CN106090136A - A kind of RV decelerator - Google Patents
A kind of RV decelerator Download PDFInfo
- Publication number
- CN106090136A CN106090136A CN201610666936.7A CN201610666936A CN106090136A CN 106090136 A CN106090136 A CN 106090136A CN 201610666936 A CN201610666936 A CN 201610666936A CN 106090136 A CN106090136 A CN 106090136A
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- CN
- China
- Prior art keywords
- decelerator
- wheel
- cycloidal wheel
- cycloidal
- rotated angle
- 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.)
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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
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of RV decelerator using class modification of rotated angle, relate to industrial robot decelerator field.The high speed level of RV decelerator of the present invention is K H type involute planet gear transmission, and slow speed turbine stage is K H V-type cycloid pinwheel planetary gear transmission system.The Cycloidal Wheel of the described slow speed turbine stage of RV decelerator of the present invention uses class modification of rotated angle, and the Cycloidal Wheel gear teeth after correction of the flank shape have conjugation contacting profile；When the Cycloidal Wheel using class modification of rotated angle engages with pinwheel, instantaneous transmission ratio is constant, and meets the multiple tooth condition simultaneously participating in engagement.The distribution of force effectively improving the gear teeth of RV decelerator of the present invention, improves the transmission performance of cycloidal-pin wheel, extends the service life of RV decelerator.
Description
Technical field
The present invention relates to industrial robot decelerator field, particularly relate to a kind of RV decelerator using class modification of rotated angle.
Background technology
RV decelerator volume is little, lightweight, speed ratio is big, rigidity is high, and start steadily, accurate positioning, controllability strong, because of
This is widely used in industrial robot joint, for realizing motion and the precise delivery of instruction, completes accurate complicated work.RV
Transmission is a kind of novel multistage planet transmission, and level is K-H type involute planet gear transmission at a high speed, and slow speed turbine stage is K-H-V type
Cycloid pinwheel planetary gear transmission system.In theory, the cycloid pinwheel planetary gear transmission system of standard belongs to tight mesh.It practice, in order to compensate system
Make and alignment error, it is ensured that good lubrication, it is necessary to Cycloidal Wheel is carried out correction of the flank shape.The radial clearance that correction of the flank shape produces can compensate and add
Work error, it is ensured that lubrication；But the change of Cycloid tooth profile shape can be caused simultaneously, produce uneven backlash, thus nothing
Method ensures the conjugation meshing relation of Cycloidal pin-wheel drive.
At present, the basic correction method of Cycloidal Wheel has three kinds: modification of equidistance method, modification of moved distance method and modification of rotated angle method.Deng
Radial clearance can be produced at tooth top and tooth root away from correction of the flank shape method and modification of moved distance method, but conjugate profiles can not be produced；Modification of rotated angle
Method can produce conjugate profiles, but can not produce radial clearance at tooth top and tooth root.
Therefore, those skilled in the art is devoted to develop one both can produce radial clearance, can apply again generation
The RV decelerator of the Cycloidal Wheel correction method of conjugation contacting profile, this is the key realizing RV decelerator mass production.
Summary of the invention
Because the drawbacks described above of prior art, the technical problem to be solved is the most both can to have produced radially
Gap, the problem that the Cycloidal Wheel correction method producing conjugation contacting profile can be applied again.
For achieving the above object, the invention provides a kind of RV decelerator, including centre wheel, planetary gear, crank axle, cycloid
Wheel, pin tooth, output panel, pin wheel housing, input torque passes to described planetary gear by described centre wheel；Described crank axle is with described
Planetary gear is fixing to be connected, and is fixed in described Cycloidal Wheel by rolling bearing；Described Cycloidal Wheel be fixed on described pin wheel housing
On described pin tooth engagement, level is K-H type involute planet gear transmission at a high speed, and slow speed turbine stage is K-H-V type cycloidal-pin wheel planetary
Transmission；The Cycloidal Wheel of described slow speed turbine stage uses class modification of rotated angle, and the Cycloidal Wheel gear teeth after correction of the flank shape have conjugation contacting profile.
Further, the correction of the flank shape flank profil of the described Cycloidal Wheel gear teeth is identical with modification of rotated angle flank profil in joggleword interval.
Further, there is radial clearance at tooth top and root position in the correction of the flank shape flank profil of the described Cycloidal Wheel gear teeth.
Further, described Cycloidal Wheel is two and phase contrast is 180 °.
RV decelerator of the present invention has the advantage that
Class modification of rotated angle can solve the problem that modification of rotated angle method can not produce the problem of radial clearance, and engagement at tooth top and tooth root
The flank profil that tooth curve in interval produces with modification of rotated angle is identical.The most both the requirement of Cycloidal Wheel correction of the flank shape can have been met；Again may be used
To meet the condition of instantaneous transmission ratio conjugation constant, multiple tooth engagement, thus improve the distribution of force of the gear teeth, improve cycloidal-pin wheel
Transmission performance, extends the service life of RV decelerator.
Below with reference to accompanying drawing, the technique effect of design, concrete structure and the generation of the present invention is described further, with
It is fully understood from the purpose of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the structure diagram of the RV decelerator of a preferred embodiment of the present invention；
Fig. 2 is the Cycloidal pin-wheel drive schematic diagram of a preferred embodiment of the present invention；
Fig. 3 (a) is the profile geometry schematic diagram of modification of rotated angle；
Fig. 3 (b) is the profile geometry schematic diagram of class modification of rotated angle；
Wherein, 1 is centre wheel, and 2 is planetary gear, and 3 is crank axle, and 4 is Cycloidal Wheel, and 5 is pin tooth, and 6 is output panel, and 7 is pin
Tooth shell.
Detailed description of the invention
One preferred embodiment of RV decelerator of the present invention, including centre wheel, planetary gear, crank axle, Cycloidal Wheel,
Pin tooth, output panel, pin wheel housing, input torque passes to planetary gear by centre wheel；Crank axle is fixing with planetary gear to be connected, and leads to
Cross rolling bearing to be fixed in Cycloidal Wheel；Cycloidal Wheel engages with the pin tooth being fixed on pin wheel housing, and level is K-H type involute at a high speed
Planetary Gear Transmission, slow speed turbine stage is K-H-V type cycloid pinwheel planetary gear transmission system；The Cycloidal Wheel of slow speed turbine stage uses class modification of rotated angle, repaiies
The Cycloidal Wheel gear teeth after shape have conjugation contacting profile.The correction of the flank shape flank profil of the Cycloidal Wheel gear teeth is repaiied with corner in joggleword interval
Shape flank profil is identical.Radial clearance is there is in the correction of the flank shape flank profil of the Cycloidal Wheel gear teeth at tooth top and root position.Cycloidal Wheel is two and phase
Potential difference is 180 °.
As shown in Figure 1, 2, the present embodiment is a kind of RV decelerator using class modification of rotated angle, and work process is: input turns
Square passes to planetary gear 2 by centre wheel 1, completes the first order and slows down；Crank axle 3 is fixing with planetary gear 2 to be connected, and by rolling
Bearing is fixed in the Cycloidal Wheel 4 that two phase contrasts are 180 °；Cycloidal Wheel 4 engages with the pin tooth 5 being fixed on pin wheel housing 7, complete
The second level is become to slow down.
In Fig. 3 (a), solid line AF is the theoretic profile curve of standard Cycloidal Wheel, and dotted line AF is the flank profil after modification of rotated angle
Curve.Both are conjugation contacting profile, can guarantee that instantaneous transmission ratio is constant, and meet the condition of multiple tooth conjugation engagement.
In Fig. 3 (b), solid line BCDE is the Cycloid tooth profile curve using class modification of rotated angle.It is the interval CD's of engagement
Correction of the flank shape flank profil is identical with dotted line AF, there is radial clearance at the non-engagement interval of tooth top DE and tooth root BC, thus at satisfied pendulum
While line wheel correction of the flank shape requires, it is thus achieved that optimal transmission performance.
Class modification of rotated angle can solve the problem that modification of rotated angle method can not produce the problem of radial clearance, and engagement at tooth top and tooth root
The flank profil that tooth curve in interval produces with modification of rotated angle is identical.The most both the requirement of Cycloidal Wheel correction of the flank shape can have been met；Again may be used
To meet the condition of instantaneous transmission ratio conjugation constant, multiple tooth engagement, thus improve the distribution of force of the gear teeth, improve cycloidal-pin wheel
Transmission performance, extends the service life of RV decelerator.
The preferred embodiment of the present invention described in detail above.Should be appreciated that the ordinary skill of this area is without wound
The property made work just can make many modifications and variations according to the design of the present invention.Therefore, all technical staff in the art
The most on the basis of existing technology by the available technology of logical analysis, reasoning, or a limited experiment
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (4)
1. a RV decelerator, including centre wheel, planetary gear, crank axle, Cycloidal Wheel, pin tooth, output panel, pin wheel housing, input turns
Square passes to described planetary gear by described centre wheel；Described crank axle is fixing with described planetary gear to be connected, and passes through the axis of rolling
Hold and be fixed in described Cycloidal Wheel；Described Cycloidal Wheel engages with the described pin tooth being fixed on described pin wheel housing, it is characterised in that
Level is K-H type involute planet gear transmission at a high speed, and slow speed turbine stage is K-H-V type cycloid pinwheel planetary gear transmission system；Described slow speed turbine stage
Cycloidal Wheel uses class modification of rotated angle, and the Cycloidal Wheel gear teeth after correction of the flank shape have conjugation contacting profile.
2. RV decelerator as claimed in claim 1, it is characterised in that the correction of the flank shape flank profil of the described Cycloidal Wheel gear teeth is at joggleword
Interval interior identical with modification of rotated angle flank profil.
3. RV decelerator as claimed in claim 1, it is characterised in that the correction of the flank shape flank profil of the described Cycloidal Wheel gear teeth is at tooth top and tooth
There is radial clearance in root position.
4. RV decelerator as claimed in claim 1, it is characterised in that described Cycloidal Wheel is two and phase contrast is 180 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610666936.7A CN106090136A (en) | 2016-08-12 | 2016-08-12 | A kind of RV decelerator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610666936.7A CN106090136A (en) | 2016-08-12 | 2016-08-12 | A kind of RV decelerator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106090136A true CN106090136A (en) | 2016-11-09 |
Family
ID=57456261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610666936.7A Pending CN106090136A (en) | 2016-08-12 | 2016-08-12 | A kind of RV decelerator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106090136A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108343725A (en) * | 2018-01-25 | 2018-07-31 | 河南科技大学 | A kind of Cycloid tooth profile correction method and Cycloidal Wheel, RV retarders based on logarithm |
| CN108953501A (en) * | 2018-09-19 | 2018-12-07 | 杭州星河传动机械研究院有限公司 | Multi-eccentric speed reducer |
| WO2019090900A1 (en) * | 2017-11-07 | 2019-05-16 | 殷爱国 | Precise cycloidal speed reducer for rotary joint |
| WO2019090899A1 (en) * | 2017-11-07 | 2019-05-16 | 殷爱国 | Modular precision cycloidal rotary joint speed reducer |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1317390A (en) * | 2001-03-23 | 2001-10-17 | 陕西秦川机械发展股份有限公司 | Technology for manufacturing speed reducer |
| CN104455229A (en) * | 2014-11-18 | 2015-03-25 | 上海大学 | RV speed reducer with circular arc disintegration curve shape correction technology |
| CN104791423A (en) * | 2015-04-21 | 2015-07-22 | 同济大学 | RV reducer based on cycloidal gear edge shaping |
-
2016
- 2016-08-12 CN CN201610666936.7A patent/CN106090136A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1317390A (en) * | 2001-03-23 | 2001-10-17 | 陕西秦川机械发展股份有限公司 | Technology for manufacturing speed reducer |
| CN104455229A (en) * | 2014-11-18 | 2015-03-25 | 上海大学 | RV speed reducer with circular arc disintegration curve shape correction technology |
| CN104791423A (en) * | 2015-04-21 | 2015-07-22 | 同济大学 | RV reducer based on cycloidal gear edge shaping |
Non-Patent Citations (1)
| Title |
|---|
| 陈振宇: "RV减速器的误差建模与摆线齿廓修形", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019090900A1 (en) * | 2017-11-07 | 2019-05-16 | 殷爱国 | Precise cycloidal speed reducer for rotary joint |
| WO2019090899A1 (en) * | 2017-11-07 | 2019-05-16 | 殷爱国 | Modular precision cycloidal rotary joint speed reducer |
| CN108343725A (en) * | 2018-01-25 | 2018-07-31 | 河南科技大学 | A kind of Cycloid tooth profile correction method and Cycloidal Wheel, RV retarders based on logarithm |
| CN108343725B (en) * | 2018-01-25 | 2019-12-24 | 河南科技大学 | Cycloidal gear tooth profile shaping method based on logarithm, cycloidal gear and RV reducer |
| CN108953501A (en) * | 2018-09-19 | 2018-12-07 | 杭州星河传动机械研究院有限公司 | Multi-eccentric speed reducer |
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Application publication date: 20161109 |
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