CN112228516A - Industrial robot precision reducer - Google Patents
Industrial robot precision reducer Download PDFInfo
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- CN112228516A CN112228516A CN202011198594.3A CN202011198594A CN112228516A CN 112228516 A CN112228516 A CN 112228516A CN 202011198594 A CN202011198594 A CN 202011198594A CN 112228516 A CN112228516 A CN 112228516A
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- industrial robot
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 description 14
- 230000001737 promoting effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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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
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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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
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a precision speed reducer of an industrial robot, which comprises a pressing disc, two cycloid wheels, an output disc, a pin gear shell, a plurality of crankshafts and an input gear shaft, wherein the pressing disc is arranged on the upper surface of the pressing disc; a plurality of needle teeth are uniformly embedded in the inner wall of the needle tooth shell to form an annular needle tooth group; the two cycloid gears are both internally meshed with the annular needle gear group; the input gear shaft penetrates through the center inside the pin gear shell; a plurality of planet gears are meshed outside the input gear shaft; the plurality of planet gears are all positioned between the two cycloid gears; a first eccentric section and a second eccentric section are arranged on the crank shaft at intervals; the crank shaft is provided with a central section, and the central section is positioned between the first eccentric section and the second eccentric section; the output disc is arranged in the needle gear shell, and a boss of the output disc penetrates through connecting holes of the two cycloid gears; the pressing disc is arranged in the needle gear shell and is connected with a boss of the output disc through a screw; the invention ensures the smoothness of the motion and power transmission of each component and obviously improves the bending rigidity and torsional rigidity performance of the speed reducer.
Description
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to a precision speed reducer of an industrial robot.
Background
The precision speed reducer is a core basic component for determining the service performance of the industrial robot. The cycloid transmission has become a key basic technology in the design and development of the precision speed reducer of the industrial robot due to the advantages of high transmission efficiency, large speed ratio, high rigidity and the like. At present, RV reducers taking cycloidal pin gear planetary transmission as a technical principle are widely applied to precision joint transmission of industrial robots.
The RV reducer is designed by adopting a two-stage transmission structure and comprises a first-stage gear transmission and a second-stage cycloid transmission. The input gear shaft penetrates through a central hole of the speed reducer and is in meshed transmission with a plurality of planetary gears hung on one side of the speed reducer, each planetary gear is connected with the crank shaft through a spline to ensure that the crank shaft and the planetary gears synchronously rotate, and the crank shaft simultaneously drives two cycloidal gears and the pinwheel to be in meshed transmission in the rotating process, so that the motion of the speed reducer and the rotating output of power are finally realized.
In the existing RV reducer transmission structure, the first-stage gear transmission is carried out on one side of the reducer and is influenced by elastic deformation of a component under the action of assembly errors and loads, the problem of uneven stress occurs to two cycloidal gears of the second stage and bearing bearings on two sides of a crankshaft, so that the transmission precision, the bearing capacity and the service life of the whole machine are influenced, and the circumferential space structure is not fully utilized. In addition, because the planet wheel hangs in reduction gear output dish one side, the effective part that the output dish is used for connecting the arm is less, leads to reduction gear output structure rigidity and bearing capacity not enough. Meanwhile, in the conventional RV reducer transmission structure, the limitation of the internal circumferential space is realized, the thickness size of the cycloid wheel is small, and the bearing capacity of cycloid transmission is reduced.
Accordingly, there is a need in the art for a retarder that overcomes the above-mentioned problems.
Disclosure of Invention
The technical scheme adopted for achieving the purpose of the invention is that the precision speed reducer of the industrial robot comprises a pressing disc, two cycloidal gears, an output disc, a pin gear shell, a plurality of crank shafts and an input gear shaft.
A plurality of needle teeth are uniformly embedded in the inner wall of the needle tooth shell to form an annular needle tooth group.
And the two cycloidal gears are internally meshed with the annular needle gear set, and the cycloidal gears and the annular needle gear set form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Each cycloid wheel center all has the through-hole. Each cycloid wheel is provided with a plurality of bearing holes in the circumferential direction, and each bearing hole is provided with a needle bearing. And a connecting hole is arranged between every two adjacent bearing holes. The input gear shaft penetrates through the inner center of the pin gear shell. The input gear shaft is externally engaged with a plurality of planetary gears. The planetary gears are all located between the two cycloid gears.
The crank shaft is provided with a first eccentric section and a second eccentric section at intervals. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode. The crank shaft is provided with a central section, and the central section is located between the first eccentric section and the second eccentric section.
A plurality of the crankshafts are all located in the pin gear shell. The central section of each crank shaft correspondingly penetrates into one planetary gear and is fixed, and the first eccentric section and the second eccentric section of each crank shaft correspondingly penetrate into the needle roller bearings of the two cycloidal gears respectively.
And a plurality of bosses which are matched with the connecting holes are arranged on the output disc. The output disc is circumferentially and uniformly distributed with a plurality of crankshaft accommodating holes I in the circumferential direction.
The output disc is installed in the needle gear shell, a boss of the output disc penetrates through connecting holes of the two cycloidal gears, and a gap is reserved between the boss and the connecting holes.
The center of the pressing disc is provided with a through hole for accommodating the input gear shaft. The pressing disc is circumferentially and uniformly distributed with a plurality of crank shaft accommodating holes II in the circumferential direction. The pressing disc is installed in the needle gear shell and connected with a boss of the output disc through a screw. One end of the crank shaft penetrates into a crank shaft accommodating hole II of the pressing disc, and the other end of the crank shaft penetrates into a crank shaft accommodating hole I of the output disc.
Further, the device also comprises two angular contact ball bearings.
The two angular contact ball bearings are respectively installed on two sides of the annular pin gear group to circumferentially position the annular pin gear group and the two cycloidal gears.
Furthermore, the output disc and the needle gear shell are sealed through an outer framework oil seal.
Further, an internal spline is arranged inside the planetary gear. And the central section of the crank shaft is provided with an external spline. The central section of the crankshaft is splined in the planetary gear.
Furthermore, the planetary gear is limited on the central section of the crank shaft through a circlip for the shaft.
Further, the connecting hole is a sector annular hole. The boss is a sector annular boss matched with the sector annular hole.
Further, a tapered roller bearing is arranged between the crank shaft and the crank shaft accommodating hole II. A tapered roller bearing is arranged between the crank shaft and the crank shaft accommodating hole I.
Furthermore, a hole elastic check ring for limiting the tapered roller bearing is arranged in the crankshaft accommodating hole II. And an annular step for limiting the tapered roller bearing is arranged in the crankshaft accommodating hole I.
The technical effect of the invention is undoubtedly that the structure adopted by the invention places the planetary gear of the first-stage transmission in the speed reducer and is positioned in the middle of the two cycloidal gears, so that the positions of the two cycloidal gears and the bearing at the two sides of the crankshaft are symmetrical relative to the position of the planetary gear, thereby not only balancing the load of the transmission parts in the speed reducer and obviously improving the working performance of the speed reducer, but also reducing the circumferential redundant space outside the speed reducer and increasing the effective part of the output disc for connecting the mechanical arm. On the premise of ensuring that the circumferential size of the whole speed reducer is not increased, the structural design effectively increases the thickness of the cycloid wheel, increases the distance between the main bearings and obviously improves the bending rigidity and torsional rigidity of the speed reducer.
Drawings
FIG. 1 is an exploded view of a precision reducer of an industrial robot;
FIG. 2 is a longitudinal sectional configuration view of a precision reducer of an industrial robot;
FIG. 3 is a sectional view taken along the line A-A of FIG. 2;
FIG. 4 is a sectional view taken along the plane B-B of FIG. 2;
FIG. 5 is a front view of the output tray;
FIG. 6 is a front view of the hold-down disk;
FIG. 7 is a cross-sectional view of a cycloidal gear;
fig. 8 is a view of an assembly of the planetary gear and the crank shaft.
In the figure: the planetary gear set comprises a pressing disc 1, a crankshaft accommodating hole II101, a cycloidal gear 2, a bearing hole 201, a connecting hole 202, a planetary gear 3, a shaft elastic retainer ring 4, an output disc 5, a boss 501, a crankshaft accommodating hole I502, needle teeth 6, a needle tooth shell 7, an outer skeleton oil seal 8, a needle bearing 9, a crankshaft 10, a tapered roller bearing 11, an angular contact ball bearing 12, a hole elastic retainer ring 13 and an input gear shaft 14.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
the embodiment discloses a precision speed reducer of an industrial robot, and the precision speed reducer comprises a pressing disc 1, two cycloidal gears 2, an output disc 5, a pin gear shell 7, three crank shafts 10, two angular contact ball bearings 12 and an input gear shaft 14, and is shown in figures 1 and 2.
The inner wall of the needle tooth shell 7 is uniformly embedded with a plurality of needle teeth 6 to form an annular needle tooth group.
Referring to fig. 3, 4 and 7, the two cycloidal gears 2 are both meshed with the annular needle tooth group, and the cycloidal gears 2 and the annular needle tooth group form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Each of the cycloid gears 2 has a through hole at the center. Three bearing holes 201 are uniformly distributed on the periphery of each cycloid wheel 2 in the circumferential direction, and a needle bearing 9 is installed in each bearing hole 201. A connecting hole 202 is processed between two adjacent bearing holes 201. The connecting hole 202 is a fan-shaped annular hole.
The two angular contact ball bearings 12 are respectively installed on two sides of the annular pin gear set to circumferentially position the annular pin gear set and the two cycloidal gears 2.
The input gear shaft 14 penetrates through the inner center of the pin gear case 7. The input gear shaft 14 is provided with external splines. The input gear shaft 14 is externally engaged with three planetary gears 3 through external splines. An internal spline is machined in the planetary gear 3. The three planetary gears 3 are all positioned between the two cycloid gears 2.
Referring to fig. 8, a first eccentric section and a second eccentric section having a circular cross section are spaced apart from each other on the crank shaft 10. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode. The crank shaft 10 is provided with a central section having a circular cross section, which is located between the first eccentric section and the second eccentric section. And the central section is provided with an external spline.
Three of said crankshafts 10 are located within the needle housing 7. Wherein, the central section of each crankshaft 10 correspondingly penetrates into one planetary gear 3 and is fixed, and the first eccentric section and the second eccentric section of the crankshaft 10 respectively correspondingly penetrate into the needle roller bearings 9 of the two cycloidal gears 2. In this embodiment, the central section is splined in the planetary gear 3.
The planetary gear 3 is limited on the central section of the crankshaft 10 through the elastic retainer ring 4 for the shaft, and the synchronous rotation of the gear 3 of the planetary gear 3 and the crankshaft 10 is ensured.
Referring to fig. 5, the output disc 5 is provided with three fan-shaped bosses 501 adapted to the connection holes 202, and three threaded holes are processed on the end surface of each fan-shaped boss 501. The output disc 5 is circumferentially and uniformly distributed with three crankshaft receiving holes I502 in the circumferential direction.
The output disc 5 is installed in the needle gear case 7, the boss 501 of the output disc 5 penetrates through the connecting holes 202 of the two cycloidal gears 2, and a gap is formed between the boss 501 and the connecting holes 202. The output disc 5 and the needle gear housing 7 are sealed through an outer framework oil seal 8.
Referring to fig. 6, the pressing plate 1 is centrally formed with a through hole for receiving the input gear shaft 14. The pressing disc 1 is circumferentially and uniformly distributed with three crankshaft accommodating holes II101 in the circumferential direction. The pressing disc 1 is installed in the needle gear shell 7, and the pressing disc 1 is connected with a boss 501 of the output disc 5 through a screw. One end of the crank shaft 10 penetrates into the crank shaft accommodating hole II101 of the pressing disk 1, and the other end penetrates into the crank shaft accommodating hole I502 of the output disk 5. A tapered roller bearing 11 is installed between the crank shaft 10 and the crank shaft receiving hole II 101. A tapered roller bearing 11 is mounted between the crankshaft 10 and the crankshaft receiving hole I502. A hole circlip 13 for restricting the tapered roller bearing 11 is attached to the crankshaft receiving hole II 101. An annular step for limiting the tapered roller bearing 11 is machined in the crankshaft accommodating hole I502, so that the crankshaft 10 is axially positioned.
During transmission, power is input through the input gear shaft 14, the input gear shaft 14 drives the planetary gear 3 to rotate, the planetary gear 3 is driven to drive the crank shaft 10 to rotate, the first eccentric section and the second eccentric section of the crank shaft 10 drive the two cycloidal gears 2 to rotate, the two cycloidal gears 2 drive the compression disc 1 and the output disc 5 to rotate relative to the needle gear shell 7 where the needle gears 6 are located, and the output of the power after speed reduction is completed through the output disc 5.
The accurate reduction gear of industrial robot that this embodiment discloses, place the reduction gear in the driven planetary gear 3 of first order in, and be located two cycloidal gear 2 intermediate positions, guaranteed between two cycloidal gear 2, between 10 both sides bearing shafts of crank axle, the homogeneous phase is for 3 position symmetries of planetary gear, not only can make the inside transmission spare part of reduction gear balanced bearing, showing and promoting reduction gear working property, and reduced the outside circumferential redundant space of reduction gear, the effective part that output disc 5 is used for connecting the arm has been increased. On the premise of ensuring that the circumferential size of the whole speed reducer is not increased, the structural design effectively increases the thickness of the cycloid wheel 2, increases the distance between the main bearings and obviously improves the bending rigidity and torsional rigidity of the speed reducer.
Example 2:
the present embodiment provides a basic implementation, a precision reducer for an industrial robot, see fig. 1 and 2, including a pressing plate 1, two cycloid gears 2, an output plate 5, a pin gear housing 7, three crank shafts 10, and an input gear shaft 14.
The inner wall of the needle tooth shell 7 is uniformly embedded with a plurality of needle teeth 6 to form an annular needle tooth group.
Referring to fig. 3, 4 and 7, the two cycloidal gears 2 are both meshed with the annular needle tooth group, and the cycloidal gears 2 and the annular needle tooth group form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Each of the cycloid gears 2 has a through hole at the center. Three bearing holes 201 are uniformly distributed on the periphery of each cycloid wheel 2 in the circumferential direction, and a needle bearing 9 is installed in each bearing hole 201. A connecting hole 202 is processed between two adjacent bearing holes 201.
The input gear shaft 14 penetrates through the inner center of the pin gear case 7. The input gear shaft 14 is provided with external splines. The input gear shaft 14 is externally engaged with three planetary gears 3 through external splines. The three planetary gears 3 are all positioned between the two cycloid gears 2.
Referring to fig. 8, a first eccentric section and a second eccentric section having a circular cross section are spaced apart from each other on the crank shaft 10. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode. The crank shaft 10 is provided with a central section having a circular cross section, which is located between the first eccentric section and the second eccentric section.
Three of said crankshafts 10 are located within the needle housing 7. Wherein, the central section of each crankshaft 10 correspondingly penetrates into one planetary gear 3 and is fixed, and the first eccentric section and the second eccentric section of the crankshaft 10 respectively correspondingly penetrate into the needle roller bearings 9 of the two cycloidal gears 2.
Referring to fig. 5, the output disc 5 is provided with three fan-shaped bosses 501 adapted to the connection holes 202, and three threaded holes are processed on the end surface of each fan-shaped boss 501. The output disc 5 is circumferentially and uniformly distributed with three crankshaft receiving holes I502 in the circumferential direction.
The output disc 5 is installed in the needle gear case 7, the boss 501 of the output disc 5 penetrates through the connecting holes 202 of the two cycloidal gears 2, and a gap is formed between the boss 501 and the connecting holes 202.
Referring to fig. 6, the pressing plate 1 is centrally formed with a through hole for receiving the input gear shaft 14. The pressing disc 1 is circumferentially and uniformly distributed with three crankshaft accommodating holes II101 in the circumferential direction. The pressing disc 1 is installed in the needle gear shell 7, and the pressing disc 1 is connected with a boss 501 of the output disc 5 through a screw. One end of the crank shaft 10 penetrates into the crank shaft accommodating hole II101 of the pressing disk 1, and the other end penetrates into the crank shaft accommodating hole I502 of the output disk 5.
During transmission, power is input through the input gear shaft 14, the input gear shaft 14 drives the planetary gear 3 to rotate, the planetary gear 3 is driven to drive the crank shaft 10 to rotate, the first eccentric section and the second eccentric section of the crank shaft 10 drive the two cycloidal gears 2 to rotate, the two cycloidal gears 2 drive the compression disc 1 and the output disc 5 to rotate relative to the needle gear shell 7 where the needle gears 6 are located, and the output of the power after speed reduction is completed through the output disc 5.
The accurate reduction gear of industrial robot that this embodiment discloses, place the reduction gear in the driven planetary gear 3 of first order in, and be located two cycloidal gear 2 intermediate positions, guaranteed between two cycloidal gear 2, between 10 both sides bearing shafts of crank axle, the homogeneous phase is for 3 position symmetries of planetary gear, not only can make the inside transmission spare part of reduction gear balanced bearing, showing and promoting reduction gear working property, and reduced the outside circumferential redundant space of reduction gear, the effective part that output disc 5 is used for connecting the arm has been increased. On the premise of ensuring that the circumferential size of the whole speed reducer is not increased, the structural design effectively increases the thickness of the cycloid wheel 2, increases the distance between the main bearings and obviously improves the bending rigidity and torsional rigidity of the speed reducer.
Example 3:
the main structure of this embodiment is the same as embodiment 2, and further includes two angular contact ball bearings 12.
The two angular contact ball bearings 12 are respectively installed on two sides of the annular pin gear set to circumferentially position the annular pin gear set and the two cycloidal gears 2.
Example 4:
the main structure of this embodiment is the same as that of embodiment 2, and the output disc 5 and the pin gear housing 7 are sealed by an outer framework oil seal 8.
Example 5:
the main structure of this embodiment is the same as that of embodiment 2, and the planetary gear 3 is internally provided with an internal spline. The central section of the crankshaft 10 is machined with external splines. The central section of the crank shaft 10 is splined in the planet gears 3.
The planetary gear 3 is limited on the central section of the crankshaft 10 through the elastic retainer ring 4 for the shaft, and the synchronous rotation of the gear 3 of the planetary gear 3 and the crankshaft 10 is ensured.
Example 6:
the main structure of this embodiment is the same as that of embodiment 2, and further, the connection hole 202 is a sector annular hole. The boss 501 is a sector annular boss matched with the sector annular hole, and four corners of the sector annular hole and four corners of the sector annular boss are rounded corners so as to reduce abrasion between the boss 501 and the cycloid wheel 2.
Example 7:
the main structure of this embodiment is the same as that of embodiment 2, and further, a tapered roller bearing 11 is installed between the crankshaft 10 and the crankshaft receiving hole II 101. A tapered roller bearing 11 is mounted between the crankshaft 10 and the crankshaft receiving hole I502. A hole circlip 13 for restricting the tapered roller bearing 11 is attached to the crankshaft receiving hole II 101. An annular step for limiting the tapered roller bearing 11 is machined in the crankshaft accommodating hole I502, so that the crankshaft 10 is axially positioned.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011198594.3A CN112228516B (en) | 2020-10-31 | 2020-10-31 | Industrial robot precision speed reducer |
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| CN202011198594.3A CN112228516B (en) | 2020-10-31 | 2020-10-31 | Industrial robot precision speed reducer |
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| CN112228516A true CN112228516A (en) | 2021-01-15 |
| CN112228516B CN112228516B (en) | 2024-07-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113090713A (en) * | 2021-04-02 | 2021-07-09 | 深圳市铭泰智能科技有限公司 | RV speed reducer |
| CN114001125A (en) * | 2021-11-12 | 2022-02-01 | 浙江环动机器人关节科技有限公司 | Ultra-low speed ratio high rigidity high accuracy cycloid pin gear planetary transmission reduction gear |
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| CN114001125B (en) * | 2021-11-12 | 2023-09-22 | 浙江环动机器人关节科技股份有限公司 | Ultra-low speed ratio high-rigidity high-precision cycloidal pin gear planetary transmission speed reducer |
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