CN115681417A - RV reduction gear, industrial robot - Google Patents
RV reduction gear, industrial robot Download PDFInfo
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- CN115681417A CN115681417A CN202211422360.1A CN202211422360A CN115681417A CN 115681417 A CN115681417 A CN 115681417A CN 202211422360 A CN202211422360 A CN 202211422360A CN 115681417 A CN115681417 A CN 115681417A
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- oil storage
- ring groove
- storage ring
- groove
- cycloid wheel
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Abstract
The invention provides an RV reducer and an industrial robot, belonging to the field of RV reducer design, wherein the RV reducer comprises an eccentric shaft, a first cycloid wheel and a second cycloid wheel, wherein the eccentric shaft is provided with a first eccentric part and a second eccentric part, the first cycloid wheel is used for driving the first eccentric part to translate, the second cycloid wheel is used for driving the second eccentric part to translate, a first oil storage ring groove is arranged on the end surface of the inner side of the first cycloid wheel, and/or a second oil storage ring groove is arranged on the end surface of the inner side of the second cycloid wheel. According to the invention, through the design of the first oil storage ring groove and the second oil storage ring groove, a corresponding amount of lubricating media can be stored on the end surface between the two cycloidal gears, when the two cycloidal gears axially float and contact each other in the translational operation process, the lubricating media can be used for realizing lubrication between the two cycloidal gears, so that the abrasion between the two cycloidal gears is reduced, the generation of abrasive dust is effectively prevented, the adverse effect of the abrasive dust on the internal meshing parts of the speed reducer is reduced, and the service life of the speed reducer is prolonged.
Description
Technical Field
The invention belongs to the field of RV speed reducer design, and particularly relates to an RV speed reducer and an industrial robot.
Background
The RV reducer (also called planetary cycloidal pin gear reducer) mainly comprises a primary planetary gear transmission and a secondary cycloidal pin gear transmission, and is a novel cycloidal pin gear planetary transmission reducer. The RV reducer is mostly applied to joint positions of industrial robots, and the load borne by the RV reducer in the operation process is usually large, so that high requirements on the rigidity, the shock resistance, the wear resistance, the service life and other properties of the RV reducer are provided. Two eccentric cylinders are arranged on an eccentric shaft in the RV reducer, in the running process of the reducer, two cycloidal gears matched with the eccentric shaft perform relative translation along the radial direction of the reducer, and in addition, the two cycloidal gears perform relative translation relative to a planet carrier and a rigid disc respectively. In the running process of the RV reducer, when the cycloidal gears, the planet carrier and the cycloidal gears and the rigid disk and the cycloidal gears are in relative translation, relative friction is inevitable. Because the RV reducer has a compact and complex internal structure and a small space, if lubrication between the cycloidal gears, between the planet carrier and the cycloidal gear and between the rigid disc and the cycloidal gear is insufficient, the friction is aggravated. And the abrasion of the parts is aggravated by the abrasive dust generated by friction flowing to the meshing position of the parts along with the lubricating oil, and the service life of the speed reducer is shortened. Therefore, how to reduce the wear between the cycloidal gears, between the planet carrier and the cycloidal gears, and between the rigid disk and the cycloidal gears is one of the important issues in the industry.
Based on the problems, in order to reduce the abrasion between two cycloidal gears which are in relative translation, a processing mode in the prior art is to additionally arrange a backing ring between the inner cycloidal gears, and in the translation process of the cycloidal gears, the protection of the cycloidal gears is realized through the abrasion of the backing ring.
Disclosure of Invention
Therefore, the invention provides an RV reducer and an industrial robot, which can solve the technical problems that abrasion is caused when translation is generated between cycloidal gears due to the fact that a lubricating structure is lacked between two adjacent cycloidal gears in the RV reducer in the prior art, or abrasion is generated by adopting a backing ring mode to generate abrasion dust to generate adverse effects on meshing parts in the reducer.
In order to solve the problems, the invention provides an RV reducer which comprises an eccentric shaft, a first cycloid wheel and a second cycloid wheel, wherein the eccentric shaft is provided with a first eccentric part and a second eccentric part, the first cycloid wheel drives the first eccentric part to move in a translation mode, the second cycloid wheel drives the second eccentric part to move in a translation mode, a first oil storage ring groove is formed in the end face of the inner side of the first cycloid wheel, and/or a second oil storage ring groove is formed in the end face of the inner side of the second cycloid wheel.
In some embodiments, a third oil storage ring groove is formed in the outer side end face of the first cycloid gear; and/or a fourth oil storage ring groove is arranged on the outer side end face of the second cycloid wheel.
In some embodiments, the first cycloid wheel is provided with a plurality of first main shaft through holes penetrating through an inner side end face and an outer side end face of the first cycloid wheel and a plurality of first through holes surrounding the first main shaft through holes, the first oil storage ring groove and/or the third oil storage ring groove are concentrically arranged around the first main shaft through holes, and the plurality of first through holes are located in a region surrounded by the first oil storage ring groove; and/or, have a plurality of second main shaft through-holes that link up its inboard terminal surface and outside terminal surface and a plurality of encircles on the second cycloid wheel the second through-hole of second main shaft through-hole, the second oil storage ring groove and/or fourth oil storage ring groove encircles the concentric setting of second main shaft through-hole, and it is a plurality of second through-hole department is in the second oil storage ring groove is encircleed in the region.
In some embodiments, the thickness of the first cycloid wheel is H1, the groove depth of the first oil storage ring groove is H1, H1/10 is not less than H1 and not more than H1/5, and/or the groove depth of the third oil storage ring groove is H3, H1/10 is not less than H3 and not more than H1/5; and/or the thickness of the second cycloid wheel is H2, the groove depth of the second oil storage ring groove is H2, H2/10 is not less than H2 and not more than H2/5, and/or the groove depth of the fourth oil storage ring groove is H4, and H2/10 is not less than H4 and not more than H2/5.
In some embodiments, the RV reducer further comprises a planet carrier supported at a first end of the eccentric shaft, the planet carrier having a planet carrier inner end surface adjacent the outboard end surface of the first cycloidal gear, the planet carrier inner end surface having a fifth oil sump configured thereon.
In some embodiments, the fifth oil reservoir includes a first circular arc groove and a second circular arc groove which are symmetrical with respect to the center of the third main shaft through hole of the planet carrier, wherein the first circular arc groove corresponds to a central angle of 0 ° < α 1 ≦ 140 °.
In some embodiments, the RV reducer further comprises a rigid disc supported at the second end of the eccentric shaft, the rigid disc having a rigid disc inner end face adjacent the outboard end face of the second cycloidal gear, the planet carrier inner end face having a sixth oil sump configured thereon; and/or the first arc groove and the second arc groove are arranged along the outer edge area of the inner end face of the planet carrier.
In some embodiments, the sixth oil reservoir includes a third circular arc groove and a fourth circular arc groove that are symmetrical with respect to a center of a fourth main shaft through hole of the rigid disk, wherein a central angle of the third circular arc groove is 0 ° < α 2 ≦ 140 °.
In some embodiments, the third circular arc groove and the fourth circular arc groove are disposed along an outer edge region of the inner end surface of the rigid disc; and/or the cross section of any one of the first oil storage ring groove, the second oil storage ring groove, the third oil storage ring groove, the fourth oil storage ring groove, the first arc groove, the second arc groove, the third arc groove and the fourth arc groove is arc-shaped.
The invention further provides an industrial robot which comprises the RV reducer.
According to the RV reducer and the industrial robot, the lubricating media with corresponding amount can be stored on the end face between the two cycloidal gears through the design of the first oil storage ring groove and the second oil storage ring groove, when the two cycloidal gears axially float and contact each other in the translational operation process, the lubricating media can be used for realizing lubrication between the two cycloidal gears, the abrasion between the two cycloidal gears is reduced, the generation of abrasive dust is effectively prevented, the adverse effect of the abrasive dust on the internal meshing parts of the reducer is reduced, and the service life of the reducer is prolonged.
Drawings
FIG. 1 is a schematic view of the internal structure of an RV reducer of an embodiment of the invention;
fig. 2 is a schematic structural view of the first cycloid gear or the second cycloid gear in fig. 1;
FIG. 3 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic structural view of the carrier of FIG. 1;
FIG. 5 is a cross-sectional view taken along line B-B of FIG. 4;
FIG. 6 is a schematic structural view of the rigid disk of FIG. 1;
fig. 7 is a cross-sectional view of C-C in fig. 6.
The reference numbers are given as:
1. an eccentric shaft; 11. a first eccentric portion; 12. a second eccentric portion; 21. a first cycloid wheel; 211. a first oil storage ring groove; 212. a third oil storage ring groove; 213. a first spindle through hole; 214. a first through hole; 22. a second cycloid gear; 221. a second oil storage ring groove; 222. a fourth oil storage ring groove; 223. a second spindle through hole; 224. a second through hole; 3. a planet carrier; 31. a third main shaft through hole; 321. a first arc groove; 322. a second arc groove; 4. a rigid disk; 41. a fourth main shaft through hole; 421. a third arc groove; 422. a fourth arc groove; 5. a pin gear housing; 6. a main bearing; 7. a main shaft; 8. and a planet gear.
Detailed Description
Referring to fig. 1 to 7 in combination, according to an embodiment of the present invention, there is provided an RV reducer, including an eccentric shaft 1, two ends of which are respectively supported on a rigid disk 4 and a planet carrier 3 through tapered roller bearings, the eccentric shaft 1 having a first eccentric portion 11 and a second eccentric portion 12, and further including a first cycloidal gear 21 for driving the first eccentric portion 11 to translate, and a second cycloidal gear 22 for driving the second eccentric portion 12 to translate, wherein a first oil storage ring groove 211 is provided on an inner side end surface of the first cycloidal gear 21, and/or a second oil storage ring groove 221 is provided on an inner side end surface of the second cycloidal gear 22, and it can be understood that notches of the first oil storage ring groove 211 and the second oil storage ring groove 221 face one side of the adjacent cycloidal gears. Among this technical scheme, can save the lubricated medium of corresponding volume on the terminal surface between two cycloid wheels through the design of first oil storage ring groove 211 and second oil storage ring groove 221, when two cycloid wheels take place axial float and contact at translation operation in-process, can rely on these lubricated medium to realize the lubrication between the two, reduce wearing and tearing between the two, effectively prevent the production of abrasive dust, reduce the adverse effect that the abrasive dust produced reduction gear intermeshing part, improve the life of reduction gear.
In some embodiments, a third oil storage ring groove 212 is provided on the outer side end surface of the first cycloid wheel 21; and/or, the outer side end face of the second cycloid wheel 22 is provided with a fourth oil storage ring groove 222, so that when the cycloid wheel axially moves, abrasion between the corresponding end faces of the planet carrier 3 or the rigid disc 4 adjacent to the cycloid wheel can be reduced, and the service life of the speed reducer is further prolonged.
Referring to fig. 2 and 3, the first cycloid wheel 21 has a plurality of first main shaft through holes 213 penetrating through the inner and outer end surfaces thereof and a plurality of first through holes 214 surrounding the first main shaft through holes 213, the first oil storage ring groove 211 and/or the third oil storage ring groove 212 are concentrically disposed around the first main shaft through holes 213, and the plurality of first through holes 214 are located in the region surrounded by the first oil storage ring groove 211; and/or, the second cycloid wheel 22 is provided with a plurality of second main shaft through holes 223 penetrating through the inner side end face and the outer side end face of the second cycloid wheel and a plurality of second through holes 224 surrounding the second main shaft through holes 223, the second oil storage ring groove 221 and/or the fourth oil storage ring groove 222 are concentrically arranged around the second main shaft through holes 223, the plurality of second through holes 224 are positioned in the region surrounded by the second oil storage ring groove 221, the first cycloid wheel 21 and the second cycloid wheel 22 can be in an axisymmetric structure, in the technical scheme, the oil storage ring grooves are respectively arranged in the outer circumferential direction of the cycloid wheel in a circular mode, and the lubricating effect in a large range can be achieved. In one embodiment, the radii of the radial inner walls of the first oil storage ring groove 211, the second oil storage ring groove 221, the third oil storage ring groove 212 and the fourth oil storage ring groove 222 are ra, and ra is greater than or equal to 54mm and less than or equal to 57mm, so that the oil storage ring grooves can avoid crossing with holes on the cycloid wheel and crossing with teeth of the cycloid wheel.
In order to achieve better lubrication effect and better cycloid wheel structure and rigidity, the thickness of the first cycloid wheel 21 is H1, the groove depth of the first oil storage ring groove 211 is H1, H1/10 is more than or equal to H1 and less than or equal to H1/5, and/or the groove depth of the third oil storage ring groove 212 is H3, H1/10 is more than or equal to H3 and less than or equal to H1/5; and/or the thickness of the second cycloid wheel 22 is H2, the depth of the second oil storage ring groove 221 is H2, H2/10 is more than or equal to H2 and less than or equal to H2/5, and/or the depth of the fourth oil storage ring groove 222 is H4, H2/10 is more than or equal to H4 and less than or equal to H2/5.
Referring to fig. 4 and 5, the RV reducer further includes a planet carrier 3 supported at the first end of the eccentric shaft 1, the planet carrier 3 has an inner end surface of the planet carrier adjacent to an outer end surface of the first cycloidal gear 21, and a fifth oil storage tank is configured on the inner end surface of the planet carrier, through which wear between the corresponding cycloidal gears and the corresponding cycloidal gears can be effectively reduced when the cycloidal gears contact with the planet carrier, specifically, the fifth oil storage tank includes a first arc groove 321 and a second arc groove 322 which are centrosymmetric with respect to a third main shaft through hole 31 of the planet carrier 3, wherein a central angle corresponding to the first arc groove 321 is 0 ° < α 1 ≦ 140 °, and tests prove that the area of the lubricating oil film is maximized within this range, thereby effectively preventing the lubricating oil from crossing with other hole bodies thereon, and achieving a better lubricating effect. In a specific embodiment, the first arc groove 321 and the second arc groove 322 are arranged along the outer edge region of the inner end face of the planet carrier, the radii of the radial inner walls of the first arc groove 321 and the second arc groove 322 are rb,28mm rb is smaller than or equal to 54mm, so that the oil storage ring groove is prevented from intersecting with each hole on the cycloid gear and intersecting with the gear teeth of the cycloid gear.
Referring to fig. 6 and 7, in some embodiments, the RV reducer further includes a rigid disk 4 supported at the second end of the eccentric shaft 1, the rigid disk 4 has an inner end surface of the rigid disk adjacent to an outer end surface of the second cycloid gear 22, and a sixth oil storage tank is configured on the inner end surface of the carrier, and through the sixth oil storage tank, the wear between the two can be effectively reduced when the corresponding cycloid gear is in contact with the rigid disk, specifically, the sixth oil storage tank includes a third arc groove 421 and a fourth arc groove 422 which are centrosymmetric with respect to the fourth main shaft through hole 41 of the rigid disk 4, wherein the central angle corresponding to the third arc groove 421 is 0 ° < α 2 ≦ 140 °, and tests prove that the area of the lubricating oil film is maximized within this range, thereby effectively preventing the lubricating oil from crossing other holes thereon, and the lubricating effect is better. In a specific embodiment, the third circular arc groove 421 and the fourth circular arc groove 422 are disposed along the outer edge region of the inner end surface of the rigid frame, and the radii of the respective radial inner walls of the third circular arc groove 421 and the fourth circular arc groove 422 are rc, and rc is greater than or equal to 28mm and less than or equal to 54mm, so that the oil storage ring groove is prevented from crossing with each hole on the cycloid wheel and crossing with the teeth of the cycloid wheel.
Any one of the first oil storage ring groove 211, the second oil storage ring groove 221, the third oil storage ring groove 212, the fourth oil storage ring groove 222, the first arc groove 321, the second arc groove 322, the third arc groove 421 and the fourth arc groove 422 has a circular arc-shaped cross section, and a circular arc-shaped groove is convenient to machine.
According to an embodiment of the invention, there is also provided an industrial robot comprising the RV reducer described above.
Those skilled in the art will readily appreciate that the advantageous features of the above described modes can be freely combined, superimposed and combined without conflict.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a RV reduction gear, includes eccentric shaft (1), eccentric shaft (1) has first eccentric portion (11) and second eccentric portion (12), still includes and does first cycloid wheel (21) of first eccentric portion (11) drive translation, does second cycloid wheel (22) of second eccentric portion (12) drive translation, its characterized in that, be equipped with first oil storage annular (211) on the medial surface of first cycloid wheel (21), and/or, be equipped with second oil storage annular (221) on the medial surface of second cycloid wheel (22).
2. The RV reducer according to claim 1, characterized in that on the outer side end of said first cycloidal gear (21) there is a third oil storage ring groove (212); and/or a fourth oil storage ring groove (222) is arranged on the outer side end face of the second cycloid wheel (22).
3. The RV reducer according to claim 2, characterized in that said first cycloid wheel (21) has a plurality of first main shaft through holes (213) passing through its inner and outer end faces and a plurality of first through holes (214) surrounding said first main shaft through holes (213), said first oil reservoir ring groove (211) and/or said third oil reservoir ring groove (212) are concentrically arranged around said first main shaft through holes (213), and a plurality of said first through holes (214) are in a region surrounded by said first oil reservoir ring groove (211); and/or, the second cycloid wheel (22) is provided with a plurality of second main shaft through holes (223) penetrating through the inner side end face and the outer side end face of the second cycloid wheel and a plurality of second through holes (224) surrounding the second main shaft through holes (223), the second oil storage ring groove (221) and/or the fourth oil storage ring groove (222) are concentrically arranged around the second main shaft through holes (223), and the second through holes (224) are located in the surrounded area of the second oil storage ring groove (221).
4. The RV reducer according to claim 3, characterized in that the thickness of the first cycloid wheel (21) is H1, the groove depth of the first oil storage ring groove (211) is H1, H1/10. Ltoreq. H1. Ltoreq. H1/5, and/or the groove depth of the third oil storage ring groove (212) is H3, H1/10. Ltoreq. H3. Ltoreq. H1/5; and/or the thickness of the second cycloid wheel (22) is H2, the groove depth of the second oil storage ring groove (221) is H2, H2/10 is not less than H2 and not more than H2/5, and/or the groove depth of the fourth oil storage ring groove (222) is H4, and H2/10 is not less than H4 and not more than H2/5.
5. The RV reducer according to claim 2, characterized by further comprising a planet carrier (3) supported at a first end of said eccentric shaft (1), said planet carrier (3) having a planet carrier inner end face adjacent to said outer end face of said first cycloidal gear (21), said planet carrier inner end face having a fifth oil reservoir configured thereon.
6. The RV reducer according to claim 5 characterized in that said fifth oil reservoir comprises a first arc groove (321), a second arc groove (322) which are centrosymmetric about a third main shaft through hole (31) which said planet carrier (3) has, wherein said first arc groove (321) corresponds to a central angle of 0 ° < α 1 ≦ 140 °.
7. The RV reducer of claim 6 further comprising a rigid disc (4) supported at a second end of said eccentric shaft (1), said rigid disc (4) having a rigid disc inner end surface adjacent to said outboard end surface of said second cycloidal gear (22), said planet carrier inner end surface being configured with a sixth oil sump; and/or the first arc groove (321) and the second arc groove (322) are arranged along the outer edge area of the inner end face of the planet carrier.
8. The RV reducer according to claim 7 characterized in that said sixth oil reservoir comprises a third arc groove (421) and a fourth arc groove (422) which are centrosymmetric about a fourth main shaft through hole (41) of said rigid disk (4), wherein said third arc groove (421) corresponds to a central angle of 0 ° < α 2 ≦ 140 °.
9. The RV reducer according to claim 8, characterized in that said third arc groove (421) and said fourth arc groove (422) are provided along an outer edge zone of said rigid disc inner end surface; and/or the cross section of any one of the first oil storage ring groove (211), the second oil storage ring groove (221), the third oil storage ring groove (212), the fourth oil storage ring groove (222), the first arc groove (321), the second arc groove (322), the third arc groove (421) and the fourth arc groove (422) is arc-shaped.
10. An industrial robot characterized by comprising an RV reducer according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211422360.1A CN115681417A (en) | 2022-11-14 | 2022-11-14 | RV reduction gear, industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211422360.1A CN115681417A (en) | 2022-11-14 | 2022-11-14 | RV reduction gear, industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115681417A true CN115681417A (en) | 2023-02-03 |
Family
ID=85052575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211422360.1A Pending CN115681417A (en) | 2022-11-14 | 2022-11-14 | RV reduction gear, industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115681417A (en) |
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2022
- 2022-11-14 CN CN202211422360.1A patent/CN115681417A/en active Pending
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