CN108087501B - Speed reducer structure and robot with same - Google Patents

Speed reducer structure and robot with same Download PDF

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Publication number
CN108087501B
CN108087501B CN201711456557.6A CN201711456557A CN108087501B CN 108087501 B CN108087501 B CN 108087501B CN 201711456557 A CN201711456557 A CN 201711456557A CN 108087501 B CN108087501 B CN 108087501B
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CN
China
Prior art keywords
needle
pin
gear
tooth
chamfer
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Active
Application number
CN201711456557.6A
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Chinese (zh)
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CN108087501A (en
Inventor
程中甫
崔中
刘成
杨方元
胡余生
魏会军
郭霜
许甲岿
田珍珍
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Gree Green Refrigeration Technology Center Co Ltd of Zhuhai
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Gree Green Refrigeration Technology Center Co Ltd of Zhuhai
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Priority to CN201711456557.6A priority Critical patent/CN108087501B/en
Publication of CN108087501A publication Critical patent/CN108087501A/en
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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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/12—Toothed members; Worms with body or rim assembled out of detachable parts
    • 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
    • F16H57/0463—Grease lubrication; Drop-feed lubrication
    • F16H57/0464—Grease lubrication
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • 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

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

Abstract

The invention provides a speed reducer structure and a robot with the same. The cycloidal gear component is arranged in the needle tooth socket. The pin gear part comprises a first pin gear and a second pin gear, and the first pin gear and the second pin gear are arranged in the pin tooth groove and are positioned between the outer peripheral surface of the cycloidal gear assembly and the groove bottom of the pin tooth groove. The needle teeth part adopts split needle teeth, namely a first needle tooth and a second needle tooth, so that the cycloidal gear component and the split needle teeth are relatively independent in action, and the deflection angle of the needle teeth is effectively reduced. When one cycloid of the cycloid wheel component is meshed with the pin gear to bear force, the length of the axis of the pin gear is shortened, so that the contact area of the pin gear and the cycloid is not influenced by the machining error of the pin gear hole or the cycloid contour axis any more, and the pin gear component can be fully contacted and meshed. In addition, the split needle teeth are adopted, and a clearance channel is formed at the joint of the split needle teeth, so that lubrication of the needle teeth is facilitated.

Description

Speed reducer structure and robot with same
Technical Field
The invention relates to the technical field of speed reducer equipment, in particular to a speed reducer structure and a robot with the same.
Background
The traditional RV reducer has the characteristics of large transmission ratio, large output torque, high efficiency, high precision, stable operation and the like, and is mainly used for transmission equipment with low rotation speed and high torque output. The pin gear structure of the RV reducer is a cylindrical structure, and each pin gear simultaneously acts with two cycloidal gears during operation. However, the pin gear structure adopts a cylindrical shape and can be meshed with the cycloidal gear to cause insufficient lubrication, and during transmission, the contact area between the cycloidal gear and the pin gear is reduced after the cycloidal gear is stressed and deformed, so that the stress strain is increased, the abrasion and deformation of the cycloidal gear are increased, the service life is shortened, and the movement precision is reduced. Even the stress concentration of the needle teeth occurs, the deflection angle is increased, and the situation that the needle teeth are squeezed and cracked is directly caused.
The prior art adopts a method of shaping the needle teeth to overcome the problems, and the needle teeth are shaped into concave shapes, so that the contact part of the cycloidal gear and the needle teeth is shaped into semi-convex shapes. The needle tooth groove is convex after being trimmed in the hole inner wall where the needle tooth is arranged, and the contact part of the needle tooth groove and the needle tooth is semi-convex. Secondly, after the needle teeth are repaired, higher requirements are put on the assembly of the whole machine, namely, the needle teeth cannot be assembled after the cycloid and the needle tooth grooves are assembled, and the assembly difficulty is increased. In addition, the acting force between the cycloidal gear and the needle teeth is large in the running process of the speed reducer, the needle teeth are deformed unevenly due to heat by using the needle teeth after the shaping, the possibility of the needle teeth being squeezed and cracked is increased, and the structural scheme provides higher requirements for machining cycloid and needle tooth grooves.
Disclosure of Invention
The invention mainly aims to provide a speed reducer structure and a robot with the speed reducer structure, so as to solve the problem that pin teeth are easy to deform in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a decelerator structure comprising: the inner wall of the needle tooth socket is provided with the needle tooth socket; the cycloidal gear assembly is arranged in the needle tooth socket; the pin gear part comprises a first pin gear and a second pin gear, and the first pin gear and the second pin gear are arranged in the pin tooth groove and are positioned between the outer peripheral surface of the cycloidal gear assembly and the bottom of the pin tooth groove.
Further, the cycloidal gear assembly includes: the upper cycloidal gear is arranged in the needle tooth groove, and the first needle tooth is positioned between the outer peripheral surface of the upper cycloidal gear and the bottom of the needle tooth groove; the lower cycloidal gear is arranged in the pin tooth groove and below the upper cycloidal gear, the second pin tooth is positioned between the outer peripheral surface of the lower cycloidal gear and the groove bottom of the pin tooth groove, and the first pin tooth and the second pin tooth are coaxially arranged.
Further, a first chamfer is arranged between the outer peripheral surface of the first needle tooth and the upper end surface of the first needle tooth, and a second chamfer is arranged between the outer peripheral surface of the first needle tooth and the lower end surface of the first needle tooth.
Further, a third chamfer is arranged between the outer peripheral surface of the upper cycloid wheel and the upper end surface of the upper cycloid wheel, and a fourth chamfer is arranged between the outer peripheral surface of the upper cycloid wheel and the lower end surface of the upper cycloid wheel.
Further, the first chamfer is smaller than the third chamfer and/or the second chamfer is smaller than the fourth chamfer.
Further, a fifth chamfer is arranged between the outer peripheral surface of the second needle tooth and the upper end surface of the second needle tooth, and a sixth chamfer is arranged between the outer peripheral surface of the second needle tooth and the lower end surface of the second needle tooth.
Further, a seventh chamfer is arranged between the outer peripheral surface of the lower cycloid gear and the upper end surface of the lower cycloid gear, and an eighth chamfer is arranged between the outer peripheral surface of the lower cycloid gear and the lower end surface of the lower cycloid gear.
Further, the fifth chamfer is smaller than the seventh chamfer and/or the sixth chamfer is smaller than the eighth chamfer.
Further, the end of the first needle tooth is arranged with a distance from the end of the second needle tooth.
Further, an annular step is arranged on the inner peripheral surface of the needle tooth groove, the needle tooth groove is arranged on the annular step along the axial direction of the needle tooth groove, and the sum of the thicknesses of the upper cycloidal gear and the lower cycloidal gear in the vertical direction is smaller than the thickness of the annular step in the vertical direction.
Further, the sum of the lengths of the first pin teeth and the second pin teeth in the vertical direction is larger than the sum of the thicknesses of the upper cycloidal gear and the lower cycloidal gear in the vertical direction.
Further, the needle tooth grooves are multiple, the needle tooth grooves are arranged at intervals along the inner wall of the needle tooth groove, the needle tooth parts are multiple, and the needle tooth parts are in one-to-one correspondence with the needle tooth grooves.
According to another aspect of the present invention, there is provided a robot including a decelerator structure as described above.
By applying the technical scheme of the invention, the speed reducer structure comprises a needle tooth groove, a cycloidal gear assembly and a needle tooth part, wherein the needle tooth groove is arranged on the inner wall of the needle tooth groove. The cycloidal gear component is arranged in the needle tooth socket. The pin gear part comprises a first pin gear and a second pin gear, and the first pin gear and the second pin gear are arranged in the pin tooth groove and are positioned between the outer peripheral surface of the cycloidal gear assembly and the groove bottom of the pin tooth groove. The needle teeth part adopts split needle teeth, namely a first needle tooth and a second needle tooth, so that the cycloidal gear component and the split needle teeth are relatively independent in action, the deflection angle of the needle teeth is effectively reduced, and the condition that the needle teeth deform is avoided. When one cycloid of the cycloid wheel component is meshed with the pin gear to bear force, the length of the axis of the pin gear is shortened, so that the contact area of the pin gear and the cycloid is not influenced by the machining error of the pin gear hole or the cycloid contour axis any more, and the pin gear component can be fully contacted and meshed. In addition, the split needle teeth are adopted, and a clearance channel is formed at the joint of the split needle teeth, so that lubrication of the needle teeth is facilitated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 shows a schematic cross-sectional structural view of an embodiment of a decelerator structure according to the present invention;
FIG. 2 shows a schematic structural view of the enlarged structure of FIG. 1 at A;
fig. 3 shows a schematic structural view of an embodiment of a decelerator structure according to the present invention.
Wherein the above figures include the following reference numerals:
10. needle tooth sockets; 11. an annular step;
20. cycloidal gear assembly; 21. an upper cycloidal gear; 22. a lower cycloidal gear;
30. a needle tooth portion; 31. a first needle tooth; 32. a second needle tooth;
41. a rigid disk; 42. a planet carrier; 43. a planetary gear; 44. a crankshaft; 45. needle gear bearing.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in connection with fig. 1 to 3, according to an embodiment of the present invention, there is provided a decelerator structure.
Specifically, the reducer structure includes a pin slot 10, a cycloidal gear assembly 20, and a pin gear portion 30. Needle tooth grooves are arranged on the inner wall of the needle tooth groove 10. The cycloidal gear assembly 20 is disposed in the pin gear slot 10. The pin gear part 30 includes first and second pin gears 31 and 32, and the first and second pin gears 31 and 32 are disposed in the pin grooves and between the outer circumferential surface of the cycloid gear assembly 20 and the bottoms of the pin grooves.
In the embodiment, the split needle teeth, namely the first needle teeth 31 and the second needle teeth 32, are adopted, so that the cycloidal gear assembly is relatively independent from the split needle teeth in action, the offset angle of the needle teeth is effectively reduced, and the condition that the needle teeth deform is avoided. When one cycloid of the cycloid wheel component is meshed with the pin gear to bear force, the length of the axis of the pin gear is shortened, so that the contact area of the pin gear and the cycloid is not influenced by the machining error of the pin gear hole or the cycloid contour axis any more, and the pin gear component can be fully contacted and meshed. In addition, the split needle teeth are adopted, and a clearance channel is formed at the joint of the split needle teeth, so that lubrication of the needle teeth is facilitated.
As shown in fig. 1, the cycloidal gear assembly 20 includes an upper cycloidal gear 21 and a lower cycloidal gear 22. The upper cycloidal gear 21 is disposed in the pin gear groove 10, and the first pin gear 31 is located between the outer circumferential surface of the upper cycloidal gear 21 and the groove bottom of the pin gear groove. The lower cycloidal gear 22 is disposed in the pin gear slot 10 and below the upper cycloidal gear 21. The second pin teeth 32 are located between the outer peripheral surface of the lower cycloidal gear 22 and the groove bottoms of the pin grooves, and the first pin teeth 31 are disposed coaxially with the second pin teeth 32. This is arranged to facilitate the meshing contact of the upper cycloidal gear 21 with the first pin gear 31 and the lower cycloidal gear 22 with the second pin gear 32.
Further, a first chamfer is provided between the outer peripheral surface of the first needle teeth 31 and the upper end surface of the first needle teeth 31, and a second chamfer is provided between the outer peripheral surface of the first needle teeth 31 and the lower end surface of the first needle teeth 31. The arrangement is convenient for filling lubricating grease into the chamfer clearance of the first pin teeth 31, and the first pin teeth 31 are effectively cooled in the running process by means of the flowing of the lubricating grease.
In the present embodiment, a third chamfer is provided between the outer peripheral surface of the upper cycloid gear 21 and the upper end surface of the upper cycloid gear 21, and a fourth chamfer is provided between the outer peripheral surface of the upper cycloid gear 21 and the lower end surface of the upper cycloid gear 21. This arrangement facilitates grease seeping from the third chamfer and the fourth chamfer.
Wherein the first chamfer is smaller than the third chamfer or the second chamfer is smaller than the fourth chamfer. The grease which is convenient for the first chamfer and the second chamfer to be more absorbed by the third chamfer and the fourth chamfer is arranged in this way.
In the present embodiment, a fifth chamfer is provided between the outer peripheral surface of the second needle tooth 32 and the upper end surface of the second needle tooth 32, and a sixth chamfer is provided between the outer peripheral surface of the second needle tooth 32 and the lower end surface of the second needle tooth 32. The arrangement is convenient for filling lubricating grease into the chamfer clearance of the second pin teeth 32, and the second pin teeth 32 are effectively cooled in the running process by means of the flowing of the lubricating grease.
In the present embodiment, a seventh chamfer is provided between the outer peripheral surface of the lower cycloid gear 22 and the upper end surface of the lower cycloid gear 22, and an eighth chamfer is provided between the outer peripheral surface of the lower cycloid gear 22 and the lower end surface of the lower cycloid gear 22. This arrangement facilitates grease seeping from the seventh chamfer and the eighth chamfer.
Further, the fifth chamfer is smaller than the seventh chamfer or the sixth chamfer is smaller than the eighth chamfer. This arrangement facilitates the fifth chamfer and the sixth chamfer to receive more grease from the seventh chamfer and the eighth chamfer.
In the present embodiment, the end of the first needle teeth 31 and the end of the second needle teeth 32 are provided with a distance therebetween. The arrangement is such that the gap between the end of the first needle teeth 31 and the end of the second needle teeth 32 is facilitated to be penetrated with grease, and the first needle teeth 31 and the second needle teeth 32 in the running process are effectively cooled.
In the present embodiment, an annular step 11 is provided on the inner peripheral surface of the pin tooth groove 10, the pin tooth groove is provided on the annular step 11 in the axial direction of the pin tooth groove 10, and the sum of the thicknesses of the upper cycloid gear 21 and the lower cycloid gear 22 in the vertical direction is smaller than the thickness of the annular step 11 in the vertical direction. This arrangement facilitates sufficient spatial movement of the upper and lower cycloidal gears 21 and 22.
Further, the sum of the lengths of the first pin teeth 31 and the second pin teeth 32 in the vertical direction is larger than the sum of the thicknesses of the upper cycloidal gear 21 and the lower cycloidal gear 22 in the vertical direction. This arrangement facilitates the first pin gear 31 and the second pin gear 32 to be brought into more sufficient meshing contact with the upper cycloidal gear 21 and the lower cycloidal gear 22.
The number of needle tooth grooves is plural, the plurality of needle tooth grooves are provided at intervals along the inner wall of the needle tooth groove 10, the number of needle tooth portions 30 is plural, and the plurality of needle tooth portions 30 are in one-to-one correspondence with the plurality of needle tooth grooves. The arrangement is convenient for effectively cooling the needle teeth 30 through the lubricating grease in the closed space.
Further, the reducer structure in the above embodiment may also be used in the technical field of robot equipment, that is, according to another aspect of the present invention, a robot is provided. The robot comprises a decelerator structure, which is the decelerator structure in the above embodiment.
In this embodiment, the purpose of reducing input rotation speed and improving output torque is achieved on the robot joint through two-stage deceleration by adopting the technical scheme, and the one-time working time of the robot is prolonged, and the service life is longer.
Specifically, the embodiment of the invention solves the technical effects that the contact area between the cycloidal gear and the pin teeth is not greatly reduced after the cycloidal gear is stressed and deformed during transmission; the lubrication of the needle teeth is facilitated, so that the needle teeth are not overheated; the problem of large needle tooth deflection angle is greatly improved; the service life and the reliability of the whole machine are improved.
The traditional RV reducer comprises the following parts: needle tooth grooves, a rigid disk 41, a planet carrier 42, needle teeth, cycloid gears, a planet gear 43, a crankshaft 44, a needle tooth bearing 45, a tapered roller bearing and an angular contact bearing. The pin tooth groove comprises two bearing positions at two ends of the axis of the pin tooth groove, and the two bearing positions are respectively used for mounting angular contact. The middle clamping part of the angular contact bearing mounting surface is a key processing part of the needle tooth groove, and needle tooth holes with the same size and a large number are uniformly distributed in the inner ring of the middle clamping part. Each pair of needle teeth comprises an upper needle tooth and a lower needle tooth, and each pair of needle teeth is simultaneously arranged in the same needle tooth hole along the axial direction. The crankshaft assembly consists of a crankshaft, needle tooth bearings, tapered roller bearings and a planetary gear, wherein the crankshaft is provided with two crank blocks, the needle tooth bearings are arranged at the positions of the crank blocks, and the positions of supporting axes at two ends of the crankshaft are respectively restrained by the two tapered roller bearings. Wherein the planetary gear and the crankshaft are connected in a spline manner. The speed reducer comprises 2 to 3 crankshaft assemblies so as to achieve the purpose of power split. The speed reducer is also provided with a planet carrier and a rigid disc, which are respectively arranged on the upper end surface and the lower end surface of the middle clamping part of the needle gear groove through angular contact bearings, and the planet carrier and the rigid disc are fixed together to form a supporting frame of the crankshaft. The outer rings of tapered roller bearings arranged at the positions of supporting axes at two ends of the crankshaft are respectively arranged on a supporting frame formed by the planet carrier and the rigid disc. The RV reducer is also provided with two cycloidal gears, the two cycloidal gears are respectively connected with a pin gear bearing of the crankshaft through bearing holes, and the outer contour of each cycloidal gear is contacted with the pin gear. And the number of teeth of the cycloidal gear is one tooth less than that of the needle teeth.
When the speed reducer operates, the first-stage transmission is completed through the meshing of the input shaft gear and the planetary gear, and meanwhile, the planetary gear and the crankshaft are restrained to drive the crankshaft to rotate. And the cycloid bearing hole is connected with the crank block of the crankshaft through the pin gear bearing, so that cycloid motion is caused. The cycloid and the needle teeth enable the cycloid to do speed-reducing rotation motion through the principle of small tooth difference. After the complete machine is assembled, the two cycloid gears are restrained by the upper and lower angular contact bearings to limit the axial displacement of the cycloid gears. The total thickness of the cycloid gear is slightly smaller than the distance between the outer rings of the two angular contact bearings, so that the cycloid gear can be displaced up and down by a small amount in operation, and lubricating grease can enter. The pin teeth are also limited by the two angular contact bearings in the axial direction, the combined length of the pin tooth components is smaller than the axial distance corresponding to the outer rings of the two angular contact bearings, and the pin tooth components can axially float in the pin tooth holes in a proper amount. The first needle teeth and the second needle teeth have the same structure, the same size and the same tolerance. The chamfer is carried out to the both sides terminal surface of needle tooth, and the chamfer of needle tooth both ends face is less than the chamfer at cycloid gear both ends face tooth profile edge to make on the prerequisite that cycloid and needle tooth all can be under the axis displacement, the upper and lower both sides edge of cycloid tooth profile all contacts with the face of cylinder of needle tooth, prevents because needle tooth and cycloid contact portion are less, thereby forms stress concentration to the needle tooth. And the machining quality of the end faces of the needle teeth is higher, so that the influence on the reliability of the whole machine caused by abrasive dust generated between the end faces of the two needle teeth and between the needle teeth and the angular contact bearing due to friction is avoided. The axial length of the single needle teeth can be equal to or slightly less than the thickness of the single cycloidal gear so as to ensure that a certain axial movement space can be provided in the needle teeth holes between the first needle teeth and the second needle teeth. Meanwhile, a smaller gap can be formed between the first needle teeth and the second needle teeth, so that lubricating grease can conveniently enter the gap between the first needle tooth tops, the second needle tooth bottoms and the second needle teeth, and the lubricating grease filled in the gap between the two cycloidal plane surfaces can be conveniently introduced, and the needle teeth can be effectively cooled in the running process of the whole machine by means of the flowing of the lubricating grease.
The needle tooth part adopts split needle teeth, so that the actions of the upper cycloidal gear and the lower cycloidal gear and the needle teeth are relatively independent, and the offset angle of the needle teeth is effectively reduced. When one cycloid is stressed in the meshing process, the length of the pin tooth axis is shortened, so that the contact area of the pin tooth and the cycloid is not influenced by the pin tooth hole or the machining error of the cycloid contour axis any more, the pin tooth can be fully contacted, in addition, the split pin tooth is adopted, and a clearance channel is formed at the joint of the two pin teeth in the same pin tooth hole, thereby being beneficial to lubrication of the pin tooth. The scheme does not increase the processing difficulty while optimizing the stress and improving the reliability of the whole machine, so that the implementation is easier.
Separate needle teeth are used in the same needle tooth hole. The two small needle teeth with the same diameter and the same length as the original proposal are used for replacing the small needle teeth with the same specification, and the needle teeth are chamfered at the contact surface of the two needle teeth, thereby being beneficial to the entering of lubricating grease. The joint surface of the two pin teeth can be further processed, so that the friction between the two pin teeth is reduced.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A speed reducer structure, characterized by comprising:
the needle tooth socket (10) is arranged on the inner wall of the needle tooth socket (10);
the cycloidal gear assembly (20) is arranged in the needle tooth groove (10);
a needle tooth part (30), wherein the needle tooth part (30) comprises a first needle tooth (31) and a second needle tooth (32), and the first needle tooth (31) and the second needle tooth (32) are arranged in the needle tooth groove and are positioned between the outer peripheral surface of the cycloidal gear assembly (20) and the groove bottom of the needle tooth groove;
the cycloidal gear assembly (20) includes:
an upper cycloid gear (21) arranged in the pin tooth groove (10), wherein the first pin teeth (31) are positioned between the outer peripheral surface of the upper cycloid gear (21) and the bottom of the pin tooth groove;
a lower cycloidal gear (22) arranged in the pin tooth groove (10) and positioned below the upper cycloidal gear (21), wherein the second pin teeth (32) are positioned between the outer peripheral surface of the lower cycloidal gear (22) and the bottom of the pin tooth groove, and the first pin teeth (31) and the second pin teeth (32) are coaxially arranged;
a first chamfer is arranged between the outer peripheral surface of the first needle tooth (31) and the upper end surface of the first needle tooth (31), and a second chamfer is arranged between the outer peripheral surface of the first needle tooth (31) and the lower end surface of the first needle tooth (31).
2. The speed reducer structure according to claim 1, characterized in that a third chamfer is provided between the outer peripheral surface of the upper cycloid gear (21) and the upper end surface of the upper cycloid gear (21), and a fourth chamfer is provided between the outer peripheral surface of the upper cycloid gear (21) and the lower end surface of the upper cycloid gear (21).
3. The reducer structure of claim 2, wherein the first chamfer is smaller than the third chamfer and/or the second chamfer is smaller than the fourth chamfer.
4. The speed reducer structure according to claim 1, characterized in that a fifth chamfer is provided between the outer peripheral surface of the second needle tooth (32) and the upper end surface of the second needle tooth (32), and a sixth chamfer is provided between the outer peripheral surface of the second needle tooth (32) and the lower end surface of the second needle tooth (32).
5. The speed reducer structure according to claim 4, characterized in that a seventh chamfer is provided between the outer peripheral surface of the lower cycloid gear (22) and the upper end surface of the lower cycloid gear (22), and an eighth chamfer is provided between the outer peripheral surface of the lower cycloid gear (22) and the lower end surface of the lower cycloid gear (22).
6. The reducer structure of claim 5, wherein the fifth chamfer is smaller than the seventh chamfer and/or the sixth chamfer is smaller than the eighth chamfer.
7. A reducer structure according to claim 1, characterized in that the end of the first needle tooth (31) is arranged with a distance from the end of the second needle tooth (32).
8. The speed reducer structure according to claim 1, characterized in that an annular step (11) is provided on an inner peripheral surface of the pin tooth groove (10), the pin tooth groove is provided on the annular step (11) in an axial direction of the pin tooth groove (10), and a sum of thicknesses of the upper cycloidal gear (21) and the lower cycloidal gear (22) in a vertical direction is smaller than a thickness of the annular step (11) in the vertical direction.
9. The speed reducer structure according to claim 8, wherein a sum of lengths in a vertical direction of the first pin teeth (31) and the second pin teeth (32) is larger than a sum of thicknesses in a vertical direction of the upper cycloidal gear (21) and the lower cycloidal gear (22).
10. The speed reducer structure according to claim 1, wherein the number of the needle tooth grooves is plural, the plurality of the needle tooth grooves are provided at intervals along the inner wall of the needle tooth groove (10), the number of the needle tooth portions (30) is plural, and the plurality of the needle tooth portions (30) are in one-to-one correspondence with the plurality of the needle tooth grooves.
11. A robot comprising a decelerator structure, characterized in that the decelerator structure is a decelerator structure as claimed in any one of claims 1 to 10.
CN201711456557.6A 2017-12-26 2017-12-26 Speed reducer structure and robot with same Active CN108087501B (en)

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CN201711456557.6A CN108087501B (en) 2017-12-26 2017-12-26 Speed reducer structure and robot with same

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CN108916370B (en) * 2018-09-25 2020-04-21 珠海格力电器股份有限公司 Reduction gear and robot
CN109139881A (en) * 2018-09-25 2019-01-04 珠海格力电器股份有限公司 Needle tooth, retarder and robot
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