CN209925523U - Planetary cycloidal speed reducer for light robot - Google Patents

Planetary cycloidal speed reducer for light robot Download PDF

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Publication number
CN209925523U
CN209925523U CN201821918806.9U CN201821918806U CN209925523U CN 209925523 U CN209925523 U CN 209925523U CN 201821918806 U CN201821918806 U CN 201821918806U CN 209925523 U CN209925523 U CN 209925523U
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planet carrier
involute
needle shell
cavity
sun gear
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CN201821918806.9U
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Chinese (zh)
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黄志辉
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ZHUHAI PEGASUS TRANSMISSION MACHINERY Co Ltd
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ZHUHAI PEGASUS TRANSMISSION MACHINERY Co Ltd
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Abstract

The utility model discloses a planetary cycloid type speed reducer for a light robot, which comprises two involute planetary gears, an involute sun gear shaft, an involute input gear shaft, two eccentric shafts, two cycloid gears, a front planet carrier, a rear planet carrier, rolling pins, a needle shell and a column type taper pin, wherein the rolling pins are uniformly arranged along the circumferential direction of the inner cavity wall of the needle shell; the front planet carrier and the rear planet carrier are respectively sleeved in two ends of the inner cavity of the needle shell, are respectively connected with the wall surface of the inner cavity of the needle shell in a rotating mode through angular contact ball bearings, and are fixedly connected with each other through column type taper pins and inner hexagon bolts. A planetary cycloid formula speed reducer for light robot, its is rational in infrastructure, have simple structure, convenient to use, small, precision height, with low costs, bear advantages such as big, effectively solve the problem that lacks RV speed reducer for light robot.

Description

Planetary cycloidal speed reducer for light robot
Technical Field
The utility model belongs to the technical field of the speed reducer and specifically relates to a planet cycloid formula speed reducer for light robot is related to.
Background
In the known technology, RV (Rot-vector) transmission has the characteristics of large transmission ratio, large bearing capacity, large rigidity, high motion precision, high transmission efficiency, small return difference and the like, and has smaller volume and larger overload capacity than simple cycloidal pin gear planetary transmission, and the rigidity of an output shaft is large.
The light-duty robot speed reducer requires large bearing capacity, light weight, small volume and high transmission precision, so the speed reducer adopting RV transmission becomes an option, but the common RV speed reducer cannot be directly applied to the robot due to the reasons of large volume, heavy weight and the like, and the structural strength and precision are influenced by the reduction in equal proportion, so how to design the light-duty robot RV speed reducer with small volume, high precision and low cost becomes a current difficult problem.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: in order to overcome the problems in the prior art, the planetary cycloidal speed reducer for the light robot is provided, has the advantages of reasonable structure, simple structure, convenience in use, small size, high precision, low cost, large bearing capacity and the like, and effectively solves the problem of lack of the RV speed reducer for the light robot.
The utility model provides a technical scheme that its technical problem adopted is: a planetary cycloid type speed reducer for a light robot comprises two involute planetary gears, an involute sun gear shaft, an involute input gear shaft, two eccentric shafts, two cycloid gears, a front planet carrier, a rear planet carrier, roller pins, a needle shell and a column type taper pin, wherein the inner cavity of the needle shell is of a circular structure, the roller pins are uniformly arranged along the circumferential direction of the inner cavity wall of the needle shell, the roller pins and the central axis of the needle shell are in the same direction, and the roller pins are rotationally connected with the needle shell;
the front planet carrier and the rear planet carrier are both disc-shaped structures, are respectively sleeved in two ends of the inner cavity of the needle shell, and are respectively in rotary connection with the wall surface of the inner cavity of the needle shell through angular contact ball bearings; the front planet carrier and the rear planet carrier are fixedly connected with each other through a plurality of column-type taper pins and a plurality of inner hexagon bolts;
the two eccentric shafts are arranged in a cavity enclosed by the front planet carrier, the rear planet carrier and the needle shell in the coaxial line direction of the cavity of the needle shell, each eccentric shaft is in transmission connection with two cycloidal gears through bearings, and the two cycloidal gears are in transmission connection with the needle rollers respectively; one end of each of the two eccentric shafts is rotatably connected with the rear planet carrier through a bearing, the other end of each of the two eccentric shafts is rotatably connected with the front planet carrier through a bearing, and the end of each of the two eccentric shafts penetrates out of the front planet carrier to be in transmission connection with the involute planetary gear; the rear planet carrier is also provided with a transmission column which is in transmission connection with the two cycloidal gears;
the involute sun gear shaft is provided with a first sun gear and a second sun gear, the involute sun gear shaft is rotationally connected with the front planet carrier through a bearing, the second sun gear is in transmission connection with the two involute planet gears, and the first sun gear is in transmission connection with the involute input gear shaft; the involute input gear shaft is provided with a connecting hole for connecting a motor, the connecting hole is a blind hole, and one end of the involute input gear shaft, which is provided with a gear, is of a solid structure;
the number of teeth of the involute input gear shaft is 28, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 14 mm;
the number of teeth of the involute planetary gear is 33, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 8 mm.
Further, the number of teeth of the first sun gear is 112, the module is 1.75, the pressure angle is 20 degrees, the tooth width is 8mm, the number of teeth of the second sun gear is 48, the module is 1.75, the pressure angle is 20 degrees, and the tooth width is 16 mm.
Furthermore, the eccentricity of the eccentric shaft is 1.5mm, and the roller pin is a cylinder with the outer diameter of phi 6mm and the length of 26 mm.
Furthermore, the inner cavity wall of the needle shell is provided with inner tooth forms, the number of the tooth forms is 52, the diameter of a central circle is phi 204mm, and the diameter of the needle teeth is phi 6 mm.
The utility model has the advantages that: a planetary cycloidal reducer for light robots is characterized in that a cycloidal gear adopts a single differential tooth structure, the meshing precision is superior to that of two differential teeth, the cycloidal gear, a roller pin and a needle shell are all-tooth in rolling friction and are relieved, and the rigidity is good; the single-difference tooth meshing is easier to realize high requirements on transmission chain errors and backlash, the rigidity is better, the tooth clearance is smaller, and the conditions of shaking and overlarge damping vibration in the use process of the speed reducer can be avoided; the planet carrier adopts a column type taper pin connecting structure, has the characteristics of simple structure, convenient processing, high strength and the like, and simultaneously, the high-precision taper pin connecting structure can ensure the processing and assembling identity; the structure is reasonable, the advantages of simple structure, convenient use, small volume, high precision, low cost, large bearing capacity and the like are achieved, and the problem of lack of RV speed reducers for light robots is effectively solved.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic view of the overall structure of a planetary cycloidal reducer for a light robot according to the present invention;
fig. 2 is a schematic structural view of an involute sun gear shaft of a planetary cycloidal reducer for a light robot according to the present invention;
fig. 3 is an explosion structure diagram of the planetary cycloidal reducer for the light robot.
The scores in the figures are as follows:
1. the involute planetary gear comprises an involute planetary gear 2, an involute sun gear shaft 3, an involute input gear shaft 4, an eccentric shaft 5, a cycloid wheel 6, a front planet carrier 7, a rear planet carrier 8, a rolling needle 9, a needle shell 10, a column type taper pin 22, a first sun gear 21 and a second sun gear.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in fig. 1, 2 and 3, the planetary cycloid speed reducer for the light robot comprises two involute planetary gears 1, an involute sun gear shaft 2, an involute input gear shaft 3, two eccentric shafts 4, two cycloid gears 5, a front planet carrier 6, a rear planet carrier 7, needle rollers 8, a needle shell 9 and a column type taper pin 10, wherein an inner cavity of the needle shell 9 is of a circular structure, the needle rollers 8 are uniformly arranged along the circumferential direction of the inner cavity wall of the needle shell 9, the needle rollers 8 and the central axis of the needle shell 9 are in the same direction, and the needle rollers 8 are rotatably connected with the needle shell 9;
the front planet carrier 6 and the rear planet carrier 7 are both disc-shaped structures, the front planet carrier 6 and the rear planet carrier 7 are respectively sleeved in two ends of an inner cavity of the needle shell 9, and the front planet carrier 6 and the rear planet carrier 7 are respectively in rotary connection with the wall surface of the inner cavity of the needle shell 9 through angular contact ball bearings; the front planet carrier 6 and the rear planet carrier 7 are fixedly connected with each other through a plurality of column-type taper pins 10 and a plurality of inner hexagon bolts;
the two eccentric shafts 4 are arranged in a cavity enclosed by the front planet carrier 6, the rear planet carrier 7 and the needle shell 9 in the coaxial direction of the cavity of the needle shell 9, each eccentric shaft 4 is in transmission connection with the two cycloidal gears 5 through bearings, and the two cycloidal gears 5 are in transmission connection with the needle rollers 8 respectively; one end of each of the two eccentric shafts 4 is rotatably connected with the rear planet carrier 7 through a bearing, the other end of each of the two eccentric shafts 4 is rotatably connected with the front planet carrier 6 through a bearing, and the end of each of the two eccentric shafts passes through the front planet carrier 6 to be in transmission connection with the involute planetary gear 1; the rear planet carrier 7 is also provided with a transmission column which is in transmission connection with the two cycloidal gears 5;
the involute sun gear shaft 2 is provided with a first sun gear 22 and a second sun gear 21, the involute sun gear shaft 2 is rotatably connected with the front planet carrier 6 through a bearing, the second sun gear 21 is in transmission connection with the two involute planet gears 1, and the first sun gear 22 is in transmission connection with the involute input gear shaft 3. The involute input gear shaft 3 has a hollow structure, and is sleeved with an output shaft of a power mechanism and is in transmission connection with the output shaft.
In an embodiment as shown in fig. 1, the involute input gear shaft 3 is provided with a connecting hole for connecting a motor, the connecting hole is a blind hole, and one end of the involute input gear shaft 3, which is provided with a gear, is of a solid structure.
In one embodiment, the involute input gear shaft 3 has 28 teeth, a module of 1.75, a pressure angle of 20 degrees and a tooth width of 14 mm.
In one embodiment, the involute planetary gear 1 has 33 teeth, a module of 1.75, a pressure angle of 20 degrees and a tooth width of 8 mm.
In one embodiment, the first sun gear 22 has 112 teeth, a module of 1.75, a pressure angle of 20 °, and a tooth width of 8 mm.
In one embodiment, the second sun gear 21 has 48 teeth, a module of 1.75, a pressure angle of 20 °, and a tooth width of 16 mm.
In one embodiment, the eccentricity of the eccentric shaft 4 is 1.5 mm.
In one embodiment, the needle roller 8 is a cylinder with an outer diameter of phi 6mm and a length of 26 mm.
In one embodiment, the inner cavity wall of the needle shell 9 is provided with an inner tooth form, the number of the teeth is 52, the diameter of a central circle is phi 204mm, and the diameter of the needle tooth is phi 6 mm.
The utility model belongs to a tertiary closed, poor planetary drive mechanism of few tooth. The heavy-load high-precision speed reducer for the industrial robot has three-level speed reduction, the first level is speed reduction of an involute planetary mechanism, and the heavy-load high-precision speed reducer comprises main parts of an involute input gear shaft 3 and an involute sun gear shaft 2. The second stage is an involute planetary mechanism speed reduction, and comprises main parts of two involute planetary gears 1 and an involute sun gear shaft 2. The third level is a cycloidal pin gear planetary speed reducing mechanism which comprises two eccentric shafts 4, two cycloidal gears 5, a front planet carrier 6, a rear planet carrier 7, twenty-six rolling needles 8 and a pin housing 9, wherein the cycloidal gears 5 and the pin housing 9 are in differential gear engagement to form speed reduction, the front planet carrier and the rear planet carrier are output, and the three-level speed reducing mechanism forms a planetary mechanism.
The utility model discloses a planet cycloid formula speed reducer for light robot, its is rational in infrastructure, and the cycloid wheel uses single differential tooth structure, and the meshing precision is superior to two differential tooth meshing, and cycloid wheel, kingpin, needle shell full tooth rolling friction are relieved, and the rigidity is good; the single-difference tooth meshing is easier to realize high requirements on transmission chain errors and backlash, the rigidity is better, the tooth clearance is smaller, and the conditions of shaking and overlarge damping vibration in the use process of the speed reducer can be avoided; the planet carrier adopts a column type taper pin connecting structure, has the characteristics of simple structure, convenient processing, high strength and the like, and simultaneously, the high-precision taper pin connecting structure can ensure the processing and assembling identity; the structure is reasonable, the advantages of simple structure, convenient use, small volume, high precision, low cost, large bearing capacity and the like are achieved, and the problem of lack of RV speed reducers for light robots is effectively solved.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (4)

1. The utility model provides a light robot is with planet cycloid formula speed reducer which characterized by: the involute planetary gear set comprises two involute planetary gears (1), an involute sun gear shaft (2), an involute input gear shaft (3), two eccentric shafts (4), two cycloid gears (5), a front planet carrier (6), a rear planet carrier (7), rolling pins (8), a needle shell (9) and a column type taper pin (10), wherein an inner cavity of the needle shell (9) is of a circular structure, the rolling pins (8) are uniformly arranged along the circumferential direction of the inner cavity wall of the needle shell (9), the rolling pins (8) and the central axis of the needle shell (9) are in the same direction, and the rolling pins (8) are rotatably connected with the needle shell (9);
the front planet carrier (6) and the rear planet carrier (7) are both disc-shaped structures, the front planet carrier (6) and the rear planet carrier (7) are respectively sleeved in two ends of an inner cavity of the needle shell (9), and the front planet carrier (6) and the rear planet carrier (7) are respectively in rotary connection with the wall surface of the inner cavity of the needle shell (9) through angular contact ball bearings; the front planet carrier (6) and the rear planet carrier (7) are fixedly connected with each other through a plurality of column-type taper pins (10) and a plurality of hexagon socket head bolts;
the two eccentric shafts (4) are arranged in a cavity defined by the front planet carrier (6), the rear planet carrier (7) and the needle shell (9) in the coaxial line direction of the cavity of the needle shell (9), each eccentric shaft (4) is in transmission connection with the two cycloidal gears (5) through bearings, and the two cycloidal gears (5) are in transmission connection with the needle rollers (8) respectively; one end of each of the two eccentric shafts (4) is rotatably connected with the rear planet carrier (7) through a bearing, the other end of each of the two eccentric shafts (4) is rotatably connected with the front planet carrier (6) through a bearing, and the end of each of the two eccentric shafts penetrates out of the front planet carrier (6) to be in transmission connection with the involute planetary gear (1); the rear planet carrier (7) is also provided with a transmission column which is in transmission connection with the two cycloidal gears (5);
the involute sun gear shaft (2) is provided with a first sun gear (22) and a second sun gear (21), the involute sun gear shaft (2) is rotatably connected with the front planet carrier (6) through a bearing, the second sun gear (21) is in transmission connection with the two involute planet gears (1), and the first sun gear (22) is in transmission connection with the involute input gear shaft (3); the involute input gear shaft (3) is provided with a connecting hole for connecting a motor, the connecting hole is a blind hole, and one end of the involute input gear shaft (3) with a gear is of a solid structure;
the number of teeth of the involute input gear shaft (3) is 28, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 14 mm;
the involute planetary gears (1) are 33 in tooth number, 1.75 in modulus, 20 in pressure angle and 8mm in tooth width.
2. The planetary cycloidal reducer for a light robot according to claim 1, wherein: the number of teeth of the first sun gear (22) is 112, the modulus is 1.75, the pressure angle is 20 degrees, the tooth width is 8mm, the number of teeth of the second sun gear (21) is 48, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 16 mm.
3. The planetary cycloidal reducer for a light robot according to claim 1, wherein: the eccentricity of the eccentric shaft (4) is 1.5mm, and the roller pin (8) is a cylinder with the outer diameter of phi 6mm and the length of 26 mm.
4. The planetary cycloidal reducer for a light robot according to claim 1, wherein: the inner cavity wall of the needle shell (9) is provided with inner tooth shapes, the number of the teeth is 52, the diameter of a central circle is phi 204mm, and the diameter of the needle teeth is phi 6 mm.
CN201821918806.9U 2018-11-20 2018-11-20 Planetary cycloidal speed reducer for light robot Active CN209925523U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821918806.9U CN209925523U (en) 2018-11-20 2018-11-20 Planetary cycloidal speed reducer for light robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821918806.9U CN209925523U (en) 2018-11-20 2018-11-20 Planetary cycloidal speed reducer for light robot

Publications (1)

Publication Number Publication Date
CN209925523U true CN209925523U (en) 2020-01-10

Family

ID=69064280

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201821918806.9U Active CN209925523U (en) 2018-11-20 2018-11-20 Planetary cycloidal speed reducer for light robot

Country Status (1)

Country Link
CN (1) CN209925523U (en)

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