CN109139815A - A kind of closed cycloid speed reducer of industrial robot high-precision - Google Patents
A kind of closed cycloid speed reducer of industrial robot high-precision Download PDFInfo
- Publication number
- CN109139815A CN109139815A CN201811316307.7A CN201811316307A CN109139815A CN 109139815 A CN109139815 A CN 109139815A CN 201811316307 A CN201811316307 A CN 201811316307A CN 109139815 A CN109139815 A CN 109139815A
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- CN
- China
- Prior art keywords
- planet carrier
- speed reducer
- sun gear
- industrial robot
- cycloid speed
- 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.)
- Pending
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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
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
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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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
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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
- 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 cycloid speed reducer technical fields, and in particular to a kind of closed cycloid speed reducer of industrial robot high-precision.Including input flange seat (1), planetary gear (2), outside framework oil seal (3), sun gear (4), pillar taper pin (5), preceding planet carrier (6), needle shell (7), Cycloidal Wheel (8), eccentric shaft (9), planet carrier (10) and needle roller (11) afterwards, the input flange seat (1) is mounted on sun gear (4) right end, the outside framework oil seal (3) is mounted on input flange seat (1), planet carrier (10) and preceding planet carrier (6) are successively sleeved at left and right sides of the axis body of sun gear (4) by bearing after described.The present invention replaces the biggish duplex fixed star tooth of volume and input gear axle using king-size sun gear, increases input flange seat and outside framework oil seal, can reduce speed reducer volume using the structure.
Description
Technical field
The present invention relates to cycloid speed reducer technical fields, and in particular to a kind of closed cycloid of industrial robot high-precision
Speed reducer.
Background technique
It is on Cycloidal pin-wheel drive basis that robot, which is driven with RV (Rot-vector) and (belongs to crank-type planetary differential),
On a kind of Novel transmission for growing up, be mainly characterized by that transmission ratio is big, and large carrying capacity, rigidity is big, kinematic accuracy is high, passes
Efficiency of movement is high, and return difference is small, has smaller volume and bigger overload capacity than simple cycloid pinwheel planetary gear transmission system, and export
Axis rigidity is big thus in widespread attention at home and abroad, has largely gradually replaced simple cycloidal-pin wheel planetary and has passed
Dynamic and harmonic drive.RV transmission wherein has two extremely stringent technical indicators: driving error is no more than 1 '；According to RV retarder
Model specified gap return difference (Backlash) be no more than 1 '~1.5 '.In addition, running at rated loads, including flexible deformation
Total return difference including caused return difference is no more than 6 '.Due to design structure, many RV speed reducer volumes are big, installation requirement
Precision is high, is not convenient to use in some situations.Since the high-accuracy cycloid difference tooth speed reducer of robot carries big, transmission accuracy
How height designs the RV speed reducer that small in size, precision is high, at low cost, structurally reasonable, at the problem faced now.In order to
It solves the problems, such as above-mentioned various, is badly in need of a kind of closed cycloid speed reducer of robot high-precision now.
Chinese invention patent (CN105299148A) discloses a kind of needle tooth cycloidal reducer, including cycloid disc, pin wheel housing
And the needle tooth assembly being clamped between cycloid disc and pin wheel housing, the needle tooth assembly include several along pin wheel housing inside circumference direction
Equally distributed elastic roller combination, the elastic roller combination include elastic roller and are radially held and mounted on along pin wheel housing
Elastic element between elastic roller and pin wheel housing.It can be seen that on the one hand needle tooth cycloidal reducer of the present invention can pass through elasticity
The mutual cooperation of roller and elastic element guarantees effectively contacting between elastic roller and cycloid disc, to guarantee that its stress is held
Carry effect；On the other hand, it can produce and be slightly distorted when elastic roller is under pressure larger, so that it will not be crushed or wear,
Improve the service life of needle tooth cycloidal reducer of the present invention, thus it is this reduce to process by way of increasing elastic element make
For the requirement of the accuracy of manufacture during making.
Chinese utility model patent (CN207365567U) discloses a kind of cycloidal planetary gear speed reducer structure comprising shell,
Two Cycloidal Wheels, needle roller and output shaft are formed with ring gear on the case inside wall, which is formed with outer toothed portion,
Two Cycloidal Wheels are installed in the shell, which is located between the outer toothed portion of the Cycloidal Wheel and the ring gear of the shell,
The output shaft is connect with the Cycloidal Wheel, it is characterised in that the cycloidal planetary gear speed reducer structure further includes shell, mounting rack, input tooth
Wheel, transmission gear and the first transmission shaft, the mounting rack include mounting portion, protrude out the first adjacent eccentric part for being formed in mounting portion
With the second eccentric part, which is located at the one end of first eccentric part far from the mounting portion, two Cycloidal Wheels point
It is not set on first eccentric part and second eccentric part, input gear coaxial arrangement is on the mounting portion, and the installation
The axis in portion is overlapped with the axis of the output shaft, which is set on the mounting portion, and wheel is formed on the housing interior side-wall
Teeth portion, the transmission gear be rotationally fixed in the mounting portion by first transmission shaft and with the input gear and the shell
Take turns teeth portion engagement.It can be seen that input gear and transmission gear are installed in mounting rack, and Cycloidal Wheel is set in mounting rack
On first eccentric part and the second eccentric part, so that input gear and output shaft are rotated around axis A, concentricity is higher and structure
It is compact.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of industrial robot high-precision
Closed cycloid speed reducer.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions, the invention discloses a kind of industrial machines
Device people closed cycloid speed reducer, including input flange seat (1), planetary gear (2), outside framework oil seal (3), fixed star tooth in high precision
Take turns (4), pillar taper pin (5), preceding planet carrier (6), needle shell (7), Cycloidal Wheel (8), eccentric shaft (9), rear planet carrier (10) and needle roller
(11), the input flange seat (1) is mounted on sun gear (4) right end, and the outside framework oil seal (3) is mounted on input flange seat
(1)
On, the rear planet carrier (10) and preceding planet carrier (6) are successively sleeved on sun gear by left-to-right by bearing
(4) on the outside of axis body, needle shell (7) right end is fixedly connected with input flange seat (1), and needle roller is equipped on the inside of the needle shell (7)
(11), it is connect by angular contact ball bearing with needle shell (7) on the outside of the rear planet carrier (10) and preceding planet carrier (6), after described
It is equipped with eccentric shaft (9) by bearing on planet carrier (10) and preceding planet carrier (6), eccentric shaft (9) right end is equipped with planet
Gear (2) is equipped with Cycloidal Wheel (8) on the eccentric wheel of the eccentric shaft (9), and the Cycloidal Wheel (8) uses single poor toothing, institute
It states Cycloidal Wheel (8) to contact with the needle roller (11), passes through pillar taper pin between planet carrier (10) and preceding planet carrier (6) after described
(5) it connects.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the outside framework oil seal
(3) gap location being sealingly mounted between the input flange seat (1) and sun gear (4).
The technical problem to be solved in the present invention can also further realize by the following technical programs, the sun gear
It (4) is long shaft-like structure.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the planet tooth
Taking turns (2) number of teeth is 24, modulus 1, and pressure angle is 20 °, facewidth 3mm.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the fixed star tooth
Taking turns (4) number of teeth is 48, modulus 1, and pressure angle is 20 °, facewidth 5mm.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the eccentric shaft
(9) eccentricity is 0.9mm.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the needle roller (11)
Outer diameter is Φ 4mm, length 14mm.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the preceding planet carrier
(6) it is connected by the axis body of deep groove ball bearing and sun gear.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the rear planet carrier
(10) it is connected by the axis body of deep groove ball bearing and sun gear.
The technical problem to be solved in the present invention can also further realize by the following technical programs, the input flange
Seat (1) is fixedly connected with needle shell (7) by threaded fastener.
Compared with the prior art, the present invention has the following advantages:
(1) present invention replaces the biggish duplex fixed star tooth of volume and input gear axle using king-size sun gear, increases
Add input flange seat and outside framework oil seal, can reduce speed reducer volume using the structure；
(2) present invention cancel first order Involutes Gears Transmission, formed an enclosed cycloid speed reducer, reduce by
It ensure that the precision of speed reducer simultaneously in first order involute transmission bring error；
(3) structure of the invention is reasonable, and Cycloidal Wheel is using single poor toothing, and single poor tooth engagement can realize high return difference requirement, more
Easily reduce transmission chain error, rigidity is more preferable, and backlash is smaller, can avoid occurring shaking in speed reducer use process and damping vibration mistake
Big situation；
(4) for the present invention by Cycloidal Wheel, needle roller, the full tooth rolling friction of needle shell, movement rigidity is good；(5) this invention simplifies
Structure design, fabricates convenient for part, reduces costs.
Detailed description of the invention
Fig. 1 is the schematic diagram of internal structure of the present invention；
Fig. 2 is the partition structural schematic diagram of main component in Fig. 1；
1- input flange seat；2- planetary gear；3- outside framework oil seal；4- sun gear；5- pillar taper pin；Planet carrier before 6-；
7- needle shell；8- Cycloidal Wheel；9- eccentric shaft；Planet carrier after 10-；11- needle roller.
Specific embodiment
As shown in Figs. 1-2, the invention discloses a kind of closed cycloid speed reducer of industrial robot high-precision, including it is defeated
Enter flange seat 1, planetary gear 2, outside framework oil seal 3, sun gear 4, pillar taper pin 5, preceding planet carrier 6, needle shell 7, Cycloidal Wheel 8, partially
Mandrel 9, rear planet carrier 10 and needle roller 11, the input flange seat 1 are mounted on 4 right end of sun gear, and the outside framework oil seal 3 is installed
On input flange seat 1, the rear planet carrier 10 and preceding planet carrier 6 pass through the axis body that bearing is successively sleeved on sun gear 4
The left and right sides, 7 right end of needle shell are fixedly connected with input flange seat 1, and needle roller 11, the rear row are equipped on the inside of the needle shell 7
Carrier 10 and 6 outside of preceding planet carrier are connect by angular contact ball bearing with needle shell 7, the rear planet carrier 10 and preceding planet carrier 6
On eccentric shaft 9 is equipped with by bearing, 9 right end of eccentric shaft is equipped with planetary gear 2, on the eccentric wheel of the eccentric shaft 9
Cycloidal Wheel 8 is installed, the Cycloidal Wheel 8 is contacted using single poor toothing, the Cycloidal Wheel 8 with the needle roller 11, the rear row
It is connected between carrier 10 and preceding planet carrier 6 by pillar taper pin 5.
The outside framework oil seal 3 is sealingly mounted at the gap location between the input flange seat 1 and sun gear 4.The perseverance
Star gear 4 is long shaft-like structure.2 number of teeth of planetary gear is 24, modulus 1, and pressure angle is 20 °, facewidth 3mm.
4 number of teeth of sun gear is 48, modulus 1, and pressure angle is 20 °, facewidth 5mm.9 eccentricity of eccentric shaft is
0.9mm.11 outer diameter of needle roller is Φ 4mm, length 14mm.The preceding planet carrier 6 passes through deep groove ball bearing and sun gear
Axis body connection.Planet carrier 10 is connected by the axis body of deep groove ball bearing and sun gear after described.The input flange seat 1 with
Needle shell 7 is fixedly connected by threaded fastener.
When actual motion, the sun gear 4 is used as input element；Described 4, two 2 structures of planetary gear of sun gear
At primary speed-down mechanism, sun gear 4 is rotated as input driving gear, by it from drive planetary gear 2 is transferred, planetary gear
2 not only rotation but also surround sun gear 4 revolution, the torque of increase and reduced revolving speed are transmitted to planetary gear by involute gear
On 2；The planetary gear 2 is provided with internal spline, and the torque of increase and reduced revolving speed are transmitted to eccentric shaft by internal spline
9；Described two eccentric shafts, 9, two Cycloidal Wheels 8, needle shell 7, preceding planet carrier 2, rear planet carrier 6 constitute two reduction gear, increase
Big torque is engaged with the gear of needle shell 7 by Cycloidal Wheel 8 with reduced revolving speed and is transmitted on rear planet carrier 10, rear planet carrier 10
As output element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of closed cycloid speed reducer of industrial robot high-precision, it is characterised in that: including input flange seat (1), row
Star gear (2), outside framework oil seal (3), sun gear (4), pillar taper pin (5), preceding planet carrier (6), needle shell (7), Cycloidal Wheel (8),
Eccentric shaft (9), rear planet carrier (10) and needle roller (11), the input flange seat (1) is mounted on sun gear (4) right end, described
Outside framework oil seal (3) is mounted on input flange seat (1), and the rear planet carrier (10) and preceding planet carrier (6) are by bearing by a left side
It is successively sleeved on the outside of the axis body of sun gear (4) to the right side, needle shell (7) right end is fixedly connected with input flange seat (1), institute
It states and is equipped with needle roller (11) on the inside of needle shell (7), pass through angular contact ball bearing on the outside of the rear planet carrier (10) and preceding planet carrier (6)
It connect with needle shell (7), is equipped with eccentric shaft (9) by bearing on the rear planet carrier (10) and preceding planet carrier (6), it is described inclined
Mandrel (9) right end is equipped with planetary gear (2), is equipped with Cycloidal Wheel (8), the Cycloidal Wheel on the eccentric wheel of the eccentric shaft (9)
(8) it contacts with the needle roller (11), is connected between planet carrier (10) and preceding planet carrier (6) by pillar taper pin (5) after described.
2. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
State the gap location that outside framework oil seal (3) is sealingly mounted between the input flange seat (1) and sun gear (4).
3. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
Stating sun gear (4) is long shaft-like structure.
4. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
Planetary gear (2) number of teeth stated is 24, modulus 1, and pressure angle is 20 °, facewidth 3mm.
5. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
Sun gear (4) number of teeth stated is 48, modulus 1, and pressure angle is 20 °, facewidth 5mm.
6. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
Eccentric shaft (9) eccentricity stated is 0.9mm.
7. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
Stating needle roller (11) outer diameter is Φ 4mm, length 14mm.
8. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
Preceding planet carrier (6) are stated to connect by the axis body of deep groove ball bearing and sun gear.
9. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that: institute
Rear planet carrier (10) are stated to connect by the axis body of deep groove ball bearing and sun gear.
10. a kind of closed cycloid speed reducer of industrial robot high-precision according to claim 1, it is characterised in that:
The input flange seat (1) is fixedly connected with needle shell (7) by threaded fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811316307.7A CN109139815A (en) | 2018-11-07 | 2018-11-07 | A kind of closed cycloid speed reducer of industrial robot high-precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811316307.7A CN109139815A (en) | 2018-11-07 | 2018-11-07 | A kind of closed cycloid speed reducer of industrial robot high-precision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109139815A true CN109139815A (en) | 2019-01-04 |
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ID=64807766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811316307.7A Pending CN109139815A (en) | 2018-11-07 | 2018-11-07 | A kind of closed cycloid speed reducer of industrial robot high-precision |
Country Status (1)
| Country | Link |
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| CN (1) | CN109139815A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109869458A (en) * | 2019-04-01 | 2019-06-11 | 长安大学 | A kind of speed reducer of multi-stage speed-reducing |
| CN110131361A (en) * | 2019-06-12 | 2019-08-16 | 南通振康机械有限公司 | A kind of all-sealed one-piece type deceleration device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106931081A (en) * | 2017-04-26 | 2017-07-07 | 珠海飞马传动机械有限公司 | A kind of robot high-accuracy cycloid difference tooth reductor |
| CN206592492U (en) * | 2016-11-21 | 2017-10-27 | 珠海飞马传动机械有限公司 | A kind of poor tooth reductor of high-accuracy cycloid |
| CN108533693A (en) * | 2017-03-02 | 2018-09-14 | 安徽欢颜机器人有限公司 | A kind of totally-enclosed hollow RV speed reducers of robot |
-
2018
- 2018-11-07 CN CN201811316307.7A patent/CN109139815A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206592492U (en) * | 2016-11-21 | 2017-10-27 | 珠海飞马传动机械有限公司 | A kind of poor tooth reductor of high-accuracy cycloid |
| CN108533693A (en) * | 2017-03-02 | 2018-09-14 | 安徽欢颜机器人有限公司 | A kind of totally-enclosed hollow RV speed reducers of robot |
| CN106931081A (en) * | 2017-04-26 | 2017-07-07 | 珠海飞马传动机械有限公司 | A kind of robot high-accuracy cycloid difference tooth reductor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109869458A (en) * | 2019-04-01 | 2019-06-11 | 长安大学 | A kind of speed reducer of multi-stage speed-reducing |
| CN110131361A (en) * | 2019-06-12 | 2019-08-16 | 南通振康机械有限公司 | A kind of all-sealed one-piece type deceleration device |
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Application publication date: 20190104 |