CN213419798U

CN213419798U - One-axis cycloid speed reducer for civil intelligent robot

Info

Publication number: CN213419798U
Application number: CN202021929393.1U
Authority: CN
Inventors: 黄志辉
Original assignee: Zhuhai Feima Transmission Gear Co ltd
Current assignee: Zhuhai Feima Transmission Gear Co ltd
Priority date: 2020-09-07
Filing date: 2020-09-07
Publication date: 2021-06-11
Anticipated expiration: 2030-09-07

Abstract

The utility model discloses a civilian intelligent robot is with a cycloid speed reducer, include the needle shell and locate one-level reduction gears and second grade reduction gears in the needle shell, one-level reduction gears includes the input gear axle that gradually bursts at the seams and the three planetary gear that gradually bursts at the seams, just the input gear axle that gradually bursts at the seams meshes with the planetary gear that gradually bursts at the seams mutually, second grade reduction gears includes three eccentric shaft, two cycloid wheels, preceding planet carrier, back planet carrier and kingpin, the planetary gear suit that gradually bursts at the seams is in on the tip of eccentric shaft, the eccentric shaft is connected with the cycloid wheel transmission, the cycloid wheel passes through kingpin and meshes mutually with the needle shell. The utility model discloses small, the precision is high, with low costs, rational in infrastructure moreover, crank axle intensity is big, shock resistance is good.

Description

One-axis cycloid speed reducer for civil intelligent robot

Technical Field

The utility model relates to a speed reducer technical field, concretely relates to civilian intelligent robot is with a cycloid speed reducer.

Background

The RV (Rot-vector) transmission (belonging to a crank type closed differential gear train) for the robot is a novel transmission developed on the basis of cycloidal pin wheel transmission, and is mainly characterized by three large (large transmission ratio, large bearing capacity and rigidity), two high (high motion precision and high transmission efficiency) and one small (small return difference), and has smaller volume and larger overload capacity than simple cycloidal pin wheel planetary transmission, and the rigidity of an output shaft is large, so that the RV-vector transmission for the robot is widely regarded at home and abroad. RV transmissions have two very strict technical indicators: the transmission error cannot exceed 1'; the Backlash (Backlash) is regulated according to the model of the RV reducer and is not more than 1 'to 1.5'. Furthermore, the total return difference, including the return difference caused by elastic deformation, cannot exceed 6' when operating under rated load.

Because the robot bears the weight of greatly with high-accuracy cycloid differential gear speed reducer, transmission precision is high, how to design RV speed reducer small, that the precision is high, with low costs, has become the difficult problem that faces now.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the problem that above-mentioned exists, a civilian intelligent robot is with an axle cycloid speed reducer is provided, small, the precision is high, with low costs, rational in infrastructure moreover, crank axle intensity is big, shock resistance is good.

The utility model discloses a realize above-mentioned purpose, take following technical scheme to realize:

the utility model provides a civilian intelligent robot is with a cycloid speed reducer, includes the needle shell and locates one-level reduction gears and second grade reduction gears in the needle shell, one-level reduction gears includes input gear shaft and the three planetary gear that gradually bursts at the seams, just the input gear shaft that gradually bursts at the seams meshes with the planetary gear that gradually bursts at the seams mutually, second grade reduction gears includes three eccentric shaft, two cycloid wheels, preceding star frame, back planet carrier and kingpin, the planetary gear suit that gradually bursts at the seams is in on the tip of eccentric shaft, the eccentric shaft is connected with the cycloid wheel transmission, the cycloid wheel passes through kingpin and needle shell mesh mutually.

Preferably, the two-stage speed reducing mechanism further comprises a column type taper pin, and the front planet carrier and the rear planet carrier are fixedly connected with each other through the column type taper pin.

Preferably, the involute input gear shaft has 9 teeth, a module of 1.5, a pressure angle of 20 degrees and a tooth width of 10 mm.

Preferably, the involute planetary gears have 27 teeth, a module of 1.5, a pressure angle of 20 degrees and a tooth width of 5 mm.

Preferably, the eccentricity of the eccentric shaft is 1.1 mm.

Preferably, the number of teeth of the cycloid wheel is 39, the outer diameter of the needle gear sleeve is phi 4mm, the eccentricity is 1.1mm, the diameter of the central circle of the needle wheel is phi 107mm, and the tooth width is 9.85 mm.

Preferably, forty rolling needles are arranged, the outer diameter of each rolling needle is phi 4mm, and the length of each rolling needle is 19.8 mm.

Preferably, the number of teeth of the needle shell is 40, the diameter of a central circle is phi 107mm, and the diameter of the needle teeth is phi 4 mm.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the utility model has reasonable and compact structure, reduces the axial size of the speed reducer so as to achieve the purpose of reducing weight, reduces return difference of the speed reducer under heavy load, and improves working precision; the cycloidal gear adopts a single differential tooth structure, the meshing precision is superior to that of two differential teeth, the full-tooth rolling friction of the cycloidal gear, the roller pin and the needle shell is removed, and the rigidity is good; the single-difference tooth meshing is easier to realize high requirements on transmission chain errors and return difference, the rigidity is better, the tooth clearance is smaller, and the conditions that the speed reducer shakes during use and the damping vibration is overlarge can be avoided; the planet carrier adopts the column type taper pin connection structure, has simple structure, and processing is convenient, characteristics such as intensity height, and high accuracy column type taper pin connection structure can guarantee the identity of processing and assembly simultaneously. The utility model discloses compare with ordinary RV speed reducer, eccentric shaft and planetary gear quantity are changed into threely by two, have improved the shock resistance of speed reducer, greatly increased the intensity of eccentric shaft, improved the life-span of speed reducer greatly. In a word, the utility model has the characteristics of rational in infrastructure, small, efficient, with low costs etc, widened the application scope of RV speed reducer. The utility model has the advantages of having simplified structural design, the parts machining of being convenient for is made, and the cost is reduced has characteristics such as efficient, light in weight, steady operation, shock-resistant, noise are low, the overload capacity is strong, longe-lived simultaneously.

Drawings

Fig. 1 is the utility model relates to a civil intelligent robot is with a schematic structure of cycloid speed reducer.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, a civilian intelligent robot is with a cycloid speed reducer, including needle shell 1 and locate one-level reduction gears and second grade reduction gears in the needle shell 1, one-level reduction gears includes input gear shaft 2 and three involute planetary gear 3 of involute, and involute input gear shaft 2 meshes with involute planetary gear 3 mutually, second grade reduction gears includes three eccentric shaft 4, two cycloid wheels 5, preceding planet carrier 6, back planet carrier 7 and kingpin 8, involute planetary gear 3 suit is on the tip of eccentric shaft 4, eccentric shaft 4 is connected with cycloid wheel 5 transmission, cycloid wheel 5 meshes with needle shell 1 mutually through kingpin 8.

Optionally, the secondary speed reducing mechanism further comprises a column type taper pin 9, and the front planet carrier 6 and the rear planet carrier 7 are fixedly connected with each other through the column type taper pin 9.

Optionally, the number of teeth of the involute input gear shaft 2 is 9, the modulus is 1.5, the pressure angle is 20 °, and the tooth width is 10 mm.

Optionally, the involute planetary gears 3 have 27 teeth, a module of 1.5, a pressure angle of 20 degrees and a tooth width of 5 mm.

Alternatively, the eccentricity of the eccentric shaft 4 is 1.1 mm.

Optionally, the number of teeth of the cycloid wheel 5 is 39, the outer diameter of the needle gear sleeve is phi 4mm, the eccentricity is 1.1mm, the diameter of the central circle of the needle wheel is phi 107mm, and the tooth width is 9.85 mm.

Optionally, forty needle rollers 8 are provided, and the outer diameter of the needle roller 8 is phi 4mm, and the length of the needle roller 8 is 19.8 mm.

Optionally, the number of teeth of the needle housing 1 is 40, the diameter of the central circle is phi 107mm, and the diameter of the needle teeth is phi 4 mm.

The utility model relates to a civilian intelligent robot is with an axis cycloid speed reducer's theory of operation does: when the speed reducer is started, the input end drives the involute input gear shaft to rotate, the involute input gear shaft axially rotates to drive the three involute planetary gears meshed with the shaft ends of the involute input gear shaft to rotate, the three involute planetary gears are in gear connection with the end parts of the three eccentric shafts, the three eccentric shafts axially rotate through the rotation of the three involute planetary gears, the two cycloid gears are sequentially sleeved on the two eccentric shafts, thereby realizing the cycloid movement of the two cycloid gears in the needle shell to form a cycloid differential gear speed reducing mechanism, the cycloid gears adopt a single differential gear structure, the meshing precision is superior to that of two differential gears, the cycloid gears, the roller pins and the needle shell are completely rolled and friction is relieved, the rigidity is good, the single differential gear meshing is easier to realize high transmission chain error and return difference requirements, the rigidity is better, the tooth gap is smaller, and the speed reducer can be prevented from shaking in the use process, the situation of too large vibration is damped.

However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention should not be limited thereby, and all the simple equivalent changes and modifications described in the claims and the specification of the present invention are included in the scope of the present invention. In addition, the abstract and the title are provided for assisting the search of patent documents and are not intended to limit the scope of the present invention.

Claims

1. The utility model provides a civilian intelligent robot is with a cycloid speed reducer, its characterized in that includes the needle shell and locates one-level reduction gears and second grade reduction gears in the needle shell, one-level reduction gears is including the input gear axle that gradually bursts at the seams and three planetary gear that gradually bursts at the seams, just the input gear axle that gradually bursts at the seams meshes with planetary gear that gradually bursts at the seams mutually, second grade reduction gears includes three eccentric shaft, two cycloid wheels, preceding planet carrier, back planet carrier and kingpin, the planetary gear suit that gradually bursts at the seams is in on the tip of eccentric shaft, the eccentric shaft is connected with the cycloid wheel transmission, the cycloid wheel passes through kingpin and needle shell mesh mutually.

2. The single-axis cycloid reducer for the civil intelligent robot of claim 1, wherein the secondary reduction mechanism further comprises a stud taper pin, and the front planet carrier and the rear planet carrier are fixedly connected with each other through the stud taper pin.

3. The hypocycloid reducer according to claim 2 for the civil intelligent robot, wherein the involute input gear shaft has 9 teeth, a modulus of 1.5, a pressure angle of 20 degrees and a tooth width of 10 mm.

4. The hypocycloidal reducer according to claim 2 for a civil intelligent robot, wherein the involute planetary gears have 27 teeth, a modulus of 1.5, a pressure angle of 20 degrees and a tooth width of 5 mm.

5. The reducer according to claim 2, wherein the eccentricity of the eccentric shaft is 1.1 mm.

6. The hypocycloidal reducer according to claim 2 for the civil intelligent robot, wherein the number of the cycloid gears is 39, the outer diameter of the pin gear sleeve is phi 4mm, the eccentricity is 1.1mm, the diameter of the central circle of the pin gear is phi 107mm, and the tooth width is 9.85 mm.

7. The hypocycloidal reducer according to claim 2 wherein said rollers have an outer diameter of Φ 4mm and a length of 19.8 mm.

8. The hypocycloid speed reducer for the civil intelligent robot as claimed in claim 2, wherein the number of the teeth of the needle shell is 40, the diameter of the central circle is phi 107mm, and the diameter of the needle teeth is phi 4 mm.