CN1368422A

CN1368422A - Speed reducer with micro back lash for industrial robot

Info

Publication number: CN1368422A
Application number: CN01102848A
Authority: CN
Inventors: 吴声震
Original assignee: Individual
Current assignee: Individual
Priority date: 2001-02-09
Filing date: 2001-02-09
Publication date: 2002-09-11

Abstract

A speed reducer with micro-backlash for industrial robot features that on the basis of the principle that two gears are misaligned by a small angle to eliminate the gap between teeth, the cycloidal speed reducer is so improved that one original dual eccentric bearing is divided into two. When the said speed reducer is in a static state, the said two eccentric bearings are deflected by a small angle to eliminate the gap between teeth. Its advantages are simple manufacture technology and low cost.

Description

Speed reducer with micro back lash for industrial robot

The present invention relates to the precision optical machinery field, a kind of new and high technology industrial robot speed reducer.

Along with the arrival of information age, the develop rapidly of computer and artificial intelligence technology impel new and high technologies such as automatic control, industrial robot to be widely used day by day, and precision mechanical transmission is a vitals in these new and high technologies.Existing precision drive engineering goods: (one) harmonic driving: have the high torque weight ratio, its return difference of harmonic wave speed reducing machine that precision is high can reach 9 '-1 ', and shortcoming is that output rigidity is low, and shock resistance and wear problem are bigger, the price height; (2) the RV speed reducer of the smart machine of Japanese Supreme Being people company has advantages such as high rigidity, little return difference 0.5 '-6 ' and shock resistance.The RV speed reducer has been listed national 863 Program in as new and high technology, bear by Shanghai Communications University, Harbin Institute of Technology and Qin Chuan machine tool plant imitated, owing to the very high-precision working machine tool of domestic shortage and especially big super narrow high-precision bearing make imitated work progress unsatisfactory.The RV speed reducer is very expensive, and import price is cycloid speed reducer 10-15 times; (3) CORT (compound rolling free gear) speed reducer is considered at a high speed than revolutionary invention in the gear transmission, once big achievement.Number of patent application is respectively 97100463.3 (China), 08/906814 (U.S.), CT/US98/02810 (world).It is said that its performance has surpassed the RV speed reducer.The CORT speed reducer is based on the RV speed reducer, takes the engagement system of ripple tooth speed reducer and the invention made, thereby only is to change epicyclodial wheel with the main difference of RV speed reducer and needle guard is needle guard and the engagement of hypocycloid wheel; (4) the FA speed reducer of SUMITOMO CHEMICAL Co., Ltd. is a kind of high-precision three pieces type cycloid speed reducer, and its structure is simple than the RV speed reducer.

Return difference is big, is the key factor that is very limited on cycloid speed reducer is used.Studies show that, excellent properties such as the high bearing capacity of cycloid speed reducer, shock resistance and high efficiency, can't fully show owing to the problem on the existing structure, main is, and to generate the gap factor many and complicated, therefore can't make little backflash cycloidal speed reducer and are applied in industrial robot and military project (as radar antenna bearingt retarder) gets on.

The object of the invention is to provide a kind of minimum return difference industrial robot speed reducer.The present invention replaces expensive RV series and FA series speed reducer with high-bearing capacity, shock resistance, high efficiency and low manufacture cost and other advantages, for the industrial robot production domesticization lays the foundation.In addition, can also get the little sideshake gear reduction unit of harmonic wave speed reducing machine and German Lenze company.

Embodiment of the present invention: speed reducer with micro back lash for industrial robot of the present invention and RV series, FA series speed reducer similarity is it all is based on cycloid speed reducer, its fundamental difference: the latter takes high accuracy of manufacturing to realize small return difference, the present invention then transforms the structure of existing cycloid speed reducer or crank-type cycloid speed reducer according to two gears principle that a small angle eliminates inter-lobe clearance that staggers, 180 ° duplex capacity eccentric bearing changed two independent capacity eccentric bearings into staggering originally, and two capacity eccentric bearings are in relative deflection one small angle state all the time when static state, and the position that this moment, two bearings staggered no longer is 180 °.

The present invention and Japanese RV, FA speed reducer and comparison, its superiority show significantly in the following aspects: (one) does not need very high degree of precision special purpose machine tool and specific assembly environment; (2) two ends do not need special-purpose especially big light-duty bearing; (3) simple in structure, easy to maintenance; (4) manufacture cost reduces by 70～80%.

Because working principle is identical with cycloid speed reducer, thereby only to realizing that structure of modification and working principle small or that be referred to as zero return difference encyclopaedize in conjunction with the accompanying drawings.

Fig. 1. crank-type cycloid speed reducer structural type embodiment's structure principle chart;

Fig. 2. cycloid speed reducer structural type embodiment's structure principle chart;

What Fig. 3 .4. was respectively that input shaft realizes little return difference analyses and observe, overlooks schematic diagram.

With reference to Fig. 1 .3.4. crank-type speed reducer with micro back lash for industrial robot, be innovation and creation based on the crank-type cycloid speed reducer.The RV speed reducer is exactly highi degree of accuracy crank-type cycloid speed reducer in fact.It is made of double reduction, wherein, elementary by input shaft gear [10] (central gear) and planet wheel [17] formation, planet wheel is 2～3, be distributed on the same circumference, planet wheel is contained on the secondary input shaft [19], secondary by input shaft [19], cycloid wheel [1], needle pin [2], pin wheel housing [3], capacity eccentric bearing [4] and [5], end cap [6], support [7] and block bearing constitute, support [7] is crossed over two cycloid wheel, both sides are respectively by bearing [18], [8] be bearing in pin wheel housing [3] and end cap [8] endoporus, end cap connects one with pin wheel housing, and the input shaft two ends are respectively by bearing [15], [9] be positioned in the corresponding hole, support [7] both sides.It is characterized in that: (a) in the input shaft [19] through hole is arranged; (b) process two spiral chutes with rotation direction on input shaft [19] assembling capacity eccentric bearing [4], [5] position respectively, the everywhere spiral chute is Rotate 180 ° symmetry, with rotation direction two short grooves, and the rotation of two grooves connects, and groove points to the capacity eccentric bearing inner hole key slot; (c) input shaft [19] endoporus has corresponding to two pull bars of spiral fluted [14] and [12], radially rigging pilotage [16] and [13] respectively at bar, one end of pin places a side spiral chute, the other end stretches out the opposite side spiral chute and joins with capacity eccentric bearing inner hole key slot cunning, when pull bar moves, also rotate when pull bar moves along spiral chute with the pin on it, finally make the relative deflection of two capacity eccentric bearings one little angle; (d) pull bar [14], [12] two ends have pressure spring [11] respectively, and spring just compressive force makes relative deflection one small angle of two capacity eccentric bearings and no longer staggers 180 °.

Working principle of the present invention: when power is imported by input shaft gear [10], 2～3 planet wheels [17] through being engaged with drive corresponding 2～3 input shafts [19] and rotate, effect by thereon capacity eccentric bearing makes two cycloid wheel [1] and needle pin [2] engagement, when pin wheel housing [3] fixedly the time, from support [7] output, this moment, planetary pinion also revolved round the sun around central gear except that rotation power after slowing down.Because the first compressive force of spring [11] makes two capacity eccentric bearings respectively along suitable, counterclockwise deflection one small angle, though also each self-deflection one little angle of two cycloid wheel and with the engagement of pin tooth, eliminate inter-lobe clearance thus and realize little return difference.

With reference to Fig. 2. be innovation and creation, so structure and working principle are identical based on existing cycloid speed reducer, its feature and realize that small return difference is identical with crank-type embodiment.The cycloid formula belongs to one-level slows down, and has one by output shaft [20], pin [21], column sleeve [22] and all carry the W output mechanism of ring [23] formation.The W output mechanism is bearing in the hole of forward and backward end cap [24] and [6] by bearing [18], [8] respectively, and end cap [24], [6] connect one with pin wheel housing [3].

Claims

A kind of speed reducer with micro back lash for industrial robot that belongs to crank cycloid speed reducer or cycloid speed reducer structural type is characterized in that:

(a) in the input shaft [19] through hole is arranged;

(b) process two spiral chutes with rotation direction on input shaft [19] assembling capacity eccentric bearing [4], [5] position respectively, the everywhere spiral chute is Rotate 180 ° symmetry, with rotation direction two short grooves, and the rotation of two grooves connects, and groove points to the capacity eccentric bearing inner hole key slot;

(c) input shaft [19] endoporus has corresponding to two pull bars of spiral fluted [14] and [12], radially rigging pilotage [16] and [13] respectively at bar, one end of pin places a side spiral chute, the other end stretches out the opposite side spiral chute and joins with capacity eccentric bearing inner hole key slot cunning, when pull bar moves, also rotate when pull bar moves along spiral chute with the pin on it, finally make the relative deflection of two capacity eccentric bearings one little angle;

(d) pull bar [14], [12] two ends have pressure spring [11] respectively, and spring just compressive force makes relative deflection one small angle of two capacity eccentric bearings and no longer staggers 180 °.