CN106931081A - A kind of robot high-accuracy cycloid difference tooth reductor - Google Patents
A kind of robot high-accuracy cycloid difference tooth reductor Download PDFInfo
- Publication number
- CN106931081A CN106931081A CN201710283068.9A CN201710283068A CN106931081A CN 106931081 A CN106931081 A CN 106931081A CN 201710283068 A CN201710283068 A CN 201710283068A CN 106931081 A CN106931081 A CN 106931081A
- Authority
- CN
- China
- Prior art keywords
- planet carrier
- cycloid
- involute
- accuracy
- gear
- 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
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H2057/085—Bearings for orbital gears
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H2057/087—Arrangement and support of friction devices in planetary gearings, e.g. support of clutch drums, stacked arrangements of friction devices
Abstract
The present invention relates to a kind of robot high-accuracy cycloid difference tooth reductor, including one-level involute planetary reducing gear and two grades of cycloid pin gear planet speed reducer structures, the outer flank of tooth of the front end toothed portion of involute input gear axle not with two involute planet gears is meshed, described Cycloidal Wheel is arranged between preceding planet carrier and rear planet carrier, it is fastened by pillar taper pin between preceding planet carrier and rear planet carrier and is fixedly connected, preceding planet carrier and rear planet carrier are sleeved in the outer axial face of involute input gear axle, mutually connected side by side by Cycloidal Wheel between involute input gear axle and eccentric shaft, the tail end teeth portion of eccentric shaft is meshed with the center perforation of involute planet gear.A kind of described robot high-accuracy cycloid difference tooth reductor, is easy to part to fabricate, and reduces cost, at the same have efficiency high, lightweight, smooth running, impact resistance, noise is low, overload capacity is strong, long lifespan the features such as.
Description
Technical field
The present invention relates to the field of decelerator, especially a kind of robot high-accuracy cycloid difference tooth reductor.
Background technology
It is on Cycloidal pin-wheel drive basis that robot RV (Rot-vector) is driven (category crank-type planetary differential)
On a kind of Novel transmission for growing up, it is mainly characterized by three big (gearratio is big, large carrying capacity, rigidity are big), two (fortune high
Dynamic high precision, transmission efficiency), one small (return difference is small), there is smaller volume and more than simple cycloid pinwheel planetary gear transmission system
Big overload capacity, and output shaft rigidity is big, thus it is in widespread attention at home and abroad, in the transmission mechanism of day robot
In, largely gradually replace simple cycloid pinwheel planetary gear transmission system harmonic to be driven.RV transmissions wherein have two poles
Strict technical indicator：Driving error is no more than 1 '；Model specified gap return difference (Backlash) according to RV decelerators is no
More than 1 '~1.5 '.Additionally, running at rated loads, the total return difference including the return difference caused including elastic deformation is no more than
6′。
Because robot carries big with high-accuracy cycloid difference tooth reductor, how high transmission accuracy designs small volume, essence
Degree is high, the RV reductors of low cost, into the current problem for facing.
The content of the invention
The technical problem to be solved in the present invention is：In order to overcome it is above-mentioned present in problem, there is provided a kind of robot is used
High-accuracy cycloid difference tooth reductor, its is rational in infrastructure, and crankshaft strength is big, shock resistance is good.
The technical solution adopted for the present invention to solve the technical problems is：A kind of robot high-accuracy cycloid difference tooth slows down
Machine, including one-level involute planetary reducing gear and two grades of cycloid pin gear planet speed reducer structures,
Described one-level involute planetary reducing gear includes two involute planet gears and involute input gear axle,
The outer flank of tooth of the front end toothed portion of involute input gear axle not with two involute planet gears is meshed,
Two grades of described cycloid pin gear planet speed reducer structures include eccentric shaft, Cycloidal Wheel, preceding planet carrier, rear planet carrier and pin
Shell, described preceding planet carrier and rear planet carrier are arranged in pin shell, and described Cycloidal Wheel is arranged on preceding planet carrier and rear planet carrier
Between, mutually fastened by pillar taper pin between preceding planet carrier and rear planet carrier, the outer ring surface of Cycloidal Wheel and the inner ring side of pin shell
Ring is uniformly connected with some needle rollers between wall, and preceding planet carrier and rear planet carrier are sleeved on the outer shaft of involute input gear axle
On face, involute input gear axle and eccentric shaft are connected in Cycloidal Wheel side by side, the tail end teeth portion and involute planetary of eccentric shaft
The center perforation of gear is meshed, and double reduction mechanism constitutes a planetary mechanism, and planetary mechanism designs preceding bearing inner race
On planet carrier, rear planet carrier are cylindrical, compact conformation reduces manufacture difficulty.
Further, the front end outer axial face and afterbody outer axial face of described eccentric shaft respectively with preceding planet carrier and rear planet carrier
Between be connected with the first taper roll bearing and the second taper roll bearing, between the outer axial face and Cycloidal Wheel of described eccentric shaft
Steel retainer needle bearing is connected with, in order to realize the purpose of clamping, is connected between described eccentric shaft and involute planet gear
The place of connecing is provided with axle jump ring.
Further, in order to improve sealing, junction is provided with skeleton between the end of described pin shell and rear planet carrier
Sealing.
Further, the number of teeth of described involute planet gear is 36, and modulus is 1.5, and pressure angle is 20 °, the facewidth
It is 7.2mm.
Further, the number of teeth of described involute input gear axle is 12, and modulus is 1.5, and pressure angle is 20 °, tooth
A width of 12mm.
Further, the eccentric throw of described eccentric shaft is 1.3mm.
Further, described Cycloidal Wheel is 39, and pin gear sleeve external diameter is Φ 6mm, and eccentric throw is 1.3mm, pinwheel center
Circular diameter is Φ 128mm, and the facewidth is 9mm.
The external diameter of described needle roller is Φ 6mm, and length is 19.8mm.
The number of teeth of described pin shell is 40, and center circle diameter is Φ 128mm, and gear pin diameter is Φ 6mm.
Described pin shell is respectively connected with cylinder roller bearing between preceding planet carrier and rear planet carrier respectively.
The beneficial effects of the invention are as follows：Described a kind of robot high-accuracy cycloid difference tooth reductor, by bearing inner race
On preceding planet carrier, rear planet carrier are cylindrical, compact conformation reduces reductor axial dimension so as to reach loss of weight purpose for design, and
Bearing is built-in, directly the machining high-precision arc orbit on part, reduces bearing mnanufacture rigging error so that thin in reductor
Weak rapid wear link is significantly improved, and reductor reduces return difference under heavy load again, improves operating accuracy；Cycloidal Wheel is used
Single poor toothing, the accuracy of mesh is released better than two difference tooth engagements, the full tooth rolling friction of Cycloidal Wheel, needle roller, pin shell, and rigidity is good, single
Difference tooth engagement is more easy to realize transmission chain error and return difference requirement high that more preferably, backlash is smaller, and reductor can be avoided to use for rigidity
Occurs shake in journey, the excessive situation of damping vibration, planet carrier uses pillar taper pin attachment structure, with simple structure, processing
Conveniently, the features such as intensity is high, meanwhile, high accuracy taper pin attachment structure, it is ensured that the homogeneity of processing and assembling, structure is closed
The features such as reason, small volume, efficiency high, low cost, the scope of application of RV reductors is widened, the advantage of the invention is that simplifying
Structure design, is easy to part to fabricate, and reduces cost, while having efficiency high, lightweight, smooth running, impact resistance, making an uproar
Sound is low, overload capacity is strong, long lifespan the features such as.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of overall structure diagram of robot of the present invention high-accuracy cycloid difference tooth reductor；
Fig. 2 is a kind of split-type structural representation of robot of the present invention high-accuracy cycloid difference tooth reductor.
Accompanying drawing acceptance of the bid note is described below：1st, involute planet gear, 2, involute input gear axle, 3, eccentric shaft, 4, pendulum
Line wheel, 5, preceding planet carrier, 6, rear planet carrier, 7, pin shell, 8, needle roller, the 9, first taper roll bearing, the 10, second taper roller axle
Hold, 11, steel retainer needle bearing, 12, axle jump ring, 13, reinforced seal, 14, cylinder roller bearing.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant with the present invention.
A kind of robot as depicted in figs. 1 and 2 is subtracted with high-accuracy cycloid difference tooth reductor, including one-level involute planetary
Fast mechanism and two grades of cycloid pin gear planet speed reducer structures, the front end toothed portion of involute input gear axle 2 not with two involutes
The outer flank of tooth of planetary gear 1 is meshed, and the number of teeth of involute planet gear 1 is 36, and modulus is 1.5, and pressure angle is 20 °, tooth
A width of 7.2mm, the number of teeth of involute input gear axle 2 is 12, and modulus is 1.5, and pressure angle is 20 °, and the facewidth is 12mm, is moved ahead
Carrier 5 and rear planet carrier 6 are arranged in pin shell 7, and pin shell 7 is respectively connected with cylinder between preceding planet carrier 5 and rear planet carrier 6 respectively
Roller bearing 14, the eccentric throw of eccentric shaft 3 is 1.3mm, and Cycloidal Wheel 4 is 39, and pin gear sleeve external diameter is Φ 6mm, and eccentric throw is
1.3mm, centre diameter of gear pins is Φ 128mm, and the facewidth is 9mm, and junction is provided between the end of pin shell 7 and rear planet carrier 6
Reinforced seal 13, two Cycloidal Wheels 4 are arranged between preceding planet carrier 5 and rear planet carrier 6, between preceding planet carrier 5 and rear planet carrier 6
Mutually fastened by pillar taper pin, ring is uniformly connected with four between two outer ring surfaces and the interior ring-side wall of pin shell 7 of Cycloidal Wheel 4
Ten needle rollers 8, the external diameter of needle roller 8 is Φ 6mm, and length is 19.8mm, and the number of teeth of pin shell 7 is 40, and center circle diameter is Φ
128mm, gear pin diameter is Φ 6mm, and preceding planet carrier 5 and rear planet carrier 6 are sleeved in the outer axial face of involute input gear axle 2,
Involute input gear axle 2 and two eccentric shafts 3 are connected in two Cycloidal Wheels 4 side by side, two front end outer axial faces of eccentric shaft 3
And afterbody outer axial face is connected with the first taper roll bearing 9 and the rolling of the second circular cone between preceding planet carrier 5 and rear planet carrier 6 respectively
Sub- bearing 10, is connected with steel retainer needle bearing 11, the tail end tooth of eccentric shaft 3 between the outer axial face and Cycloidal Wheel 4 of eccentric shaft 3
Portion is meshed with the center perforation of involute planet gear 1, and junction is provided with axle between eccentric shaft 3 and involute planet gear 1
With jump ring 12.
A kind of robot of the present invention operation principle of high-accuracy cycloid difference tooth reductor：Starting this reductor
When, input drives involute input gear axle 2 to rotate, and the axial rotation of involute input gear axle 2 is so as to drive and involute
Two rotations of involute planet gear 1 that the shaft end of input gear axle 2 is meshed, due to two involute planet gears 1
End phase gear with two eccentric shafts 3 is connected, and two eccentric shafts 3 realize axle by the rotation of two involute planet gears 1
To rotation, two Cycloidal Wheels 4 are sequentially sleeved on two eccentric shafts 3, it is achieved thereby that the cycloid of two Cycloidal Wheels 4 in pin shell 7
Motion, forms cycloid difference tooth reducing gear, and, using single poor toothing, the accuracy of mesh is better than two difference tooth engagements, cycloid for Cycloidal Wheel 4
The full tooth rolling friction of wheel, needle roller, pin shell is released, and rigidity is good, and single poor tooth engagement is more easy to realize that transmission chain error high and return difference will
Ask, more preferably, backlash is smaller for rigidity, can avoid shake, the excessive situation of damping vibration occur during reductor use.
With above-mentioned according to desirable embodiment of the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (10)
1. a kind of robot high-accuracy cycloid difference tooth reductor, it is characterized in that：Including one-level involute planetary reducing gear and
Two grades of cycloid pin gear planet speed reducer structures,
Described one-level involute planetary reducing gear includes two involute planet gears (1) and involute input gear axle
(2), the outer flank of tooth of the front end toothed portion of involute input gear axle (2) not with two involute planet gears (1) is meshed,
Two grades of described cycloid pin gear planet speed reducer structures include eccentric shaft (3), Cycloidal Wheel (4), preceding planet carrier (5), rear planet
Frame (6) and pin shell (7), described preceding planet carrier (5) and rear planet carrier (6) Cycloidal Wheel (4) interior installed in pin shell (7), described
Between preceding planet carrier (5) and rear planet carrier (6), pillar taper pin phase is passed through between preceding planet carrier (5) and rear planet carrier (6)
Mutually fastening, ring is uniformly connected with some needle rollers (8) between the outer ring surface of Cycloidal Wheel (4) and the interior ring-side wall of pin shell (7), preceding
Planet carrier (5) and rear planet carrier (6) are sleeved in the outer axial face of involute input gear axle (2), involute input gear axle (2)
It is connected to side by side in Cycloidal Wheel (4) with eccentric shaft (3), the tail end teeth portion of eccentric shaft (3) and the center of involute planet gear (1)
Perforation is meshed.
2. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described bias
The front end outer axial face and afterbody outer axial face of axle (3) are connected with the first circular cone between preceding planet carrier (5) and rear planet carrier (6) respectively
Roller bearing (9) and the second taper roll bearing (10), are connected between the outer axial face and Cycloidal Wheel (4) of described eccentric shaft (3)
There is steel retainer needle bearing (11), junction is provided with axle card between described eccentric shaft (3) and involute planet gear (1)
Spring (12).
3. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described pin shell
(7) junction is provided with reinforced seal (13) between end and rear planet carrier (6).
4. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described gradually opens
The number of teeth of line planetary gear (1) is 36, and modulus is 1.5, and pressure angle is 20 °, and the facewidth is 7.2mm.
5. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described gradually opens
The number of teeth of line input gear axle (2) is 12, and modulus is 1.5, and pressure angle is 20 °, and the facewidth is 12mm.
6. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described bias
The eccentric throw of axle (3) is 1.3mm.
7. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described cycloid
Wheel (4) is 39, and pin gear sleeve external diameter is Φ 6mm, and eccentric throw is 1.3mm, and centre diameter of gear pins is Φ 128mm, and the facewidth is
9mm。
8. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described needle roller
(8) external diameter is Φ 6mm, and length is 19.8mm.
9. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described pin shell
(7) the number of teeth is 40, and center circle diameter is Φ 128mm, and gear pin diameter is Φ 6mm.
10. a kind of robot according to claim 1 high-accuracy cycloid difference tooth reductor, it is characterized in that:Described pin
Shell (7) is respectively connected with cylinder roller bearing (14) between preceding planet carrier (5) and rear planet carrier (6) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710283068.9A CN106931081A (en) | 2017-04-26 | 2017-04-26 | A kind of robot high-accuracy cycloid difference tooth reductor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710283068.9A CN106931081A (en) | 2017-04-26 | 2017-04-26 | A kind of robot high-accuracy cycloid difference tooth reductor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106931081A true CN106931081A (en) | 2017-07-07 |
Family
ID=59437121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710283068.9A Pending CN106931081A (en) | 2017-04-26 | 2017-04-26 | A kind of robot high-accuracy cycloid difference tooth reductor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109139815A (en) * | 2018-11-07 | 2019-01-04 | 珠海飞马传动机械有限公司 | A kind of closed cycloid speed reducer of industrial robot high-precision |
| CN109281932A (en) * | 2018-11-27 | 2019-01-29 | 瓦房店轴承集团国家轴承工程技术研究中心有限公司 | The mating lightweight of high rotational positioning industrial robot RV speed reducer, special-shape bearing |
| CN110230663A (en) * | 2018-03-05 | 2019-09-13 | 住友重机械工业株式会社 | Deceleration device |
| CN111664229A (en) * | 2020-07-13 | 2020-09-15 | 珠海格力电器股份有限公司 | Reduction gear and robot |
| CN114110096A (en) * | 2021-11-10 | 2022-03-01 | 珠海格力电器股份有限公司 | RV reduction gear, robot |
| US11608876B2 (en) * | 2020-08-31 | 2023-03-21 | Nabtesco Corporation | Speed reducer and drive device |
| TWI808621B (en) * | 2021-02-05 | 2023-07-11 | 盟英科技股份有限公司 | Reducer |
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| CN205877082U (en) * | 2016-04-20 | 2017-01-11 | 东莞市松庆智能自动化科技有限公司 | Novel manufacturing process's RV speed reducer for robot |
| CN106481744A (en) * | 2016-12-05 | 2017-03-08 | 吴小杰 | Industrial robot end-tooth vuilt-up crankshaft formula RV decelerator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230663A (en) * | 2018-03-05 | 2019-09-13 | 住友重机械工业株式会社 | Deceleration device |
| CN109139815A (en) * | 2018-11-07 | 2019-01-04 | 珠海飞马传动机械有限公司 | A kind of closed cycloid speed reducer of industrial robot high-precision |
| CN109281932A (en) * | 2018-11-27 | 2019-01-29 | 瓦房店轴承集团国家轴承工程技术研究中心有限公司 | The mating lightweight of high rotational positioning industrial robot RV speed reducer, special-shape bearing |
| CN111664229A (en) * | 2020-07-13 | 2020-09-15 | 珠海格力电器股份有限公司 | Reduction gear and robot |
| US11608876B2 (en) * | 2020-08-31 | 2023-03-21 | Nabtesco Corporation | Speed reducer and drive device |
| TWI808621B (en) * | 2021-02-05 | 2023-07-11 | 盟英科技股份有限公司 | Reducer |
| CN114110096A (en) * | 2021-11-10 | 2022-03-01 | 珠海格力电器股份有限公司 | RV reduction gear, robot |
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