CN211778777U - RV reduction gear and robot - Google Patents
RV reduction gear and robot Download PDFInfo
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- CN211778777U CN211778777U CN202020378615.9U CN202020378615U CN211778777U CN 211778777 U CN211778777 U CN 211778777U CN 202020378615 U CN202020378615 U CN 202020378615U CN 211778777 U CN211778777 U CN 211778777U
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Abstract
The utility model discloses a RV reduction gear and robot, RV reduction gear include input shaft and eccentric shaft, still include the connecting rod, the head of input shaft is equipped with first eccentric portion, the head of eccentric shaft is equipped with second eccentric portion, the cover is equipped with first bearing in the first eccentric portion, the cover is equipped with the second bearing in the second eccentric portion, the one end of connecting rod is passed through first bearing is connected the input shaft, the other end of connecting rod passes through the second bearing is connected the eccentric shaft. The input shaft and the eccentric shaft in the RV reducer are rigidly connected by adopting the bearing and the connecting rod, no transmission gap exists, the transmission precision is high, the temperature rise is small, and the high-speed rotation noise is small; the friction coefficient of the bearing is small and is about 0.002, so that the transmission efficiency of the RV reducer is favorably improved; the transmission structure is simple and easy to process; a high-precision high-hardness grinding gear is not needed, so that the manufacturing cost of the RV reducer is reduced; the working abrasion is small, and the service life is long.
Description
Technical Field
The utility model relates to a joint reducer technical field especially relates to a RV reduction gear and robot.
Background
Most joint reducers of the existing robots adopt RV reducers, as shown in FIG. 1, the input gear 20 connected to the input shaft 1 of the existing RV reducers drives the driven gear 21 to drive the eccentric shaft 2 to rotate, the eccentric shaft 2 rotates to drive the cycloidal gear 13 to swing, and the cycloidal gear 13 and the needle teeth 12 rotate in a speed reduction manner. Because the input gear 20 rotational speed is higher, generally has 3000 revolutions per minute, and gear drive needs certain tooth clearance just can rotate, consequently current RV reduction gear transmission precision is not very high, and high-speed rotational noise is great, and transmission efficiency is about 98%, and current RV reduction gear still has the problem that the temperature rises in addition, needs high accuracy high rigidity grinding gear, and manufacturing cost is high.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: provided are a high-precision RV reducer with low production cost and a robot with the same.
In order to solve the technical problem, the utility model discloses a technical scheme be: the utility model provides a RV reduction gear, includes input shaft and eccentric shaft, still includes the connecting rod, the head of input shaft is equipped with first eccentric portion, the head of eccentric shaft is equipped with second eccentric portion, the cover is equipped with first bearing in the first eccentric portion, the cover is equipped with the second bearing in the second eccentric portion, the one end of connecting rod is passed through first bearing is connected the input shaft, the other end of connecting rod passes through the second bearing is connected the eccentric shaft.
Furthermore, the number of the first eccentric parts, the number of the eccentric shafts and the number of the connecting rods are respectively two, and the first eccentric parts, the eccentric shafts and the connecting rods are arranged in a one-to-one correspondence manner.
Further, along the axial projection of the input shaft, the axis of the input shaft passes through a connecting line of the centers of the two first eccentric parts.
Further, the end part of the input shaft is provided with a first end cover for preventing the first bearing from being separated from the input shaft.
Further, a second end cover for preventing the second bearing from being separated from the eccentric shaft is arranged at the end part of the eccentric shaft.
Further, the two first eccentric parts are arranged close to each other.
The input shaft and the eccentric shaft penetrate through the shell respectively, a plurality of needle teeth are arranged in the shell, and the eccentric shaft is provided with a cycloid wheel matched with the needle teeth.
Furthermore, the eccentric shaft is connected with the cycloidal gear through the third bearing.
And the sealing covers are arranged on two sides of the cycloidal gear and are connected with the input shaft through a fourth bearing and connected with the eccentric shaft through a fifth bearing.
In order to solve the technical problem, the utility model discloses still adopt following technical scheme: the robot comprises the RV reducer.
The beneficial effects of the utility model reside in that: the gear transmission of the input shaft and the eccentric shaft in the RV reducer is different from the gear transmission of the input shaft and the eccentric shaft in the RV reducer in the prior art, the input shaft and the eccentric shaft in the RV reducer are rigidly connected by adopting a bearing and a connecting rod, no transmission gap exists, the transmission precision is high, the temperature rise is small, and the high-speed rotation noise is small; the friction coefficient of the bearing is small and is about 0.002, so that the transmission efficiency (about 99.8%) of the RV reducer is favorably improved; the transmission structure is simple and easy to process; a high-precision high-hardness grinding gear is not needed, so that the manufacturing cost of the RV reducer is reduced; the working abrasion is small, and the service life is long.
Drawings
FIG. 1 is a simplified schematic diagram of a prior art RV reducer configuration;
fig. 2 is a simplified schematic diagram of a structure of an RV reducer according to a first embodiment of the present invention;
fig. 3 is an enlarged view of detail a in fig. 2.
Description of reference numerals:
1. an input shaft; 2. an eccentric shaft; 3. a connecting rod; 4. a first eccentric portion; 5. a second eccentric portion; 6. a first bearing; 7. a second bearing; 8. a first end cap; 9. a second end cap; 10. a shoulder portion; 11. a housing; 12. needle teeth; 13. a cycloid wheel; 14. a third bearing; 15. sealing the cover; 16. a fourth bearing; 17. a fifth bearing; 20. an input gear; 21. a driven gear.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
The utility model discloses the most crucial design lies in: the gear transmission between the input shaft and the eccentric shaft is improved into bearing and connecting rod transmission.
Referring to fig. 2 and 3, an RV reducer includes an input shaft 1, an eccentric shaft 2, and a connecting rod 3, wherein a first eccentric portion 4 is disposed at a head of the input shaft 1, a second eccentric portion 5 is disposed at a head of the eccentric shaft 2, a first bearing 6 is sleeved on the first eccentric portion 4, a second bearing 7 is sleeved on the second eccentric portion 5, one end of the connecting rod 3 is connected to the input shaft 1 through the first bearing 6, and the other end of the connecting rod 3 is connected to the eccentric shaft 2 through the second bearing 7.
From the above description, the beneficial effects of the present invention are: the gear transmission of the input shaft 1 and the eccentric shaft 2 in the RV reducer is different from the gear transmission of the input shaft 1 and the eccentric shaft 2 in the RV reducer in the prior art, the input shaft 1 and the eccentric shaft 2 are rigidly connected by adopting a bearing and a connecting rod 3, no transmission gap exists, the transmission precision is high, the temperature rise is small, and the high-speed rotation noise is small; the friction coefficient of the bearing is small and is about 0.002, so that the transmission efficiency (about 99.8%) of the RV reducer is favorably improved; the transmission structure is simple and easy to process; a high-precision high-hardness grinding gear is not needed, so that the manufacturing cost of the RV reducer is reduced; the working abrasion is small, and the service life is long.
Further, the number of the first eccentric portions 4, the number of the eccentric shafts 2, and the number of the connecting rods 3 are two, and the three are arranged in one-to-one correspondence.
Further, in the axial projection of the input shaft 1, the axis of the input shaft 1 passes through a connecting line of the centers of the two first eccentric portions 4.
As can be seen from the above description, the two first eccentric portions 4 are spaced 180 ° apart around the axial center of the input shaft 1 in the axial projection of the input shaft 1.
Further, the end of the input shaft 1 is provided with a first end cover 8 for preventing the first bearing 6 from being separated from the input shaft 1.
As can be seen from the above description, the first end cap 8 is provided to improve the structural stability of the RV reducer, and optionally, the first end cap 8 is screwed to the input shaft 1.
Further, the end of the eccentric shaft 2 is provided with a second end cap 9 that prevents the second bearing 7 from disengaging from the eccentric shaft 2.
As is clear from the above description, the provision of the second end cap 9 enables an improved structural stability of the RV reducer, and optionally the second end cap 9 is screwed to the eccentric shaft 2.
Further, the two first eccentric portions 4 are disposed close to each other.
As can be seen from the above description, the arrangement of the two first eccentric portions 4 close to each other enables the RV reducer to be more compact.
Further, the device also comprises a shell 11, the input shaft 1 and the eccentric shaft 2 respectively penetrate through the shell 11, a plurality of needle teeth 12 are arranged in the shell 11, and a cycloidal gear 13 matched with the needle teeth 12 is arranged on the eccentric shaft 2.
Further, the device also comprises a third bearing 14, and the eccentric shaft 2 is connected with the cycloidal gear 13 through the third bearing 14.
Further, the device also comprises sealing covers 15 arranged on two sides of the cycloidal gear 13, wherein the sealing covers 15 are connected with the input shaft 1 through a fourth bearing 16 and connected with the eccentric shaft 2 through a fifth bearing 17.
The robot comprises the RV reducer.
From the above description, it can be seen that the robot has at least the full advantages of an RV reducer.
Example one
Referring to fig. 2 and fig. 3, a first embodiment of the present invention is: robot, including the RV reduction gear, the RV reduction gear includes input shaft 1 and eccentric shaft 2, still includes connecting rod 3, the head of input shaft 1 is equipped with first eccentric portion 4, the head of eccentric shaft 2 is equipped with second eccentric portion 5, the cover is equipped with first bearing 6 on the first eccentric portion 4, the cover is equipped with second bearing 7 on the second eccentric portion 5, the one end of connecting rod 3 is passed through first bearing 6 is connected input shaft 1, the other end of connecting rod 3 passes through second bearing 7 is connected eccentric shaft 2.
The number of the first eccentric portions 4, the number of the eccentric shafts 2, and the number of the connecting rods 3 are two, respectively, and the three are arranged in one-to-one correspondence.
In the axial projection of the input shaft 1, the axis of the input shaft 1 passes through the connecting line of the centers of the two first eccentric parts 4. In other words, the axial center of the input shaft 1 and the axial centers of the two first eccentric portions 4 are coplanar.
In order to ensure the structural stability of the RV reducer, a first end cover 8 for preventing the first bearing 6 from being separated from the input shaft 1 is arranged at the end part of the input shaft 1, and a second end cover 9 for preventing the second bearing 7 from being separated from the eccentric shaft 2 is arranged at the end part of the eccentric shaft 2.
The two first eccentric portions 4 are disposed close to each other. Optionally, the input shaft 1 includes a main body and a split body, the split body is connected to a head end of the main body, one of the first eccentric portions 4 is disposed on the main body, and the other eccentric portion is disposed on the split body. When assembling the RV reducer, the connecting rod 3 with the first bearing 6 is assembled to the first eccentric section 4 on the main body, and then the split body is assembled to the main body, and finally the other connecting rod 3 with the first bearing 6 is assembled to the first eccentric shaft 2 on the split body. Preferably, the main body is detachably connected with the split body, such as by a screw. Further, at least two shoulders 10 are arranged on the split body, the two shoulders 10 are both positioned between the two first eccentric parts 4, one shoulder 10 abuts against one first bearing 6, and the other shoulder 10 abuts against the other first bearing 6.
Specifically, the RV reduction gear is still including being annular casing 11, input shaft 1 and eccentric shaft 2 run through respectively casing 11, be equipped with a plurality of pin teeth 12 in the casing 11, be equipped with on the eccentric shaft 2 with 12 matched with cycloidal gear 13 of pin tooth, still include third bearing 14, eccentric shaft 2 passes through third bearing 14 is connected cycloidal gear 13. More specifically, the RV reducer further includes covers 15 disposed on both sides of the cycloid wheel 13, and the covers 15 are connected to the input shaft 1 through a fourth bearing 16 and to the eccentric shaft 2 through a fifth bearing 17.
To sum up, the RV reducer and the robot provided by the utility model are different from the RV reducer of the prior art in which the input shaft and the eccentric shaft are in gear transmission, and the input shaft and the eccentric shaft are rigidly connected by using a bearing and a connecting rod, so that no transmission gap exists, the transmission precision is high, the temperature rise is small, and the high-speed rotation noise is small; the friction coefficient of the bearing is small and is about 0.002, so that the transmission efficiency (about 99.8%) of the RV reducer is favorably improved; the transmission structure is simple and easy to process; a high-precision high-hardness grinding gear is not needed, so that the manufacturing cost of the RV reducer is reduced; the working abrasion is small, and the service life is long.
The above mentioned is only the embodiment of the present invention, and not the limitation of the patent scope of the present invention, all the equivalent transformations made by the contents of the specification and the drawings, or the direct or indirect application in the related technical field, are included in the patent protection scope of the present invention.
Claims (10)
1. An RV reducer, includes input shaft and eccentric shaft, its characterized in that: the connecting rod is characterized by further comprising a connecting rod, a first eccentric part is arranged at the head of the input shaft, a second eccentric part is arranged at the head of the eccentric shaft, a first bearing is sleeved on the first eccentric part, a second bearing is sleeved on the second eccentric part, one end of the connecting rod is connected with the input shaft through the first bearing, and the other end of the connecting rod is connected with the eccentric shaft through the second bearing.
2. The RV reducer of claim 1, wherein: the number of the first eccentric parts, the number of the eccentric shafts and the number of the connecting rods are respectively two, and the first eccentric parts, the eccentric shafts and the connecting rods are arranged in a one-to-one correspondence manner.
3. The RV reducer of claim 2, wherein: and the axial projection of the input shaft is along the axial direction of the input shaft, and the axis of the input shaft passes through a connecting line of the centers of the two first eccentric parts.
4. The RV reducer of claim 1, wherein: the end part of the input shaft is provided with a first end cover for preventing the first bearing from being separated from the input shaft.
5. The RV reducer of claim 1, wherein: and a second end cover for preventing the second bearing from separating from the eccentric shaft is arranged at the end part of the eccentric shaft.
6. The RV reducer of claim 1, wherein: the two first eccentric parts are arranged close to each other.
7. The RV reducer of claim 1, wherein: the needle gear type planetary gear transmission mechanism is characterized by further comprising a shell, the input shaft and the eccentric shaft penetrate through the shell respectively, a plurality of needle teeth are arranged in the shell, and a cycloidal gear matched with the needle teeth is arranged on the eccentric shaft.
8. The RV reducer of claim 7, wherein: the eccentric shaft is connected with the cycloidal gear through the third bearing.
9. The RV reducer of claim 7, wherein: the eccentric shaft is arranged on the input shaft, and the eccentric shaft is arranged on the output shaft and is connected with the input shaft through a first bearing.
10. Robot, its characterized in that: comprising the RV reducer of any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020378615.9U CN211778777U (en) | 2020-03-23 | 2020-03-23 | RV reduction gear and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020378615.9U CN211778777U (en) | 2020-03-23 | 2020-03-23 | RV reduction gear and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211778777U true CN211778777U (en) | 2020-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020378615.9U Active CN211778777U (en) | 2020-03-23 | 2020-03-23 | RV reduction gear and robot |
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| Country | Link |
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| CN (1) | CN211778777U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111255862A (en) * | 2020-03-23 | 2020-06-09 | 深圳市荣德机器人科技有限公司 | RV reduction gear and robot |
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2020
- 2020-03-23 CN CN202020378615.9U patent/CN211778777U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111255862A (en) * | 2020-03-23 | 2020-06-09 | 深圳市荣德机器人科技有限公司 | RV reduction gear and robot |
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