CN106989142A - The RV decelerators of helical teeth vuilt-up crankshaft formula in industrial robot - Google Patents

The RV decelerators of helical teeth vuilt-up crankshaft formula in industrial robot Download PDF

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Publication number
CN106989142A
CN106989142A CN201611181682.6A CN201611181682A CN106989142A CN 106989142 A CN106989142 A CN 106989142A CN 201611181682 A CN201611181682 A CN 201611181682A CN 106989142 A CN106989142 A CN 106989142A
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China
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helical teeth
planet axis
vuilt
decelerators
industrial robot
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CN201611181682.6A
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Chinese (zh)
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吴声震
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Publication of CN106989142A publication Critical patent/CN106989142A/en
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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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/043—Guidance of lubricant within rotary parts, e.g. axial channels or radial openings in shafts
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0479—Gears or bearings on planet carriers
    • 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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications
    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The present invention relates to robot braking technique field, the RV decelerators of helical teeth vuilt-up crankshaft formula in a kind of industrial robot, hypocycloid part including left and right rigid disk, hypocycloid gear ring, Cycloidal Wheel and bent axle and the planetary part including sun gear, planetary gear, it is characterised in that：Eccentric bushing is connected in planet axis and constitutes double eccentric combination bent axles；Rotary arm bearing is zinc-containing alloy sliding bearing, and its is cylindrical helical oil groove, and axial length has more 5~10mm than Cycloidal Wheel；Eccentric bushing is connected with planet axis internal helical gear pair, and interior helical teeth circle uses plastic precise forming, with fine tuning phase function, and the first eccentric bushing side is close to the second circlip, has spring between opposite side and the 3rd circlip；Second bias is placed in planet axis between first and second circlip.Beneficial effect：The double eccentric crankshafts of assembly type, which are aided with eccentric bushing and planet axis internal helical gear pair, ensures phase difference precision；Zinc-containing alloy sliding bearing energy self-lubricating；Conventionally fabricated precision, cost is low by 60 75%.

Description

The RV decelerators of helical teeth vuilt-up crankshaft formula in industrial robot
【Technical field】
The present invention relates to industrial robot decelerator technical field, using domestic lathe, conventionally fabricated precision, including elasticity Total return difference caused by deformation is no more than a kind of RV decelerators of helical teeth vuilt-up crankshaft formula in 6arc min, industrial robot.
【Background technology】
" High-accuracy RV Drive Used in Robot has two pole stringent technical indexs：One is that kinematic accuracy error is no more than 1arc min；One is gap return difference, and regulation is no more than 1~1.5arc min, in addition, in load conditions, including caused by elastic deformation Total return difference including return difference is no more than 6arc min." (Zhu Xiaolu《Gear Transmission Design handbook》Page 827)
Gap return difference is also known as geometric lost motion, in the case of referring to apply 3% nominal torque and each part good contact, by going Output corner value (1~1.5arc min) caused by the geometrical factor such as the sideshake of tooth, bearing clearance in star and Cycloidal pin-wheel drive.
Background technology has following two：
(1) the eccentric segment phase difference of background technology crank axle two deviation≤30 ", processing difficulties：
《The two-way equidistant small eccentricity crank axle process technology research in high precision of RV decelerators》：" crank axle two it is eccentric relative to 180 ° of soil 30 " " of alternate position spike (poplar and Tianjin Vocationl Technical College journal 1995.06) of workpiece centre
RV decelerator crank axle processing difficulties, it is necessary to import crank grinding machine：
《The seminar of Tianjin the 1st》Say：" manufacture RV-320 model machines when find, crank axle processing difficulties, error compared with Greatly, import crank grinding machine price is millions of.”
(2) Patent Office of the People's Republic of China is in invention disclosed on July 17th, 2013《Replace the industrial robot decelerator of RV-E simulation》 201310154680.8, it is characterised in that：" the first and second eccentric bushing endoporus is the oblique internal tooth of involute, with gradually being opened on input shaft The oblique external tooth slide fit of line ".
But, inventor has seeked advice from domestic Suzhou Ji Jia leading companys when implementing the technology, all says that wire cutting machine tool is basic Do not possess and cut oblique ring gear function, that is do not cut oblique ring gear, rear Lai Liaoyijia Beijing leading company, it is oblique that the said firm cuts Ring gear material object (Z=24, m=1.25, β=5 ° and b=15mm) in the big centre in two small " beam waist type burner ", outer oblique gear is logical not Cross.Described " processing technology is simple, and production efficiency is high, cost is low, and inside and outside tooth fit precision is also high " is an empty verbiage.It is theoretical Monograph says that gear shapping machine can process oblique ring gear, in fact also unrealistic：The special copying apparatus of gear shapping machine device, manufactures and designs Copying apparatus is costly；Special, expensive pinion cutter need to be customized；Gear shaping efficiency is low, thus cost is high.
Theoretical monograph says that gear shapping machine can process oblique ring gear, in fact also unrealistic：The special pattern dress of gear shapping machine device Put, manufacture and design copying apparatus costly；Special, expensive pinion cutter need to be customized；Gear shaping efficiency is low, thus cost is high.
【The content of the invention】
The RV decelerators of helical teeth vuilt-up crankshaft formula solve following in background technology in the industrial robot that the present invention is provided Problem：
(1) deviation requirement of the eccentric segment phase difference of crank axle two is very high, thus processing difficulties；
(2) eccentric bushing links helical teeth implementation technology hardly possible in fine-tuning eccentric segment phase difference, wire cutting with helical teeth pair in circular shaft Degree is big.
The present invention solves above-mentioned two technical problem using domestic lathe, conventionally fabricated precision, it is ensured that in load conditions, bag Total return difference caused by elastic deformation is included no more than 6arc min.
Hypocycloid transmission is the transmission that a kind of hypocycloid gear ring is engaged with Cycloidal Wheel, thus falls within cyclo drive technology neck Domain.
The present invention solves the concrete technical scheme that the two big technical problem is taken：
Two eccentric bushings are connected in the planet axis, double eccentric crankshafts are constituted, double eccentric crankshafts are provided with to support two The sliding bearing of Cycloidal Wheel.
The rotary arm bearing is zinc-containing alloy sliding bearing.
The first, second pivoted arm zinc-containing alloy sliding bearing outer round surface is provided with spiral oil storage tank, and its axial length 5~10mm is had more than Cycloidal Wheel thickness, effect is：Lubricating oil or fat can penetrate into from the spiral oil storage tank having more at 5~10mm Rubbing surface.
The first, second eccentric bushing endoporus is connected with helical teeth pair in planet axis, wherein：The side end face of first eccentric bushing one is leaned on Tight second circlip for shaft, there is compression spring, fine-tuning phase difference between another side end face and the 3rd circlip for shaft；The Two bias are placed in planet axis between the first circlip for shaft and the second circlip for shaft, helical teeth circle plasticity in the present invention Precision form is better than conventional machine chips processing.
Described compression spring is disk spring, and disk spring compression stress is big, and axial dimension is short.
【Beneficial effect】
(1) the double eccentric crankshafts of assembly type are aided with interior helical teeth Meshing Pair phase difference fine setting, it is ensured that phase difference machining accuracy；
(2) rigidity for sliding rotary arm bearing is higher than cylinder roller bearing, and simple in construction, easily manufactured, bearing capacity is big；
(3) zinc-containing alloy good casting property, friction factor is small, and surface roughness is good；Cost is lower than tin bronze by more than 40%； Service life is 2~3 times of tin bronze, with self-lubricating property and shock-absorbing function, it is adaptable to middle low-speed heave-load occasion；
(4) domestic lathe, conventionally fabricated precision, technique is simple, the low 60-75% of cost；
【Brief description of the drawings】
The structural representation of Fig. 1 embodiment of the present invention
Fig. 2 internal helix splines vuilt-up crankshaft supports Cycloidal Wheel structural representation
【Embodiment】
As shown in Figure 1-2, in a kind of industrial robot helical teeth vuilt-up crankshaft formula RV decelerators, including cycloid part and row Star part, the cycloid part includes hypocycloid gear ring 1, left and right rigid disk 2,22 and first, second Cycloidal Wheel 11,13, described Uniform flange connects into rigid body, the left and right rigid disk 2,22 through two Cycloidal Wheels and right rigid disk 22 on left rigid disk 2 It is supported on the both sides endoporus of hypocycloid gear ring 1 respectively with first, second bearing 9,14, the planetary part includes input shaft 19, set Sun gear 3, planetary gear 6 and planet axis 16 on input shaft 19, the input shaft 19 are propped up respectively with third and fourth bearing 4,20 Hold in left and right rigid disk 2,22 centre bores, the two ends of planet axis 16 are supported on left and right respectively with the 5th, 6th bearing 5,15 In rigid disk 2,22 periphery holes, it is characterised in that：
First, second eccentric bushing 10,12 is sequentially connected in the planet axis 16, is constituted bent with double eccentric combinations Axle, its technique effect：It is convenient using Special tooling clamp regulation phase difference, than Special Eccentric travelling wheelhead roll grinder its manufacturing cost it is low very Many, first, second double eccentric sleeves 10,12 are respectively equipped with to support the first, second of first, second Cycloidal Wheel 11,13 Sliding bearing Z1、Z2, it is that can significantly increase diameter of round spindle and improve the firm of circular shaft using the beneficial effect of sliding bearing Property, so that elastic deformation return difference is reduced, in addition, the advantage of sliding bearing is also described in following monographs：
(1) Wang Wenbin《Mechanical design handbook》(3.21-4 pages 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 Into swarf particles it is small-sized, quantity is also few；
(3) Bu Yan《Practical bearing technology handbook》Page 349：Aeroplane engine main bearing uses general sliding bearing.
The RV decelerators of helical teeth vuilt-up crankshaft formula are characterised by the industrial robot：First, second pivoted arm Sliding bearing Z1、Z2For zinc-containing alloy, zinc-containing alloy advantage：Surface roughness is up to Ra1.6 μm；Self lubricity is good, it is adaptable in Low-speed heave-load occasion；Lighter than copper by 40%, cost is lower than tin bronze by more than 40%；Service life is 2~3 times of tin bronze.
Cheng great Xian《Mechanical design handbook》Bearing page 6：Zinc-containing alloy be applied in, low speed (≤7-10m/s), heavy duty (25- Bearing 30MPa) and under conditions of contact stress σ=550MPa worked.
The RV decelerators of helical teeth vuilt-up crankshaft formula are characterised by the industrial robot：First, second pivoted arm zinc-base Alloy sliding axis hold Z1、Z2Outer round surface is provided with spiral oil storage tank, and its axial length has more 5~10mm than Cycloidal Wheel thickness, case Internal lubricating oil or lubricating grease can be from the spiral oil storage tanks having more at 5~10mm, with sliding bearing Z1、Z2Rotate and slowly Penetrate into, so that lubrication friction face, the lubrication of rubbing surface is critically important.
The RV decelerators of helical teeth vuilt-up crankshaft formula are characterised by the industrial robot：Described first, second is eccentric 10,12 endoporus of set are connected with helical teeth pair in planet axis 16, and the interior helical teeth circle uses plastic precise forming, wherein：First is eccentric Cover 10 1 side end faces and be close to the second circlip for shaft 18, have compression bullet between another side end face and the 3rd circlip for shaft 7 Spring 8；Second eccentric bushing 12 is placed in planet axis 16 between first circlip for shaft and the second circlip for shaft 18, so that shape Into fine tuning phase mechanism.
Helical teeth circle uses plastic precise forming in of the invention, during plastic precise forming, and its radial load is balanced with frictional resistance. Plastic precise forming is better than conventional gear shaping chip processing, the shortcoming of gear shaping chip：The size homogeneity of product is bad, production effect Rate is low, and cutter is expensive, low life-span and the problems such as high cost, and the double eccentric crankshafts of combined type are aided with interior helical teeth parafacies potential difference fine setting, because And ensure that phase difference precision.
The RV decelerators of helical teeth vuilt-up crankshaft formula are characterised by the industrial robot：Described compression spring 8 is Disk spring, disk spring compression stress is big, and axial dimension is short.
Hypocycloid gear ring replaces the pinwheel of general cycloid, and advantage is that simple in construction, another part is few, needn't be taken out during speed reducing ratio 159 Tooth.
" because hypocycloid gear ring and Cycloidal Wheel are pure rolling mesh and lubricating status is good, thus it is identical in input power In the case of, double cycloid Meshing Pair than general cycloid, bearing capacity about improves 50%." (Shen Peiji etc.《Cycloidal equidistance curve gear is passed Dynamic secondary and its device》)
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 (5)

1. the RV decelerators of helical teeth vuilt-up crankshaft formula in a kind of industrial robot, including hypocycloid and planetary part, the cycloid Part includes hypocycloid gear ring (1), left and right rigid disk (2,22) and first, second Cycloidal Wheel (11,13), the left rigid disk (2) flange on connects into rigid body through two Cycloidal Wheels and right rigid disk (22), and the left and right rigid disk (2,22) uses the First, second bearing (9,14) is supported on hypocycloid gear ring (1) both sides endoporus respectively, the planetary part include input shaft (19), Sun gear (3), planetary gear (6) and planet axis (16) on input shaft (19), the input shaft (19) with third and fourth bearing (4, 20) it is supported on left and right rigid disk (2,22) centre bore respectively, planet axis (16) two ends are with the 5th, 6th bearing (5,15) It is supported on respectively in left and right rigid disk (2,22) periphery hole, it is characterised in that：
First, second eccentric bushing (10,12) is sequentially connected on the planet axis (16), is constituted bent with double eccentric combinations It is respectively equipped with to support the of first, second Cycloidal Wheel (11,13) on axle, first, second double eccentric sleeves (10,12) First, the second sliding bearing (Z1、Z2)。
2. according to claim 1 in industrial robot helical teeth vuilt-up crankshaft formula RV decelerators, it is characterised in that：Described First, the second sliding bearing (Z1、Z2) it is zinc-containing alloy sliding bearing.
3. the RV decelerators of helical teeth vuilt-up crankshaft formula in industrial robot according to claim 2, it is characterised in that：It is described First, second pivoted arm zinc-containing alloy sliding bearing (Z1、Z2) outer round surface be provided with spiral oil storage tank, and its axial length than pendulum Line wheel thickness has more 5~10mm.
4. according to claim 3 in industrial robot helical teeth vuilt-up crankshaft formula RV decelerators, it is characterised in that：Described First, the second eccentric bushing (10,12) endoporus is connected with planet axis (16) with internal helical gear pair, wherein interior helical teeth circle is accurate using plasticity Shaping, one end of first eccentric bushing (10) is close to the second circlip for shaft (18), and the other end is elastic with first axle Compression spring (8) is provided between back-up ring (7), second eccentric bushing (12) is placed in the circlip for shaft of planet axis (16) second (18) between the 3rd circlip for shaft, so as to form fine tuning phase mechanism.
5. according to claim 4 in industrial robot helical teeth vuilt-up crankshaft formula RV decelerators, it is characterised in that：Described Compression spring (8) is disk spring.
CN201611181682.6A 2016-12-09 2016-12-09 The RV decelerators of helical teeth vuilt-up crankshaft formula in industrial robot Pending CN106989142A (en)

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Application Number Priority Date Filing Date Title
CN201611181682.6A CN106989142A (en) 2016-12-09 2016-12-09 The RV decelerators of helical teeth vuilt-up crankshaft formula in industrial robot

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110185748A (en) * 2019-06-05 2019-08-30 南通振康机械有限公司 Integral type robot joint structure
EP3620269A1 (en) 2018-09-07 2020-03-11 Fruitcore Gmbh Hinge bearing for a robot comprising an elastically compressible pre-loading element
CN113404819A (en) * 2021-06-29 2021-09-17 重庆大学 Gap-adjustable helical gear speed reducer

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3620269A1 (en) 2018-09-07 2020-03-11 Fruitcore Gmbh Hinge bearing for a robot comprising an elastically compressible pre-loading element
WO2020049152A1 (en) 2018-09-07 2020-03-12 Fruitcore Gmbh Joint bearing for a robot with elastically compressible pre-tensioning element
US11318605B2 (en) 2018-09-07 2022-05-03 Fruitcore Robotics Gmbh Joint bearing for a robot with an elastically compressible pretensioning element
CN110185748A (en) * 2019-06-05 2019-08-30 南通振康机械有限公司 Integral type robot joint structure
CN110185748B (en) * 2019-06-05 2022-02-22 南通振康机械有限公司 Integrated robot joint structure
CN113404819A (en) * 2021-06-29 2021-09-17 重庆大学 Gap-adjustable helical gear speed reducer

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