CN112664622A - Arc gear speed reducer for robot joint - Google Patents
Arc gear speed reducer for robot joint Download PDFInfo
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- CN112664622A CN112664622A CN202011423099.8A CN202011423099A CN112664622A CN 112664622 A CN112664622 A CN 112664622A CN 202011423099 A CN202011423099 A CN 202011423099A CN 112664622 A CN112664622 A CN 112664622A
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Abstract
The invention provides a circular arc gear speed reducer for a robot joint. The primary transmission unit comprises a primary central gear, the primary planetary assembly comprises a primary planet carrier and a plurality of primary planet gears, the secondary planetary assembly comprises a secondary planet carrier and a plurality of secondary planet gears, one end of the primary central gear is hermetically mounted in the front end cover, the other end of the primary planet gear is hermetically mounted in the primary planet carrier, the primary planet assembly is mounted in the inner gear ring shell after being hermetically connected with the secondary planet assembly, one end of the secondary planet carrier is hermetically mounted in the rear end cover, and two ends of the inner gear ring shell are respectively hermetically connected with the front end cover and the rear end. By applying the technical scheme of the invention, the technical problems of long axial direction, poor transmission rigidity per unit volume, low bearing capacity, easy rusting, corrosion and blocking and inapplicability to severe environments in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to an arc gear speed reducer for a robot joint.
Background
The speed reducer is one of the core parts of the robot, and the functions of the speed reducer are to transmit the power of the servo motor, reduce the speed of the servo motor and amplify the torque so as to accurately control the action of the robot and bear related loads. Reduction gears for robots are classified into three major categories: planetary reducer, harmonic reducer and RV reduction gear. The planetary speed reducer is suitable for a working condition with a small reduction ratio (the reduction ratio i is less than or equal to 50), and the harmonic speed reducer and the RV speed reducer are suitable for a working condition with a large reduction ratio (the reduction ratio i is more than or equal to 50).
At present, the traditional planetary reducer with small reduction ratio has the following limitations: 1) the left part and the right part of the planet carrier are of split structures, so that the transmission rigidity under unit volume is poor, and the bearing capacity is low; 2) the planet gear bearings have more 'shoulder-blocking' structures, so that the axial length is longer, and the volume and the weight are larger; 3) the tooth profile is a common involute or a double-arc, the tooth direction is a common straight line, the deformation of the gear under the working condition of heavy load is not considered, and the tooth profile and the tooth direction are not modified aiming at the working condition of heavy load, so that the efficiency under the heavy load is low, and the extreme load working condition is easy to fail. 4) Generally, a part of gear structures which can not be carburized and ground exist, such as an inner gear ring or a structure containing non-grindable teeth, the tooth surface hardness of the gear structures is low, the tooth surface fatigue strength is not high, the large-load long-time work is easy to generate gluing failure, and the service life and the reliability are not high; 5) the exposed parts are made of non-stainless steel (the surfaces of the parts are subjected to blackening treatment), and the parts are not waterproof due to a general dustproof design, are easy to rust, corrode and clamp in salt mist and damp-heat severe environments, and cannot reliably work for a long time.
Disclosure of Invention
The invention provides an arc gear speed reducer for a robot joint, which can solve the technical problems of long axial direction, large volume and weight, poor transmission rigidity of unit volume, low bearing capacity and easy rusting, corrosion and blocking in the prior art.
According to an aspect of the present invention, there is provided a circular arc gear reduction apparatus for a robot joint. The reduction gear includes: a front end cover; the primary transmission unit comprises a primary central gear; the primary planet assembly comprises a primary planet carrier and a plurality of primary planet wheels, and the plurality of primary planet wheels are uniformly arranged on the circumference of the primary planet carrier in a rotatable manner; the secondary planet assembly comprises a secondary planet carrier and a plurality of secondary planet wheels, and the plurality of secondary planet wheels are uniformly arranged on the circumference of the secondary planet carrier in a rotatable manner; the inner ring wall of the inner ring gear shell is provided with gear teeth meshed with the primary planet gears and the secondary planet gears; a rear end cap; one end of the first-stage sun gear is hermetically arranged in the front end cover, the other end of the first-stage sun gear is hermetically arranged in the first-stage planet carrier, the first-stage planet carrier is hermetically connected with the second-stage planet carrier and then arranged in the inner gear ring shell, one end of the second-stage planet carrier is hermetically arranged in the rear end cover, and two ends of the inner gear ring shell are respectively hermetically connected with the front end cover and the rear end.
Further, one-level planet carrier includes first disc, second disc, a plurality of one-level connection structure and second grade sun gear, and first disc is as an organic whole through a plurality of one-level connection structure connections with the second disc, and a plurality of one-level planet wheels are rotationally installed between first disc and second disc, and second grade sun gear fixes the central point at the second disc and puts for be connected in order to drive a plurality of second grade planet wheels and rotate with the second grade planet carrier.
Further, the secondary planet carrier comprises a third disc, a fourth disc and a plurality of secondary connecting structures, the third disc and the fourth disc are connected into a whole through the plurality of secondary connecting structures, and the plurality of secondary planet wheels are rotatably installed between the third disc and the fourth disc.
Further, one-level planet subassembly still includes a plurality of one-level round pin axles and a plurality of I deep groove ball bearing, evenly set up a plurality of one-level pinholes and a plurality of one-level counter bores on the second disc, evenly set up a plurality of one-level internal threads on the first disc, a plurality of I deep groove ball bearing are installed and are sold epaxially at a plurality of one-level, a plurality of one-level planet wheels of interference impressing behind a plurality of I deep groove ball bearing axial surface rubber coating, one-level round pin axle one end passes in one-level counter bore and one-level pinhole screw in one-level internal thread in proper order, the other end is located.
Further, the second grade planet subassembly still includes a plurality of second grade round pin axles and a plurality of II deep groove ball bearings, evenly set up a plurality of second grade pinholes and a plurality of second grade counter bores on the fourth disc, evenly set up a plurality of second grade internal threads on the third disc, a plurality of II deep groove ball bearings are installed at a plurality of second grade round pin axles, a plurality of second grade planet wheels of interference impressing behind a plurality of II deep groove ball bearing axial surface rubber coating, second grade round pin axle one end passes in second grade counter bore and second grade pinhole screw in second grade internal thread in proper order, the other end is located the second grade counter bore.
Furthermore, a plurality of output end threads are uniformly arranged on a fourth disc of the secondary planet carrier.
Furthermore, the second-stage planet assembly further comprises a third deep groove ball bearing, a boss is arranged on a fourth disc of the second-stage planet carrier, the third deep groove ball bearing is installed in the rear end cover, and the inner ring of the third deep groove ball bearing is attached to the outer surface of the boss.
Furthermore, the first-stage transmission unit further comprises an IV deep groove ball bearing and a V deep groove ball bearing, a first bearing chamber is arranged on the front end cover, a second bearing chamber is arranged on the first disc, one end of the first-stage central gear is installed in the first bearing chamber through the IV deep groove ball bearing, the other end of the first-stage central gear is installed in the second bearing chamber through the V deep groove ball bearing, and the first-stage central gear is meshed with the plurality of first-stage planet gears.
Furthermore, a third bearing chamber is formed in the third disc, the primary planet assembly further comprises a VI deep groove ball bearing, one end of the secondary sun gear is installed in the third bearing chamber through the VI deep groove ball bearing, and the secondary sun gear is meshed with the plurality of secondary planet gears.
Further, the tooth profiles of the primary central gear, the primary planet gear, the secondary planet gear, the inner gear ring shell and the secondary central gear are provided with a top clearance reserved arc, a meshing arc and a transition arc.
By applying the technical scheme of the invention, the arc gear speed reducer for the robot joint is provided, the speed reducer is improved into an integral structure from a traditional split structure by the aid of the primary planet carrier and the secondary planet carrier, the two-stage planet assemblies are designed to share the inner gear ring shell, series transmission of the two-stage planet assemblies can be realized, transmission rigidity and ultimate bearing capacity of the speed reducer in a limited space can be obviously improved, and the arc gear speed reducer has the advantages of simple structure and convenience in assembly. Compared with the prior art, the technical scheme of the invention can solve the technical problems of long axial direction, poor transmission rigidity per unit volume and low bearing capacity in the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments 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 principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram illustrating an input end profile of a reduction unit according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an output end profile of a reduction unit according to an embodiment of the present invention;
figure 3 shows an exploded view of a retarder unit provided according to a specific embodiment of the present invention;
figure 4 shows a cross-sectional view of a reduction unit provided according to a particular embodiment of the invention;
FIG. 5 illustrates a six segment circular arc tooth profile provided in accordance with a specific embodiment of the present invention;
FIG. 6 illustrates a schematic view of a tooth profile provided in accordance with a specific embodiment of the present invention;
FIG. 7 illustrates a cross-sectional view of a primary planetary assembly provided in accordance with a specific embodiment of the present invention;
FIG. 8 illustrates a cross-sectional view of a secondary planetary assembly provided in accordance with a specific embodiment of the present invention;
FIG. 9 illustrates a schematic diagram of a primary planet carrier provided in accordance with a specific embodiment of the present invention;
FIG. 10 illustrates a schematic diagram of a two-stage planet carrier provided in accordance with a specific embodiment of the present invention;
FIG. 11 is a schematic illustration of a primary pin provided in accordance with an embodiment of the present invention;
fig. 12 is a schematic diagram illustrating a two-stage pin according to an embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a front end cover; 11. a first bearing chamber; 20. a primary transmission unit; 21. a primary sun gear; 21a, a flat keyway; 22. IV, a deep groove ball bearing; 23. a V-th deep groove ball bearing; 30. a primary planetary assembly; 31. a primary planet carrier; 311. a first disc; 311a, a primary internal thread; 312. a second disc; 312a, primary pin holes; 312b, a primary counterbore; 313. a primary connecting structure; 314. a secondary sun gear; 32. a primary planet wheel; 33. a first-stage pin shaft; 33a, first-level pin shaft threads; 33b, a first-stage pin shaft circular straight section; 33c, a first-level pin shaft nut; 34. i, a deep groove ball bearing; 35. a VI deep groove ball bearing; 36. a first-level front gasket; 37. a first-stage rear gasket; 40. a secondary planet assembly; 41. a secondary planet carrier; 411. a third disc; 411a, secondary internal threads; 412. a fourth disc; 412a, secondary pin holes; 412b, a secondary counterbore; 412c, output end threads; 412d, boss; 413. a secondary connecting structure; 42. a secondary planet wheel; 43. a second-level pin shaft; 43a, second-level pin shaft threads; 43b, a second-level pin shaft circular straight section; 43c, a second-level pin shaft nut; 44. II, a deep groove ball bearing; 45. III deep groove ball bearing; 46. a secondary front gasket; 47. a second-stage rear gasket; 50. an inner gear ring housing; 60. a rear end cap; 70. a front end seal ring; 80. a rear end seal ring; r1, arc one; r2, arc two; r3, arc three; r4, arc four; r5, arc five; r6, arc six.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, 2 and 3, according to an embodiment of the present invention, there is provided a circular arc gear reduction apparatus for a robot joint, the reduction apparatus including: the front end cover 10, the primary transmission unit 20, the primary planetary assembly 30, the secondary planetary assembly 40, the inner gear ring shell 50 and the rear end cover 60. The primary transmission unit 20 includes a primary sun gear 21. The primary planetary assembly 30 includes a primary planet carrier 31 and a plurality of primary planet gears 32, and the plurality of primary planet gears 32 are uniformly and rotatably mounted on the circumference of the primary planet carrier 31. The secondary planetary assembly 40 includes a secondary planet carrier 41 and a plurality of secondary planet wheels 42, and the plurality of secondary planet wheels 42 are uniformly and rotatably mounted on the circumference of the secondary planet carrier 41. The inner ring wall of the inner gear ring housing 50 has gear teeth that mesh with the plurality of primary planet gears 32 and the plurality of secondary planet gears 42. One end of the primary sun gear 21 is hermetically installed in the front end cover 10, the other end of the primary sun gear 21 is hermetically installed in the primary planet carrier 31, the primary planet component 30 is hermetically connected with the secondary planet component 40 and then installed in the annular gear shell 50, one end of the secondary planet carrier 41 is hermetically installed in the rear end cover 60, and two ends of the annular gear shell 50 are hermetically connected with the front end cover 10 and the rear end cover 60 respectively.
By applying the configuration mode, the arc gear speed reducer for the robot joint is provided, the speed reducer is improved into an integral structure from a traditional split structure by the primary planet carrier 31 and the secondary planet carrier 41, the primary planet component 30 and the secondary planet component 40 are designed to share the inner gear ring shell 50, the series transmission of the two stages of planet components can be realized, the transmission rigidity and the limit bearing capacity of the speed reducer in a limited space can be obviously improved, and the arc gear speed reducer has the advantages of simple structure and convenience in assembly. Compared with the prior art, the technical scheme of the invention can solve the technical problems of long axial direction, poor transmission rigidity per unit volume and low bearing capacity in the prior art.
As shown in fig. 4, in the present invention, the primary planetary assembly 30 and the secondary planetary assembly 40 are in series transmission and share the same annular gear housing 50, and by applying this configuration, the axial length of the reduction gear of the present invention is shortened, the volume is reduced, the weight is reduced, and the present invention is convenient for being applied to a narrow working space. In addition, as shown in fig. 1 and 3, one end of the ring gear housing 50 is hermetically connected with the front end cover 10 through the front end cover sealing ring 70, and the other end of the ring gear housing is hermetically connected with the rear end cover 60 through the rear end sealing ring 80, so that the front end cover 10, the ring gear housing 50 and the rear end cover 60 of the exposed parts are hermetically connected, and the adaptability and reliability of the speed reducer of the invention in severe working environments such as sand, dust, salt mist, damp and hot are improved.
In order to further improve the transmission rigidity of the reduction gear unit of the invention, optimize the whole structure and reduce the assembly difficulty, the primary planet carrier 31 is configured as an integral structure, as shown in fig. 9, the primary planet carrier 31 includes a first disc 311, a second disc 312, a plurality of primary connecting structures 313 and a secondary sun gear 314, the first disc 311 and the second disc 312 are connected into a whole through the plurality of primary connecting structures 313, the plurality of primary planet gears 32 are rotatably installed between the first disc 311 and the second disc 312, and the secondary sun gear 314 is fixed at the center position of the second disc 312 and is used for being connected with the secondary planet carrier 41 to drive the plurality of secondary planet gears 42 to rotate.
Similarly, the second-stage carrier 41 is also configured as an integral structure, and as shown in fig. 10, the second-stage carrier 41 includes a third disk 411, a fourth disk 412, and a plurality of second-stage connecting structures 413, the third disk 411 and the fourth disk 412 are integrally connected by the plurality of second-stage connecting structures 413, and the plurality of second-stage planet gears 42 are rotatably mounted between the third disk 411 and the fourth disk 412.
By applying the configuration, the planet carriers at the left end and the right end of the primary planet wheel 32 and the secondary planet wheel 42 are optimized into an integral structure by the traditional split structure, the bearing capacity and the transmission rigidity of the structure are improved, and meanwhile, the assembly is convenient. In addition, the second-stage sun gear 314 is used as a part of the integrated structure of the first-stage planet carrier 31, and connecting and supporting parts are omitted, so that the axial length of the speed reducer is shortened, the size and the weight are reduced, and the speed reducer is favorable for being applied in narrow space.
As an embodiment of the present invention, the assembly relationship between the primary planet gear 32 and the primary planet carrier 31 is shown in fig. 7, and the primary planet assembly 30 is configured to further include a plurality of primary pin shafts 33 and a plurality of i-th deep groove ball bearings 34. As shown in fig. 9, a plurality of first-stage pin holes 312a and a plurality of first-stage counter bores 312b are uniformly formed in the second circular plate 312, a plurality of first-stage internal threads 311a are uniformly formed in the first circular plate 311, a plurality of first deep groove ball bearings 34 are mounted on a plurality of first-stage pin shafts 33, the axial surfaces of the plurality of first deep groove ball bearings 34 are coated with glue and then pressed into a plurality of first-stage planet gears 32 in an interference manner, one end of each first-stage pin shaft 33 sequentially penetrates through the first-stage counter bores 312b and the first-stage pin holes 312a and is screwed into the first-stage internal threads 311 a.
Further, the structure of the primary pin 33 is shown in fig. 11, and includes a primary pin thread 33a, a primary pin round straight section 33b, and a primary pin nut 33 c. During assembly, the first deep groove ball bearings 34 are installed on the first-stage pin shaft straight sections 33b of the first-stage pin shafts 33, the axial surfaces of the first deep groove ball bearings 34 are coated with glue and then pressed into the first-stage planet gears 32 in an interference mode, one end, provided with first-stage pin shaft threads 33a, of each first-stage pin shaft 33 penetrates through the first-stage counter bore 312b and the first-stage pin hole 312a in sequence and is screwed into the first-stage internal threads 311a, and the first-stage pin shaft nut 33c is located in the first-stage counter bore 312 b.
By applying the assembly mode, a 'shoulder blocking' structure of the traditional planet wheel bearing is omitted, the axial length of the speed reducer is further shortened, and the integral volume and weight of the speed reducer are reduced.
In this embodiment, the number of the primary planet wheels 32 can be selected according to actual needs, for example, as shown in fig. 3, the number of the primary planet wheels 32 is four.
Further, first-level planet subassembly 30 still includes gasket 36 and one-level back gasket 37 before one-level, gasket 36 passes one-level round pin axle 33 and installs between one-level planet wheel 32 and first disc 311 before one-level, and gasket 36 passes one-level round pin axle 33 and installs between one-level planet wheel 32 and second disc 312 after one-level to as the axial positioning of one-level planet wheel 32, thereby guarantee that the both ends of one-level planet wheel 32 do not scratch the internal face of one-level planet carrier 31.
As an embodiment of the present invention, the assembly relationship of the secondary planet gear 42 and the secondary planet carrier 41 is shown in fig. 8, and the secondary planet assembly 40 is configured to further include a plurality of secondary pin shafts 43 and a plurality of second deep groove ball bearings 44. As shown in fig. 10, a plurality of secondary pin holes 412a and a plurality of secondary counter bores 412b are uniformly formed in the fourth disc 412, a plurality of secondary internal threads 411a are uniformly formed in the third disc 411, a plurality of second deep groove ball bearings 44 are mounted on a plurality of secondary pin shafts 43, the plurality of second deep groove ball bearings 44 are pressed into a plurality of secondary planet wheels 42 in an interference manner after the axial surfaces of the second deep groove ball bearings are coated with glue, one ends of the secondary pin shafts 43 sequentially penetrate through the secondary counter bores 412b and the secondary pin holes 412a and are screwed into the secondary internal threads 411a, and the other ends of the secondary pin shafts are located in the secondary.
Further, the structure of the secondary pin 43 is shown in fig. 12, and includes a secondary pin thread 43a, a secondary pin round straight section 43b, and a secondary pin nut 43 c. During assembly, the second-level deep groove ball bearings 44 are mounted on the second-level pin shaft straight sections 43b of the second-level pin shafts 43, the axial surfaces of the second-level deep groove ball bearings 44 are coated with glue and then pressed into the second-level planet wheels 42 in an interference mode, one end, provided with a second-level pin shaft thread 43a, of each second-level pin shaft 43 penetrates through the second-level counter hole 412b and the second-level pin hole 412a in sequence and is screwed into the second-level internal thread 411a, and the second-level pin shaft nut 43c is located in the second-level.
By applying the assembling mode, a 'retaining shoulder' structure of the traditional planet wheel bearing is also omitted, the axial length of the speed reducer is further shortened, and the integral volume and weight of the speed reducer are reduced.
In the present embodiment, the number of the secondary planet gears 42 can be selected according to actual needs, for example, as shown in fig. 3, the number of the secondary planet gears 42 is four.
Further, the secondary planet assembly 40 further comprises a secondary front gasket 46 and a secondary rear gasket 47, the secondary front gasket 46 passes through the secondary pin shaft 43 and is installed between the secondary planet wheel 42 and the third disc 411, and the secondary rear gasket 47 passes through the secondary pin shaft 43 and is installed between the secondary planet wheel 42 and the fourth disc 412 so as to be used as axial positioning of the secondary planet wheel 42, so that two ends of the secondary planet wheel 42 are prevented from being scratched to the inner wall surface of the secondary planet carrier 41.
In addition, as shown in fig. 2 and 10, a plurality of output end threads 412c are uniformly arranged on the fourth disk 412 of the secondary planet carrier 41 and are used for connecting with a load.
Further, in order to connect the secondary planet carrier 41 and the rear end cover 60, as shown in fig. 3 and 4, the secondary planet assembly 40 is configured to further include a third deep groove ball bearing 45, the fourth disc 412 of the secondary planet carrier 41 is configured to have a boss 412d, the third deep groove ball bearing 45 is installed in the rear end cover 60, and the inner ring thereof is abutted with the outer surface of the boss 412 d. In order to realize the connection between the third deep groove ball bearing 45 and the rear end cover 60, an inner hole is arranged in the rear end cover 60, and the third deep groove ball bearing 45 is installed in the inner hole of the rear end cover 60.
In addition, in order to realize the transmission series connection of the primary sun gear 21 and the primary planet assembly 30, as shown in fig. 3 and 7, the primary transmission unit 20 further includes an iv deep groove ball bearing 22 and a v deep groove ball bearing 23, the front end cover 10 has a first bearing chamber 11, the first disk 311 has a second bearing chamber, one end of the primary sun gear 21 is installed in the first bearing chamber 11 through the iv deep groove ball bearing 22, the other end is installed in the second bearing chamber through the v deep groove ball bearing 23, and the primary sun gear 21 is engaged with the plurality of primary planet gears 32.
Further, in order to realize the transmission series connection of the primary planetary assembly 30 and the secondary planetary assembly 40, as shown in fig. 3 and 8, a third bearing chamber is arranged on the third disc 411, the primary planetary assembly 30 further comprises a vi deep groove ball bearing 35, one end of the secondary sun gear 314 is installed in the third bearing chamber through the vi deep groove ball bearing 35, and the secondary sun gear 314 is meshed with the plurality of secondary planet gears 42.
In the invention, the radial support and the axial positioning of the speed reducer are realized by the combined installation form of the III deep groove ball bearing 45, the IV deep groove ball bearing 22, the V deep groove ball bearing 23 and the VI deep groove ball bearing 35. Preferably, in practical application, the four bearings can be sealed bearings, so that the sealing performance of the speed reducing device is improved, and the speed reducing device is better suitable for severe working environments such as sand and dust.
In order to improve the hardness of the relevant parts of the speed reducer, enhance the contact fatigue strength and the corrosion resistance, the relevant parts of the speed reducer are processed by the relevant process. The method specifically comprises the following steps: the surfaces of the primary sun gear 21, the primary planet gears 32 and the secondary planet gears 42 are subjected to carburizing and gear grinding or gear shaping and low-temperature ion nitriding. Parts which cannot be subjected to carburization and gear grinding, such as the primary planet carrier 31 and the inner gear ring shell 50, are treated by adopting a low-temperature ion nitriding process. Wherein the nitriding temperature is 300-500 ℃, the low-temperature ionic nitriding denaturation is small, and the precision of the gear shape is not influenced. The front end cover 10, the primary sun gear 21, the primary planet carrier 31, the inner gear ring shell 50, the secondary planet carrier 41, the secondary pin shaft 43 and the rear end cover 60 are all made of stainless steel, and are subjected to acid pickling and passivation treatment to resist severe working environments such as salt spray, damp heat and the like.
In addition, in the present invention, the tooth profiles of the primary sun gear 21, the primary planet gears 32, the secondary planet gears 42, the ring gear housing 50, and the secondary sun gear 314 have a backlash reserve arc, a meshing arc, and a transition arc. For example, as shown in fig. 5, the tooth profile of the gear tooth may be a "six-segment circular arc profile", including six circular arcs of a first circular arc r1, a second circular arc r2, a third circular arc r3, a fourth circular arc r4, a fifth circular arc r5 and a sixth circular arc 6, where the first circular arc r1 and the third circular arc r3 are meshing circular arcs, the fourth circular arc 4 is a headspace reserved circular arc, and the second circular arc 2, the fifth circular arc 5 and the sixth circular arc 6 are transition circular arcs after deformation under heavy load. Compared with the four-section circular arc basic tooth profile of the traditional double-circular-arc cylindrical gear, the six-section circular arc tooth profile adopted by the invention is additionally provided with three sections of circular arc two r2, circular arc five r5 and circular arc six r6 at the tooth top and concave-convex junction respectively, so that the tooth top and tooth surface scratch and the clamping caused by the gear deformation under the working conditions of high temperature and heavy load can be effectively avoided. In addition, compared with the traditional involute profile, the six-segment arc tooth profile adopted by the invention has stronger bearing capacity which is more than 2 times of the bearing capacity of the involute profile.
Further, the gear tooth directions of the primary sun gear 21, the primary planet gears 32, the secondary planet gears 42, the ring gear housing 50 and the secondary sun gear 314 are all helical teeth as shown in fig. 6. In consideration of large-load deformation, the invention carries out tooth direction modification on the gear teeth of the primary planet gear 32 and the secondary planet gear 42, the tooth direction shape of the modified gear teeth is an arc surface with a high middle part and two low ends, and the radius R of the arc surface is 3000-plus 8000 times of the gear module m. By applying the gear direction, the ultimate bearing capacity and the fatigue life of the gear can be improved.
In addition, as shown in fig. 1 and 3, one end of the primary sun gear 21 is further provided with a flat key groove 21a for connecting with an input motor to input power to the reduction gear. The transmission relationship of the speed reducer of the invention is as follows: the input motor is a primary central gear 21 for inputting power, the gear transmission input end of the primary planet gear 32 is the primary central gear 21, the output end is the primary planet carrier 31, the gear transmission input end of the secondary planet gear 42 is a secondary central gear 314 on the primary planet carrier 31, and the output end is the secondary planet carrier 41. Wherein, the first-stage central gear 21 and the second-stage central gear 314 are external gears, and the number of teeth is Z1The first-stage planet wheel 32 and the second-stage planet wheel 42 are external gears, and the number of teeth is Z2The inner gear ring shell 50 is an inner gear with the number of teeth Z3The overall transmission ratio of the reduction gear of the invention is (Z)3/Z1+1)2. The secondary sun gear 314 has the same parameters as the primary sun gear 21 except that the tooth width is larger than that of the primary sun gear 21. The secondary planet gears 42 have the same parameters as the primary planet gears 32 except that the tooth width is larger than that of the primary planet gears 32.
In summary, the invention provides an arc gear speed reducer for a robot joint, which improves a primary planet carrier and a secondary planet carrier from a traditional split structure into an integrated structure, the two-stage planet components are designed to share an inner gear ring shell, and meanwhile, a transition arc is added in a gear tooth profile, so that series transmission of the two-stage planet components can be realized, the transmission rigidity and the ultimate bearing capacity of the speed reducer in a limited space can be obviously improved, the speed reducer can reliably work for a long time in severe environments such as sand, dust, salt mist, damp and hot and the like, and the speed reducer has the advantages of simple structure and convenience in assembly. Compared with the prior art, the technical scheme of the invention can solve the technical problems of long axial direction, poor transmission rigidity per unit volume, low bearing capacity, easy rusting, corrosion and blocking and inapplicability to severe environments in the prior art.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A circular arc gear reduction unit for a robot joint, characterized by comprising: a front end cap (10);
a primary transmission unit (20), the primary transmission unit (20) comprising a primary sun gear (21);
the primary planet assembly (30) comprises a primary planet carrier (31) and a plurality of primary planet wheels (32), and the plurality of primary planet wheels (32) are uniformly and rotatably arranged on the circumference of the primary planet carrier (31);
a secondary planet assembly (40), wherein the secondary planet assembly (40) comprises a secondary planet carrier (41) and a plurality of secondary planet wheels (42), and the plurality of secondary planet wheels (42) are uniformly and rotatably arranged on the circumferential direction of the secondary planet carrier (41);
the inner ring wall of the inner ring gear shell (50) is provided with gear teeth meshed with the primary planet gears (32) and the secondary planet gears (42);
a rear end cap (60);
one end of the primary sun gear (21) is mounted in the front end cover (10) in a sealing mode, the other end of the primary sun gear is mounted in the primary planet carrier (31) in a sealing mode, the primary planet component (30) and the secondary planet component (40) are mounted in the inner gear ring shell (50) after being connected in a sealing mode, one end of the secondary planet carrier (41) is mounted in the rear end cover (60) in a sealing mode, and two ends of the inner gear ring shell (50) are connected with the front end cover (10) and the rear end cover (60) in a sealing mode respectively.
2. The reduction gear according to claim 1, characterized in that the primary planet carrier (31) comprises a first disc (311), a second disc (312), a plurality of primary connecting structures (313) and a secondary sun gear (314), the first disc (311) and the second disc (312) are connected into a whole through the plurality of primary connecting structures (313), the plurality of primary planet gears (32) are rotatably mounted between the first disc (311) and the second disc (312), and the secondary sun gear (314) is fixed at the central position of the second disc (312) and is used for being connected with the secondary planet carrier (41) to drive the plurality of secondary planet gears (42) to rotate.
3. A reduction arrangement according to claim 2, characterised in that the secondary planet carrier (41) comprises a third disc (411), a fourth disc (412) and a plurality of secondary connecting structures (413), the third disc (411) and the fourth disc (412) being integrally connected by the plurality of secondary connecting structures (413), the plurality of secondary planet wheels (42) being rotatably mounted between the third disc (411) and the fourth disc (412).
4. Reduction unit according to claim 2, characterized in that said primary planetary assembly (30) further comprises a plurality of primary pins (33) and a plurality of first deep groove ball bearings (34), a plurality of primary pin holes (312a) and a plurality of primary counter bores (312b) are uniformly arranged on the second disc (312), a plurality of first-stage internal threads (311a) are uniformly arranged on the first disc (311), a plurality of first-stage deep groove ball bearings (34) are arranged on the first-stage pin shafts (33), the axial surfaces of the first-stage deep groove ball bearings (34) are coated with glue and then are pressed into the first-stage planet wheels (32) in an interference manner, one end of the first-level pin shaft (33) sequentially penetrates through the first-level counter bore (312b) and the first-level pin hole (312a) and is screwed into the first-level internal thread (311a), and the other end of the first-level pin shaft is located in the first-level counter bore (312 b).
5. Reduction unit according to claim 3, characterized in that said secondary planetary assembly (40) further comprises a plurality of secondary pins (43) and a plurality of II deep groove ball bearings (44), a plurality of secondary pin holes (412a) and a plurality of secondary counter bores (412b) are uniformly arranged on the fourth disc (412), a plurality of secondary internal threads (411a) are uniformly arranged on the third disc (411), a plurality of second deep groove ball bearings (44) are arranged on a plurality of secondary pin shafts (43), the axial surfaces of the plurality of second deep groove ball bearings (44) are coated with glue and then are pressed into a plurality of secondary planet wheels (42) in an interference manner, one end of the second-stage pin shaft (43) sequentially penetrates through the second-stage counter bore (412b) and the second-stage pin hole (412a) and is screwed into the second-stage internal thread (411a), and the other end of the second-stage pin shaft is located in the second-stage counter bore (412 b).
6. A reduction unit according to claim 3, characterized in that said fourth disc (412) of said secondary planet carrier (41) is uniformly provided with a plurality of output end threads (412 c).
7. The reduction gear according to claim 3, characterized in that the secondary planet assembly (40) further comprises a third deep groove ball bearing (45), the fourth disc (412) of the secondary planet carrier (41) is provided with a boss (412d), the third deep groove ball bearing (45) is installed in the rear end cover (60), and the inner ring of the third deep groove ball bearing is attached to the outer surface of the boss (412 d).
8. The reduction gear unit according to claim 2, wherein the primary transmission unit (20) further comprises an iv deep groove ball bearing (22) and a v deep groove ball bearing (23), the front end cover (10) has a first bearing chamber (11), the first disk (311) has a second bearing chamber, the primary sun gear (21) is mounted in the first bearing chamber (11) through the iv deep groove ball bearing (22) at one end, and mounted in the second bearing chamber through the v deep groove ball bearing (23) at the other end, and the primary sun gear (21) is engaged with the plurality of primary planet gears (32).
9. A reduction unit according to claim 3, characterised in that the third disc (411) has a third bearing chamber, the primary planetary assembly (30) further comprises a vi deep groove ball bearing (35), the secondary sun gear (314) is mounted at one end in the third bearing chamber by means of the vi deep groove ball bearing (35), and the secondary sun gear (314) meshes with a plurality of the secondary planet wheels (42).
10. Reduction device according to one of claims 2 to 9, characterized in that the tooth profiles of the primary sun gear (21), the primary planet gears (32), the secondary planet gears (42), the ring gear housing (50) and the secondary sun gear (314) have a top-clearance reserve arc, a meshing arc and a transition arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423099.8A CN112664622A (en) | 2020-12-08 | 2020-12-08 | Arc gear speed reducer for robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423099.8A CN112664622A (en) | 2020-12-08 | 2020-12-08 | Arc gear speed reducer for robot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112664622A true CN112664622A (en) | 2021-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011423099.8A Pending CN112664622A (en) | 2020-12-08 | 2020-12-08 | Arc gear speed reducer for robot joint |
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| Country | Link |
|---|---|
| CN (1) | CN112664622A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115264357A (en) * | 2022-08-18 | 2022-11-01 | 临清市百诺轴承有限公司 | Combined bearing structure with multi-ring deep groove ball bearing |
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| CN106763527A (en) * | 2016-12-14 | 2017-05-31 | 普尔菲特传动设备盐城有限公司 | Two-stage planetary reducer |
| CN206904154U (en) * | 2017-05-23 | 2018-01-19 | 浙江晶盛机电股份有限公司 | A kind of mechanism of the high speed reducing ratio Planetary Gear Transmission of accurate small size |
| EP3379107A1 (en) * | 2017-03-23 | 2018-09-26 | Cordrive Ab | Compound planet gear arrangement and gear wheel arrangement |
| CN210525099U (en) * | 2019-08-29 | 2020-05-15 | 前沿驱动（北京）技术有限公司 | Robot and driving mechanism thereof |
| CN211501495U (en) * | 2019-11-12 | 2020-09-15 | 江苏智远精工科技有限公司 | Secondary parallel shaft planetary reducer |
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2020
- 2020-12-08 CN CN202011423099.8A patent/CN112664622A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106763527A (en) * | 2016-12-14 | 2017-05-31 | 普尔菲特传动设备盐城有限公司 | Two-stage planetary reducer |
| EP3379107A1 (en) * | 2017-03-23 | 2018-09-26 | Cordrive Ab | Compound planet gear arrangement and gear wheel arrangement |
| CN206904154U (en) * | 2017-05-23 | 2018-01-19 | 浙江晶盛机电股份有限公司 | A kind of mechanism of the high speed reducing ratio Planetary Gear Transmission of accurate small size |
| CN210525099U (en) * | 2019-08-29 | 2020-05-15 | 前沿驱动（北京）技术有限公司 | Robot and driving mechanism thereof |
| CN211501495U (en) * | 2019-11-12 | 2020-09-15 | 江苏智远精工科技有限公司 | Secondary parallel shaft planetary reducer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115264357A (en) * | 2022-08-18 | 2022-11-01 | 临清市百诺轴承有限公司 | Combined bearing structure with multi-ring deep groove ball bearing |
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Application publication date: 20210416 |