CN106931079A - Industrial robot high rigidity little tooth difference speed reducer - Google Patents
Industrial robot high rigidity little tooth difference speed reducer Download PDFInfo
- Publication number
- CN106931079A CN106931079A CN201611011127.9A CN201611011127A CN106931079A CN 106931079 A CN106931079 A CN 106931079A CN 201611011127 A CN201611011127 A CN 201611011127A CN 106931079 A CN106931079 A CN 106931079A
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- China
- Prior art keywords
- bearing
- industrial robot
- speed reducer
- tooth difference
- high rigidity
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- 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
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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
- F16H57/023—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
- 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)
Abstract
The present invention relates to industrial robot decelerator technical field, a kind of industrial robot high rigidity little tooth difference speed reducer, including left and right rigid disk, ring gear, two planetary gears, the involute less tooth difference part of uniform bent axle and planetary part including sun gear, planetary gear, it is characterised in that：There are two circlips for shaft on the eccentric segment of bent axle barrier both sides, there are two rotary arm bearing components between back-up ring and barrier, including lasso, circlip and radial bearing, two radial bearings are in axial pretightening structure, and two lassos hole corresponding with planetary gear coordinates, or is melted into hole, two radial bearings are deep groove ball bearing, or angular contact ball bearing, or single-row tapered roller bearing, or single double-row conical bearing.Beneficial effect：Rotary arm bearing uses axial pretightening on bent axle, improves bearing rigidity, it is ensured that be no more than 6arc min including total return difference that rotary arm bearing elastic deformation causes；Domestic lathe, conventionally fabricated precision, process is simple, low cost 55 70%.
Description
【Technical field】
It is South Korea's match strength sejin high accuracy few teeth differences the present invention relates to industrial robot decelerator technical fieldDecelerator
Improvement, using domestic lathe, conventionally fabricated precision, under loading condition, including total return difference that elastic deformation causes is no more than
6arc min, a kind of industrial robot high rigidity little tooth difference speed reducer.
【Background technology】
Existing removal of mines robot, explosion-proof hypertoxic robot, the orienting device and tower type solar of bearing turntable for radar antenna
Tracking drive device of thermal electric generator heliostat, etc., not only requires that decelerator has high rigidity, and want small return difference：
Azimuth rotating platform is support and the orienting device of radar antenna, is enabled the antenna to according to predetermined by servo-control system
Rule is rotated or followed target to move accurately points to target, and the bearing data of target is accurately measured by it,
Therefore the driving error and return difference to azimuth drive have requirement higher.
Heliostat is that one kind is made up of speculum, mirror holder, optically focused and tracking drive device, and tracking drive device is heliostat
The part of middle most critical, its performance directly determines the tracking accuracy of heliostat, so as to influence the aggregation of solar energy or even whole
The generating efficiency of individual system.Tracking drive device includes two accurate transmission mechanisms：Orientation angle transmission mechanism and the angle of pitch are driven
Mechanism, realizes that omnidirectional tracking is accurately positioned.Due to the minor variations of mirror position will all cause aggregation hot spot outside hundreds of meters
Heat collector on produce deviation interior in a big way, therefore transmission accuracy and return difference requirement to whole device is all very strict.
Match strength sejinDecelerator, it is a kind of high accuracy Reducer With Involute Gear of Less-tooth Difference of South Korea's research and development, its machine driving side
Case is identical with RV decelerators, and the planetary gear of different simply sejin decelerators uses involute teeth.
Patent Office of the People's Republic of China's invention disclosed patent《A kind of planetary reduction gear》(201310718320.6) with《A kind of 2K-V types
Decelerator》(201310718558.9) it is also a kind of high accuracy Reducer With Involute Gear of Less-tooth Difference, is domestic foremost Qin Chuan machine
The innovation of the emerging unit of tool Development Co., Ltd dragon, Tian Sha et al..
The return difference includes gap return difference, temperature return difference and elastic return difference.Its intermediate gap return difference refers to also known as geometric lost motion
It is several by the backlash in transmission, bearing clearance etc. in the case where ± 3% nominal torque and each part good contact is applied
The output corner value what factor causes.
Research finds that background technology has following problems：Crank axle rotary arm bearing elastic deformation is big, is now presented below：
《Gear Transmission Design handbook》(page 852) are pointed out：" (table 7-77) is found out from result of calculation, in nominal torque effect
Under, bearing deformation is maximum, and rigidity is minimum ..., and due to the rigidity very little of bearing, it is difficult to improve, and robot transmission is to RV decelerators
Overall torsional rigidity has requirement very high again, so the rigidity of other parts must be increased as far as possible, bearing rigidity is mended to remove
It is not enough.”
Carry out analytical table 7-77 now, which bearing elastic deformation is up to 192.1 " ≈ 3.2 '
Table 7-77 elastic deformations cause the corner of output shaft
| Influence the factor of rigidity | Cause the corner of output shaft | Influence the factor of rigidity | Cause the corner of output shaft |
| The elastic deformation of Cycloidal pin-wheel drive part | 17.97(″) | The elastic deformation of crank axle | 11.4(″) |
| The deformation of involute gear teeth | 0.243(″) | The elastic deformation of bearing | 192.1(″) |
| The elastic deformation of planetary gear | 24.76(″) | Elastic deformation summation | 246.47(″) |
(1) taper roll bearing of the angular contact ball bearing of rigid disk two-side supporting, bent axle and input shaft both sides：
Angular contact ball bearing belongs to radial bearing series with taper roll bearing, and theoretical research shows：Radial bearing
Series can improve rigidity using the method for axial pretightening.Its theoretical foundation is：
Conclusion：Rigid disk both sides angular contact ball bearing, bent axle and input shaft taper roll bearing will not produce big bullet
Property deformation.
(2) on bent axle, " bearing of ≈ 3.2 ' should be cylindrical roller rotary arm bearing to produce elastic deformation to be up to 192.1：
Because, on RV decelerator bent axles, the rotary arm bearing to planetary gear bearing is single cylinder roller bearing.
Single cylinder roller bearing be cannot axial pretightening, i.e., bearing rigidity can not be improved by mobile inner ring.
Expert says：" increasing the rigidity of other parts as far as possible, the deficiency of bearing rigidity is mended to remove ", increase other parts
Rigidity, can remove the elastic deformation for mending bearing 3.2 '
Consulting literatures know, relate to reduce the technical scheme of elastic deformation in background technology that so far there are no.
【The content of the invention】
Present invention aim at a kind of industrial robot high rigidity little tooth difference speed reducer is provided, using domestic lathe, routine
The accuracy of manufacture solves high rigidity rotary arm bearing technical problem, so as to ensure in load conditions, including returning of causing of elastic deformation
Difference is in interior total return difference no more than 6arc min.
The present invention is suitable to the removal of mines, explosion-proof hypertoxic robot, bearing turntable for radar antenna orienting device and tower-type solar thermal
Tracking drive device of TRT heliostat, etc..
Involute belongs to few teeth difference deceleration transmission technical field with cycloid, therefore, quoted below is also applied to this
Invention.
Solve the concrete technical scheme that above-mentioned elastic deformation technical problem used as follows：
First, second circlip for shaft, two circlips are respectively equipped with two eccentric segments of the bent axle barrier both sides
First, second rotary arm bearing component is respectively equipped between barrier, wherein：First rotary arm bearing component includes the first lasso and set
First circlip for hole and the first radial bearing for being located at circlip both sides of endoporus are enclosed, two the first radial bearings are in
The rigid structure of axial pretightening；Second rotary arm bearing component include the second circlip for hole of the second lasso and lasso endoporus with
The second radial bearing of circlip both sides is located at, two the second radial bearings are in the rigid structure of axial pretightening.
Hole corresponding with first, second planetary gear coordinates first, second lasso respectively.
The first, second rotary arm bearing component removes first, second lasso respectively, now：First rotary arm bearing component
Including the first circlip for hole and it is located at the first radial bearing of circlip both sides；Second rotary arm bearing component includes second
Circlip for hole and it is located at the second radial bearing of circlip both sides.
First, second radial bearing is deep groove ball bearing.
First, second radial bearing is angular contact ball bearing.
First, second radial bearing is single-row tapered roller bearing.
First, second radial bearing is single double-row conical bearing, now removes first, second hole elasticity
Back-up ring.
【Beneficial effect】
(1) rotary arm bearing uses axial pretightening structure on bent axle, improves bearing rigidity, it is ensured that including rotary arm bearing bullet
Property the return difference that causes of deformation be no more than 6arc min in interior total return difference；
(2) domestic lathe, conventionally fabricated precision, process is simple, low cost 55-70%
【Brief description of the drawings】
The structural representation of Fig. 1 embodiment of the present invention
The bent axle upper planetary gear of Fig. 2 embodiment of the present invention and band lasso bearing component construction schematic diagram
The bent axle upper planetary gear of Fig. 3 embodiment of the present invention and cage and rolling element assembly modular construction schematic diagram
【Specific embodiment】
As shown in Figures 1 to 3, a kind of industrial robot high rigidity little tooth difference speed reducer, including involute less tooth difference and planet
Part, the involute less tooth difference part includes left and right rigid disk 1,24, ring gear 11, first, second planetary gear 13,14
And uniform three-crankshaft 19, uniform three flange 2 passes through phase on first, second planetary gear 13,14 on the end face of left rigid disk 1
The hole answered connects into rigid body with right rigid disk 24, and left and right rigid disk 1,24 is supported on first, second bearing 10,15 respectively
The both sides endoporus of ring gear 11, the planetary part includes sun gear 4 and planetary gear 3, and planetary gear 3 is located on bent axle 19, bent axle 19
Two ends the 5th, 6th bearing 9,18 is supported on left and right rigid disk 1,24 in respective aperture respectively, on the bent axle 19 first with
Second bias is intersegmental barrier, it is characterised in that：
First, second circlip for shaft 8,20, two elasticity are respectively equipped with the both sides eccentric segment of the barrier of the bent axle 19
Back-up ring 8, first, second rotary arm bearing component is respectively equipped between 20 and barrier, including in first, second lasso 5,16 and lasso
First, second circlip for hole 12,21 in hole and first, second radial bearing 6,17 of circlip both sides, described first,
Hole corresponding with first, second planetary gear 13,14 coordinates second lasso 5,16 respectively, two first, second radial bearings
6th, 17 axial pretightening rigid structure, its technique effect are in：One is, eliminates the radial clearance of radial bearing, so as to reduce turn
The gap return difference that arm axle holds；Two are, axial pretightening can improve radial bearing rigidity, thus reduce rotary arm bearing elastic deformation and draw
The elastic return difference for rising.
The RV decelerators of the industrial robot high rigidity, it is characterised in that：First, second lasso 5,16 respectively with
Corresponding hole is combined together in first, second Cycloidal Wheel 13,14, it is therefore an objective to：On the one hand optional bigger radial bearing, so as to carry
The load-bearing capacity of bearing high；Another aspect simplifies structure, now：First, second rotary arm bearing component includes first, second respectively
Circlip for hole 12,21 and first, second radial bearing 6,17 of circlip both sides, two first, second radial bearings
6th, 17 rigid structure in axial pretightening.
The industrial robot high rigidity little tooth difference speed reducer, it is characterised in that：First, second radial bearing 6,17 is deep
Ditch ball bearing.
The industrial robot high rigidity little tooth difference speed reducer, it is characterised in that：First, second radial bearing 6,17
It is angular contact ball bearing.
Deep groove ball bearing uses axial pretightening with angular contact ball bearing, not only eliminates the radial clearance of bearing, important
Be bearing when joint load or axial load is born, produce a Safe Contact Angle α, can be formed between steel ball and Internal and external cycle raceway
One small elliptical contact, it is tightly theoretical according to hertz stress, reduce contact stress, bearing load ability is improved.Obviously, connect safely
Feeler α is bigger, and Fa is bigger for axial load ability, and the rigidity of bearing is bigger.
Described industrial robot high rigidity little tooth difference speed reducer, it is characterised in that：First, second radial bearing 6,
17 is single-row tapered roller bearing, the contact angle α of taper roll bearing：Plain edition α=10 °~19 ° and enlarged α=25 °~
29 °, contact angle α is bigger, and Fa is bigger for its axial load ability.
Described industrial robot high rigidity little tooth difference speed reducer, it is characterised in that：First, second radial bearing 6,
17 is single double-row conical bearing, now removes first, second circlip for hole 12,21.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme belong to protection scope of the present invention.
Claims (6)
1. a kind of industrial robot high rigidity little tooth difference speed reducer, including involute less tooth difference and planetary part, the involute
Few teeth difference part includes left and right rigid disk (1,24), ring gear (11), first, second planetary gear (13,14) and uniform song
Axle (19), uniform flange (2) is through corresponding on first, second planetary gear (13,14) on left rigid disk (1) end face
Hole connects into rigid body with right rigid disk (24), and the left and right rigid disk (1,24) is respectively with first, second bearing (10,15)
Ring gear (11) both sides endoporus is supported on, the planetary part includes sun gear (4) and planetary gear (7), and the sun gear (4) sets
On input shaft (22), the input shaft (22) is supported on left and right rigid disk (1,24) with the 3rd, fourth bearing (3,23) respectively
Centre bore, the planetary gear (7) is located on bent axle (19), and bent axle (19) two ends the 5th, 6th bearing (9,18) is respectively
It is supported on left and right rigid disk (1,24) in corresponding hole, has barrier between first and second eccentric segment on the bent axle (19),
It is characterized in that：
First, second circlip for shaft (8,20), two elasticity are respectively equipped with the both sides eccentric segment of bent axle (19) barrier
Back-up ring (8,20) is respectively equipped with first, second rotary arm bearing component, including first, second lasso (5,16) and set and barrier between
First, second circlip for hole (12,21) of endoporus and first, second radial bearing (6,17) of circlip both sides are enclosed,
Two rigid structures of first, second radial bearing (6,17) in axial pretightening, first, second lasso (5,16) is respectively
Hole corresponding with first, second planetary gear (13,14) coordinates.
2. industrial robot high rigidity little tooth difference speed reducer according to claim 1, it is characterised in that：Described first, second
Lasso (5,16) combines together with corresponding hole on first, second planetary gear (13,14) respectively, now：First, second pivoted arm
Bearing assembly includes first, second radial bearing of first, second circlip for hole (12,21) and circlip both sides respectively
(6,17), two rigid structures of first, second radial bearing (6,17) in axial pretightening.
3. industrial robot high rigidity little tooth difference speed reducer according to claim 1 or claim 2, it is characterised in that：First, second to
Heart bearing (6,17) is deep groove ball bearing.
4. industrial robot high rigidity little tooth difference speed reducer according to claim 1 and 2, it is characterised in that：Described first,
Second radial bearing (6,17) is angular contact ball bearing.
5. industrial robot high rigidity little tooth difference speed reducer according to claim 1 and 2, it is characterised in that：Described first,
Second radial bearing (6,17) is single-row tapered roller bearing.
6. industrial robot high rigidity little tooth difference speed reducer according to claim 1 or claim 2, it is characterised in that：First, second to
Heart bearing (6,17) is single double-row conical bearing, now removes first, second circlip for hole (12,21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611011127.9A CN106931079A (en) | 2016-11-08 | 2016-11-08 | Industrial robot high rigidity little tooth difference speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611011127.9A CN106931079A (en) | 2016-11-08 | 2016-11-08 | Industrial robot high rigidity little tooth difference speed reducer |
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| Publication Number | Publication Date |
|---|---|
| CN106931079A true CN106931079A (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611011127.9A Pending CN106931079A (en) | 2016-11-08 | 2016-11-08 | Industrial robot high rigidity little tooth difference speed reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737187A (en) * | 2019-03-11 | 2019-05-10 | 南京高速齿轮制造有限公司 | A kind of deceleration device |
-
2016
- 2016-11-08 CN CN201611011127.9A patent/CN106931079A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737187A (en) * | 2019-03-11 | 2019-05-10 | 南京高速齿轮制造有限公司 | A kind of deceleration device |
| CN109737187B (en) * | 2019-03-11 | 2023-11-10 | 南京南传智能技术有限公司 | Speed reducer |
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| PB01 | Publication | ||
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Application publication date: 20170707 |