-08 索尤若驱动有限及两合公司 Tilting bearing and the retarder with thrust plate

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101273216A (en) * 2005-09-26 2008-09-24 纳博特斯克株式会社 Hollow reduction gear
CN101379319A (en) * 2006-02-07 2009-03-04 纳博特斯克株式会社 Reduction gear
JP2014119110A (en) * 2012-12-19 2014-06-30 Sumitomo Heavy Ind Ltd Center pipe structure of speed reducer
JP2015121239A (en) * 2013-12-20 2015-07-02 株式会社不二越 Eccentric oscillation type reduction gear
CN204852191U (en) * 2015-07-21 2015-12-09 巨轮智能装备股份有限公司 Industrial robot RV reduction gear

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101273216A (en) * 2005-09-26 2008-09-24 纳博特斯克株式会社 Hollow reduction gear
CN101379319A (en) * 2006-02-07 2009-03-04 纳博特斯克株式会社 Reduction gear
JP2014119110A (en) * 2012-12-19 2014-06-30 Sumitomo Heavy Ind Ltd Center pipe structure of speed reducer
JP2015121239A (en) * 2013-12-20 2015-07-02 株式会社不二越 Eccentric oscillation type reduction gear
CN204852191U (en) * 2015-07-21 2015-12-09 巨轮智能装备股份有限公司 Industrial robot RV reduction gear

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108138913A (en) * 2015-11-03 2018-06-08 索尤若驱动有限及两合公司 Tilting bearing and the retarder with thrust plate
CN105526314A (en) * 2016-02-01 2016-04-27 武汉市精华减速机制造有限公司 Direct-connected offset reducer
CN106641110A (en) * 2016-11-18 2017-05-10 吴小杰 High-rigidity hollow RV speed reducer for industrial robot

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Legal Events

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C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information

Address after: 515500 Middle Road, Jiedong Economic Development Zone, Jieyang, Guangdong, China

Applicant after: GREATOO INTELLIGENT EQUIPMENT INC.

Address before: 515500 Middle Road, Jiedong Economic Development Zone, Jieyang, Guangdong, China

Applicant before: GREATOO INC.

COR Change of bibliographic data
CB03 Change of inventor or designer information

Inventor after: Chi Yonghua

Inventor after: Wu Yingxiong

Inventor after: Cai Guiyang

Inventor after: Xie Minbo

Inventor before: Chi Yonghua

Inventor before: Wu Yingxiong

Inventor before: Cai Guiyang

Inventor before: Xie Minbo

COR Change of bibliographic data
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20151007