CN106402317A - Industrial robot end face tooth combined crankshaft type few tooth difference reducer - Google Patents
Industrial robot end face tooth combined crankshaft type few tooth difference reducer Download PDFInfo
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- CN106402317A CN106402317A CN201611164121.5A CN201611164121A CN106402317A CN 106402317 A CN106402317 A CN 106402317A CN 201611164121 A CN201611164121 A CN 201611164121A CN 106402317 A CN106402317 A CN 106402317A
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- tooth
- eccentric
- eccentric bushing
- industrial robot
- bearing
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Classifications
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of robot speed reduction, in particular to an industrial robot end face tooth combined crankshaft type few tooth difference reducer. The industrial robot end face tooth combined crankshaft type few tooth difference reducer comprises a left rigid disc, a right rigid disc, an inner gear ring, a planetary gear, a crankshaft few tooth difference component and a planetary component including a sun wheel and a planetary wheel and is characterized in that eccentric sleeves are combined on a planetary shaft, and the planetary gear is borne on the eccentric sleeves through a sliding bearing; the eccentric sleeves and rotating arm sliding bearings are made of a zinc base alloy and are fused into a whole, the length of the eccentric sleeves is larger than the thickness of the planetary gear by 5 mm to 10 mm, and spiral grooves are formed in the outer circles of the eccentric sleeves; the first eccentric sleeve is in sliding fit with the planetary shaft, a spring is arranged between one end of the first eccentric sleeve and a first check ring, the other end of the first eccentric sleeve and the second eccentric sleeve are in end face tooth engaging connection, the other end of the second eccentric sleeve tightly abuts against a second check ring, and the second eccentric sleeve is connected with the planetary shaft. The industrial robot end face tooth combined crankshaft type few tooth difference reducer has the beneficial effects that a double-eccentric combined crankshaft is supplemented by end face tooth connection, the phase difference fine adjustment function is achieved, the phase difference machining precision is ensured, the zinc base alloy is good in self-lubricating performance, the conventional manufacturing precision is high, and the cost is reduced by 60% to 75%.
Description
【Technical field】
The present invention relates to industrial robot decelerator technical field, it is Korea S's match strength sejin high accuracy few teeth differenceDecelerator
Improvement, using domestic lathe, conventionally fabricated precision, under loading condition, including elastic deformation cause total return difference be less than
6arc min, a kind of industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer.
【Background technology】
Member of Chinese Academy of Engineering, Harbin Institute of Technology professor Cai Hegao say：" our decelerator does not just reach requirement, reliability and
Quality is also not all right.Our decelerator noises are big, and other is very quiet.”(《Core technology is attacked long and is unable to ...》Economic ginseng report
2015-01-19)
《China's wound card》Reporter：" domestically produced machine people's core component decelerator manufacturing enterprise-Qinchuan Development, handsome gram of Shandong, south
Logical shake health and Hengfeng safe with Japanese gap in Zhejiang is：Low precision, short life, quality are unstable.”(2015-11-12)
" High-accuracy RV Drive Used in Robot has two pole stringent technical indexs：One is less than 1arc for kinematic accuracy error
min；One is gap return difference it is stipulated that being less than 1～1.5arc min, additionally, in load conditions, causes including elastic deformation
Return difference not can exceed that 6arc min in interior total return difference." (Zhu Xiaolu《Gear Transmission Design handbook》Page 827)
One of background technology：Match strength sejinDecelerator, it is that a kind of high accuracy involute less tooth difference of Korea S's research and development slows down
Device, its Mechanical Drive Type is identical with RV decelerator, and the planetary gear of different simply sejin decelerators uses involute
Tooth.
The two of background technology：Disclosed in Patent Office of the People's Republic of China《A kind of 2K-V type speed reducer》(201310718558.9)
The three of background technology：Disclosed in Patent Office of the People's Republic of China《A kind of planetary reduction gear》(201310718320.6)
Background technology two and three is all the innovation of the emerging unit of Qinchuan Development dragon, Tian Sha etc., and its structure matches strength with Korea S
sejinDeceleratorIdentical, fall within the two stage reducer of primary planet and one-level involute less tooth difference it is desirable to very high accuracy is made
Make.
【Content of the invention】
The removal of mines, explosion-proof severe toxicity robot, bearing turntable for radar antenna orienting device and tower type solar that the present invention is suitable for
Tracking drive device of thermal electric generator heliostat etc., has higher requirement to driving error and return difference：
Azimuth rotating platform is support and the orienting device of radar antenna, and servo-control system enables the antenna to according to predetermined rule
Rotated or followed target motion accurately point to target, the therefore driving error to azimuth drive and return difference have higher
Requirement.
Heliostat is that one kind is made up of reflecting mirror, mirror holder, optically focused and tracking drive device.Tracking drive device includes two
Accurate transmission mechanism：Orientation angle transmission mechanism and pitching angle transmission mechanism, the transmission accuracy of whole device and return difference require all very
Strictly.
Gap return difference also known as geometric lost motion, in the case of referring to apply 3% nominal torque and each part good contact, by going
The output corner value (1～1.5arc min) that in star and Cycloidal pin-wheel drive, the geometrical factor such as the sideshake of tooth, bearing clearance causes.
In RV decelerator, crank axle two eccentric segment phase place is mostly important, because the mutual alignment of phase decision two Cycloidal Wheel,
That is, crank axle eccentric segment phase deviation determines decelerator return difference.Assert that background technology has following problems accordingly：
Background technology crank axle two eccentric segment phase contrast deviation≤30 ", required precision is very high：
《The two-way equidistant small eccentricity crank axle process technology research of RV decelerator high accuracy》：" crank axle two bias with respect to
180 ° of soil 30 " " of the alternate position spike of workpiece centre (poplar and Tianjin Vocationl Technical College journal 1995.06)
RV decelerator crank axle processing difficulties are it is necessary to import crank grinding machine：
《Tianjin the 1st seminar》Say：" find when manufacturing RV-320 model machine, crank axle processing difficulties, error is relatively
Greatly, import crank grinding machine price is millions of.”
【Content of the invention】
The industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer that the present invention provides solves following technical problems：
(1) deviation requirement of crank axle two eccentric segment phase contrast is very high, thus processing difficulties；
Phase contrast between (two) two eccentric bushings enables to finely tune.
The present invention adopts domestic lathe to solve above-mentioned two technical problems, and total return difference that elastic deformation causes is less than 6arc
min.
The concrete technical scheme that the present invention is taken：
First, second eccentric bushing is coordinated to constitute double eccentric combination bent axles in described planet axis successively, described first, second pair
It is respectively equipped with to support first, second planetary first, second rotary arm bearing on eccentric bushing, described first, second turn
Arm axle holds as sliding bearing.
Described first, second eccentric bushing is zinc-containing alloy, and described first, second rotary arm bearing is zinc-containing alloy sliding axle
Hold, and combine together with first, second eccentric bushing respectively.
The axial length of described first, second eccentric bushing has more 5～10mm than planetary gear thickness, and described first, second
The outer round surface of eccentric bushing is provided with spiral oil storage tank, its role is to：Lubricating oil or fat can store up the spiral at having more 5～10mm
Oil groove penetrates into rubbing surface.
Described first eccentric bushing is slidably matched with planet axis, between one end of the first eccentric bushing and the first circlip for shaft
It is provided with compression spring, be connected with end-tooth engagement between the other end of the first eccentric bushing and the second eccentric bushing end face, described second
The other end of eccentric bushing is close to the second circlip for shaft, and described second eccentric bushing is connected with planet axis, two eccentric inner room ends
What face tooth engagement connected has the technical effect that with phase contrast fine adjustment function.
Described end-tooth is rake tooth or stepped tooth or wavy circle-arc tooth.
Described compression spring is disk spring, and disk spring compression stress is big, and axial dimension is short.
【Beneficial effect】
(1) the double eccentric crankshaft of assembled is aided with two eccentric inner room end-tooth engagements and connects, and has phase contrast fine adjustment function, really
Protect phase contrast machining accuracy；
(2) rigidity of sliding bearing is higher than cylinder roller bearing, and structure is simple, easily manufactured, bearing capacity is big；
(3) zinc-containing alloy friction factor is little, and surface roughness is good；Cost is lower by more than 40% than tin bronze；Service life is
2～3 times of tin bronze, has self-lubricating property and shock-absorbing function it is adaptable to middle low-speed heave-load occasion；
(4) domestic lathe, conventionally fabricated precision, process is simple, low cost 60-75%；
【Brief description】
The structural representation of Fig. 1 embodiment of the present invention
Fig. 2 planet axis eccentric bushing sliding supported condition planetary gear schematic diagram (Z1、Z2It is respectively first, second sliding axle
Hold)
The structural representation of Fig. 3 end-tooth of the present invention vuilt-up crankshaft formula
【Specific embodiment】
As Figure 1-3, a kind of industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer, including few teeth difference and row
Star part, described few teeth difference part includes ring gear 1, left and right rigid disk 2,22 and first, second planetary gear 11,13, described
Flange on left rigid disk 2 passes through two planetary gears and right rigid disk 22 to connect into a rigid body, described left and right rigid disk 2,22
It is bearing in ring gear 1 both sides endoporus with first, second bearing 9,14 respectively, oil sealing 18 is in order to prevent clutch shaft bearing 9 oil leak, described
Planetary part includes input shaft 19, the sun gear 3 being located on input shaft 19, planetary gear 6 and planet axis 16, and described input shaft 19 is used
Third and fourth bearing 4,20 is bearing in left and right rigid disk 2,22 centre bores respectively, and described planet axis 16 two ends are with the five, the 6th axles
Hold and 5,15 be bearing in left and right rigid disk 2 respectively, in 22 periphery holes it is characterised in that：
First, second eccentric bushing 10,12 is coordinated to constitute the vuilt-up crankshaft with double bias in described planet axis 16 successively, its
Technique effect：Adjust using Special tooling clamp that phase contrast is convenient, than Special Eccentric travelling wheelhead roll grinder its be manufactured into wooden much lower, institute
State first, second sliding bearing Z on first, second eccentric bushing 10,121、Z2Respectively in order to support first, second cycloid
Wheel 11,13, the advantage of sliding bearing sees following monographs：
(1) Wang Wenbin《Mechanical design handbook》(3.21-4 page of volume)：Sliding bearing structure is simple, easily manufactured, bearing capacity
Greatly；
(2) Bu Yan《Practical bearing technology handbook》Page 492：In normal state, sliding bearing abrasion rate is very low, shape
The swarf particles becoming are small-sized, and quantity is also few；
(3) Bu Yan《Practical bearing technology handbook》Page 349：Aeroplane engine main bearing adopts general sliding bearing.
Described industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer it is characterised in that：Described first, second is inclined
Heart set 10,12 is zinc-containing alloy, and described first, second rotary arm bearing is zinc-containing alloy sliding bearing, and respectively with first, second
Eccentric bushing 10,12 combines together, technique effect：
A () zinc-containing alloy friction factor is little, cutting ability is good, good Ra1.6 μm of surface roughness；There is self lubricity
Energy；
B () simplifies structure, this exopathogenic factor eccentric bushing is combined together with sliding bearing, can increase the circular shaft diameter of axle, on the one hand make
Circular shaft has sufficiently large rigidity, reduces elastic deformation return difference；Another then, zinc-containing alloy friction factor is little, and machinability is good.
Cheng great Xian《Mechanical design handbook》Bearing page 6：During zinc-containing alloy is applied to, low speed (≤7-10m/s), heavily loaded (25-
The bearing working 30MPa) and under conditions of contact stress σ=550MPa.
Described industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer it is characterised in that：Described first, second is inclined
The heart covers 10,12 outer round surface and is provided with spiral oil storage tank, and the axial length of described first, second eccentric bushing 10,12 compares planetary gear
Thickness has more 5～10mm, and the effect of spiral oil storage tank is：Lubricating oil in casing or grease can be at having more 5～10mm
Spiral oil storage tank, penetrate into slowly rotating, thus lubrication friction face.
Described industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer it is characterised in that：Described first eccentric bushing
10 are slidably matched with planet axis 16, are provided with compression spring 8 between one end of the first eccentric bushing 10 and the first circlip for shaft 7,
It is connected with end-tooth engagement between the other end of the first eccentric bushing 10 and the second eccentric bushing 12 end face, described second eccentric bushing 12
The other end is close to the second circlip for shaft 17, and described second eccentric bushing 12 is connected with planet axis 16, two eccentric inner room end faces
What tooth engagement connected has the technical effect that with phase contrast fine adjustment function.
The double eccentric crankshaft of combination type is aided with what eccentric inner room end-tooth engagement connected, accordingly ensure that phase contrast precision.
Described industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer it is characterised in that：Described end-tooth is three
Angle tooth or stepped tooth or wavy circle-arc tooth.
Described industrial robot vuilt-up crankshaft formula little tooth difference speed reducer is characterised by：Described compression spring 8 is dish
Spring, disk spring compression stress is big, and axial dimension is short.
Above-described embodiment be to wood invention explanation, be not to wood invention restriction, any to wooden invention simple transformation after
Scheme belong to protection scope of the present invention.
Claims (6)
1. a kind of industrial robot end-tooth vuilt-up crankshaft formula little tooth difference speed reducer, including few teeth difference and planetary part, described few
Tooth difference part includes ring gear (1), left and right rigid disk (2,22) and first, second planetary gear (11,13), described left rigidity
Flange on disk (2) passes through two planetary gears and right rigid disk (22) to connect into a rigid body, and left and right rigid disk (2,22) uses the
First, second bearing (9,14) is bearing in ring gear (1) both sides endoporus respectively, oil sealing (18) in order to prevent clutch shaft bearing (9) oil leak,
Described planetary part includes input shaft (19), the sun gear (3) on input shaft (19), planetary gear (6) and planet axis (16), described
Input shaft (19) third and fourth bearing (4,20) is bearing in left and right rigid disk (2,22) centre bore, described planet axis (16) respectively
Two ends the 5th, 6th bearing (5,15) be bearing in respectively in left and right rigid disk (2,22) periphery hole it is characterised in that：
First, second eccentric bushing (10,12) is coordinated on described planet axis (16), thus constituting double eccentric combination bent axles, institute successively
State first, second sliding bearing (Z in first, second double eccentric sleeves (10,12)1、Z2) respectively in order to support first,
Two planetary gears (11,13).
2. according to claim 1 industrial robot end-tooth vuilt-up crankshaft formula RV decelerator it is characterised in that：Described
First, the second eccentric bushing (10,12) is zinc-containing alloy, and described first, second sliding bearing is zinc-containing alloy sliding bearing, and
Combine together with first, second eccentric bushing (10,12) respectively.
3. industrial robot end-tooth vuilt-up crankshaft formula according to claim 2 RV decelerator it is characterised in that：Described
The axial length of first, second eccentric bushing (10,12) has more 5～10mm than planetary gear thickness, described first, second eccentric bushing
The outer round surface of (10,12) is provided with spiral oil storage tank.
4. according to claim 3 industrial robot end-tooth vuilt-up crankshaft formula RV decelerator it is characterised in that：Described
One eccentric bushing (10) is slidably matched with planet axis (16), one end of the first eccentric bushing (10) and the first circlip for shaft (7) it
Between be provided with compression spring (8), be that end-tooth is nibbled between the other end of the first eccentric bushing (10) and the second eccentric bushing (12) end face
Close and connect, the other end of described second eccentric bushing (12) is close to the second circlip for shaft (17), described second eccentric bushing (12)
It is connected with planet axis (16).
5. according to claim 4 industrial robot end-tooth vuilt-up crankshaft formula RV decelerator it is characterised in that：Described end
Face tooth is rake tooth or stepped tooth or wavy circle-arc tooth.
6. according to claim 4 or 5 industrial robot end-tooth vuilt-up crankshaft formula RV decelerator it is characterised in that：Institute
The compression spring (8) stated is disk spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611164121.5A CN106402317A (en) | 2016-12-05 | 2016-12-05 | Industrial robot end face tooth combined crankshaft type few tooth difference reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611164121.5A CN106402317A (en) | 2016-12-05 | 2016-12-05 | Industrial robot end face tooth combined crankshaft type few tooth difference reducer |
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| Publication Number | Publication Date |
|---|---|
| CN106402317A true CN106402317A (en) | 2017-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611164121.5A Pending CN106402317A (en) | 2016-12-05 | 2016-12-05 | Industrial robot end face tooth combined crankshaft type few tooth difference reducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107620784A (en) * | 2017-07-31 | 2018-01-23 | 扬州元新机电科技有限公司 | A kind of combination bearing triangle gear decelerator |
| CN110285207A (en) * | 2019-06-14 | 2019-09-27 | 安徽航瑞航空动力装备有限公司 | Vibration absorber suitable for aero-engine reduction gearbox |
-
2016
- 2016-12-05 CN CN201611164121.5A patent/CN106402317A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107620784A (en) * | 2017-07-31 | 2018-01-23 | 扬州元新机电科技有限公司 | A kind of combination bearing triangle gear decelerator |
| CN110285207A (en) * | 2019-06-14 | 2019-09-27 | 安徽航瑞航空动力装备有限公司 | Vibration absorber suitable for aero-engine reduction gearbox |
| CN110285207B (en) * | 2019-06-14 | 2021-07-02 | 安徽航瑞航空动力装备有限公司 | Vibration damper suitable for aircraft engine reduction gearbox |
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Application publication date: 20170215 |