CN214661788U - Base cycloidal speed reducer for industrial heavy-duty robot - Google Patents
Base cycloidal speed reducer for industrial heavy-duty robot Download PDFInfo
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- CN214661788U CN214661788U CN202120328712.1U CN202120328712U CN214661788U CN 214661788 U CN214661788 U CN 214661788U CN 202120328712 U CN202120328712 U CN 202120328712U CN 214661788 U CN214661788 U CN 214661788U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 49
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 34
- 239000004519 grease Substances 0.000 claims description 3
- 230000001050 lubricating effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000035939 shock Effects 0.000 abstract 1
- 238000005096 rolling process Methods 0.000 description 7
- 238000013016 damping Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a base cycloid speed reducer for industry heavy load robot, including preceding planet carrier, back planet carrier and needle shell, preceding planet carrier, back planet carrier rotate through angular contact ball bearing respectively and connect in the front and back both ends of needle shell inner chamber, are equipped with the distance between the two of gasket adjustment around between the planet carrier, reduce the manufacturing accuracy requirement, through three eccentric shafts of transmission shaft drive, two cycloid wheels of three eccentric shafts common drive, the transmission is connected with the kingpin on the needle shell inner wall to the cycloid wheel. A base cycloid speed reducer for industry heavy load robot, its is rational in infrastructure, have advantages such as convenient to use, efficient, light in weight, steady operation, shock-resistant, the noise is low, the overload capacity is strong, longe-lived, effectively solve the problem of how to design out small, the precision is high, with low costs RV speed reducer.
Description
Technical Field
The utility model belongs to the technical field of the speed reducer and specifically relates to a base cycloidal speed reducer for industry heavy load robot is related to.
Background
The RV (Rot-vector) transmission for the known robot belongs to a crank type closed differential gear train, 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 (Rot-vector) transmission for the robot is widely valued at home and abroad, and the RV (Rot-vector) transmission gradually replaces the simple cycloidal pin wheel planetary transmission and harmonic transmission to a great extent. The transmission error in the RV transmission cannot exceed 1 ', the Backlash (Backlash) is not more than 1' to 1.5 'according to the model specification of the RV reducer, and furthermore, the total Backlash including the Backlash caused by elastic deformation cannot exceed 6' when operating under rated load.
Because the high-precision cycloidal differential gear speed reducer for the robot is required to have large bearing and high transmission precision, how to design the 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 base cycloid speed reducer for the industrial heavy-duty robot is provided, has the advantages of reasonable structure, convenience in use, high efficiency, light weight, stability in operation, impact resistance, low noise, strong overload capacity, long service life and the like, and effectively solves the problem of how to design the RV speed reducer with small volume, high precision and low cost.
The utility model provides a technical scheme that its technical problem adopted is: a base cycloidal speed reducer for an industrial heavy-load robot comprises a front planet carrier, a rear planet carrier and a needle shell, wherein the front planet carrier and the rear planet carrier are fixedly connected with each other through column-type taper pins; a gasket for adjusting the distance between the front planet carrier and the rear planet carrier is arranged between the side walls of the front planet carrier and the rear planet carrier;
the front planet carrier and the rear planet carrier are also uniformly provided with three eccentric shafts, two ends of each eccentric shaft are respectively limited with the front planet carrier and the rear planet carrier in a rotating way through symmetrically arranged tapered roller bearings, and the front ends of the three eccentric shafts are respectively connected with involute planetary gears in a meshing way; two cycloidal gears are arranged between the front planet carrier and the rear planet carrier, the cycloidal gears are in transmission connection with the three eccentric shafts through needle bearings respectively, and the two cycloidal gears are meshed with the needles respectively;
the front planet carrier is fixedly connected with an outer ring of the roller bearing, an inner ring of the roller bearing is fixedly connected with a transmission shaft, transmission teeth are arranged on the surface of the transmission shaft, and the transmission shaft is in transmission connection with the three involute planetary gears through the transmission teeth on the surface; the transmission shaft is of a hollow tubular structure, an involute sun gear is fixedly arranged on the transmission shaft, and the involute sun gear is connected with a motor output shaft through an involute input gear shaft;
the involute input gear shaft is provided with a cavity for accommodating a motor output shaft, the involute input gear shaft is provided with threaded holes along the axial direction and the radial direction of the involute input gear shaft, and the threaded holes are internally provided with bolts for compressing or are in threaded connection with the motor output shaft.
Furthermore, clamp springs are arranged on two sides of the tapered roller bearing and clamped and fixed with the eccentric shaft for limiting the tapered roller bearing.
Furthermore, an integrated sleeve is arranged on the involute sun gear, the sleeve is sleeved with the transmission shaft, and the sleeve is fixedly connected with the involute sun gear through rivets or bolts.
Furthermore, an oil filling hole is formed in the position, aligned with the eccentric shaft, of the rear planet carrier and used for injecting lubricating grease.
Furthermore, the number of teeth of the involute input gear shaft is 27, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 20 mm.
Furthermore, the number of teeth of the involute planetary gear is 26, the modulus is 2.5, the pressure angle is 20 degrees, and the tooth width is 9.5 mm.
Furthermore, the number of the first-stage teeth of the involute sun gear is 110, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 10 mm; the number of teeth in the second stage was 43, the modulus was 2.5, the pressure angle was 20 °, and the tooth width was 17 mm.
Further, the eccentricity of the eccentric shaft is 1.8 mm.
Furthermore, the number of teeth of the cycloid wheel is 55, the diameter of a central circle is phi 263mm, and the tooth width is 16.8 mm.
Furthermore, the length of the rolling needles is 32mm, the number of the rolling needles is 56, and a needle gear sleeve with the outer diameter of phi 8mm is sleeved on the rolling needles.
The utility model has the advantages that: a base cycloidal speed reducer for an industrial heavy-duty robot is characterized in that a cycloidal gear is of 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 rolling friction is relieved, 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 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 RV reducer has the advantages of reasonable structure, convenience in use, high efficiency, light weight, stability in operation, impact resistance, low noise, strong overload capacity, long service life and the like, and the problem of how to design the RV reducer with small volume, high precision and low cost 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 base cycloidal reducer for an industrial heavy-duty robot according to the present invention;
fig. 2 is the utility model discloses a transmission shaft and involute sun gear connection structure sketch of base cycloidal reducer for industry heavy load robot.
The scores in the figures are as follows:
1. the involute input gear shaft, 2, involute sun gear, 3, involute planet gear, 4, eccentric shaft, 5, cycloid wheel, 6, front planet carrier, 7, rear planet carrier, 8, rolling pin, 9, needle shell, 10, column type taper pin, 11, transmission shaft, 12, roller bearing, 13, gasket, 14, angular contact ball bearing, 15, oil seal, 16, rolling pin bearing, 17, tapered roller bearing, 18 and oil filler point.
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.
The base cycloid speed reducer for the industrial heavy-duty robot comprises a front planet carrier 6, a rear planet carrier 7 and a needle shell 9, wherein the front planet carrier 6 and the rear planet carrier 7 are both of a disc structure, a through hole is formed in the middle of the disc structure, the front planet carrier 6 and the rear planet carrier 7 are fixedly connected with each other through a column type taper pin 10 and serve as output ends of the speed reducer, the front planet carrier 6 and the rear planet carrier 7 are respectively and rotatably connected to the front end and the rear end of an inner cavity of the needle shell 9 through angular contact ball bearings 14, the front end corresponds to the left side of the attached drawing 1 in the embodiment, the rear end corresponds to the right side of the attached drawing 1, needle needles 8 and two symmetrical circles of bulges are annularly arranged on the inner wall of the needle shell 9 between the angular contact ball bearings 14, and the needle needles 8 are fixedly connected with the circular bulges on the inner wall of the needle shell 9.
An oil seal 15 is also arranged on a gap between the rear planet carrier 7 and the needle shell 9; and a gasket 13 for adjusting the distance between the side walls of the front planet carrier 6 and the rear planet carrier 7 is arranged between the side walls of the front planet carrier and the rear planet carrier, so that the requirement on the manufacturing precision can be greatly reduced, and the manufacturing cost is reduced.
The front planet carrier 6 and the rear planet carrier 7 are also uniformly provided with three eccentric shafts 4, the included angles of the three eccentric shafts 4 are 120 degrees, two ends of each eccentric shaft 4 are respectively limited with the front planet carrier 6 and the rear planet carrier 7 in a rotating way through symmetrically arranged tapered roller bearings 17, and the front ends of the three eccentric shafts 4 are respectively connected with involute planetary gears 3 in a meshing way; two cycloidal gears 5 are further arranged between the front planet carrier 6 and the rear planet carrier 7, the cycloidal gears 5 are in transmission connection with the three eccentric shafts 4 through needle bearings 16 respectively, and the two cycloidal gears 5 are meshed with the needle rollers 8 respectively.
The front planet carrier 6 is fixedly connected with an outer ring of a roller bearing 12, specifically, the outer ring of the roller bearing 12 is fixed with the inner wall of a through hole in the middle of a disc-shaped structure of the front planet carrier 6, an inner ring of the roller bearing 12 is fixedly connected with a transmission shaft 11, transmission teeth are arranged on the surface of the transmission shaft 11, and the transmission shaft 11 is respectively in transmission connection with three involute planetary gears 3 through the transmission teeth on the surface; the transmission shaft 11 is of a hollow tubular structure, an involute sun gear 2 is fixedly arranged on the transmission shaft 11, and the involute sun gear 2 is connected with a motor output shaft through an involute input gear shaft 1.
The involute input gear shaft 1 is provided with a cavity for accommodating a motor output shaft, the involute input gear shaft 1 is provided with threaded holes along the axial direction and the radial direction of the involute input gear shaft, and the threaded holes are internally provided with bolts for compressing or are in threaded connection with the motor output shaft.
And clamp springs are arranged on two sides of the tapered roller bearing 17 and are fixedly clamped with the eccentric shaft 4 and used for limiting the tapered roller bearing 17.
The involute sun gear 2 is provided with an integrated sleeve which is sleeved with the transmission shaft 11 and is fixedly connected with the involute sun gear 2 through rivets or bolts.
An oil filling hole 18 is formed in the position, aligned with the eccentric shaft 4, of the rear planet carrier 7 and used for injecting lubricating grease.
The number of teeth of the involute input gear shaft 1 is 27, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 20 mm.
The number of teeth of the involute planetary gear 3 is 26, the modulus is 2.5, the pressure angle is 20 degrees, and the tooth width is 9.5 mm.
The number of the first-stage teeth of the involute sun gear 2 is 110, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 10 mm; the number of teeth in the second stage was 43, the modulus was 2.5, the pressure angle was 20 °, and the tooth width was 17 mm.
The eccentricity of the eccentric shaft 4 is 1.8 mm.
The number of teeth of the cycloid wheel 5 is 55, the diameter of a central circle is phi 263mm, and the tooth width is 16.8 mm.
The length of the roller pins 8 is 32mm, the number of the roller pins 8 is 56, and a needle gear sleeve with the outer diameter of phi 8mm is sleeved on the roller pins 8.
A base cycloid speed reducer for industry heavy load robot, its is rational in infrastructure, the cycloid wheel uses single difference tooth structure, the meshing precision is superior to two difference tooth meshing, cycloid wheel, kingpin, the full tooth rolling friction of needle shell are relieved, 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 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 RV reducer has the advantages of reasonable structure, convenience in use, high efficiency, light weight, stability in operation, impact resistance, low noise, strong overload capacity, long service life and the like, and the problem of how to design the RV reducer with small volume, high precision and low cost 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 (10)
1. The utility model provides an industry heavy load base cycloid speed reducer for robot, including preceding planet carrier (6), back planet carrier (7) and needle shell (9), preceding planet carrier (6), back planet carrier (7) are through column type taper pin (10) mutual fixed connection, preceding planet carrier (6), back planet carrier (7) rotate through angular contact ball bearing (14) respectively and connect in the front and back both ends of needle shell (9) inner chamber, needle shell (9) are located and encircle on the inner wall between angular contact ball bearing (14) and are equipped with kingpin (8), characterized by: an oil seal (15) is also arranged on a gap between the rear planet carrier (7) and the needle shell (9); a gasket (13) for adjusting the distance between the front planet carrier (6) and the rear planet carrier (7) is arranged between the side walls of the front planet carrier and the rear planet carrier;
the front planet carrier (6) and the rear planet carrier (7) are also uniformly provided with three eccentric shafts (4), two ends of each eccentric shaft (4) are respectively limited with the front planet carrier (6) and the rear planet carrier (7) in a rotating way through symmetrically arranged tapered roller bearings (17), and the front ends of the three eccentric shafts (4) are respectively connected with involute planetary gears (3) in a meshing way; two cycloidal gears (5) are arranged between the front planet carrier (6) and the rear planet carrier (7), the cycloidal gears (5) are respectively in transmission connection with the three eccentric shafts (4) through needle bearings (16), and the two cycloidal gears (5) are respectively meshed with the needle rollers (8);
the front planet carrier (6) is fixedly connected with the outer ring of the roller bearing (12), the inner ring of the roller bearing (12) is fixedly connected with the transmission shaft (11), transmission teeth are arranged on the surface of the transmission shaft (11), and the transmission shaft (11) is respectively in transmission connection with the three involute planetary gears (3) through the transmission teeth on the surface; the transmission shaft (11) is of a hollow tubular structure, an involute sun gear (2) is fixedly arranged on the transmission shaft (11), and the involute sun gear (2) is connected with the output shaft of the motor through an involute input gear shaft (1);
the involute input gear shaft (1) is provided with a cavity for accommodating a motor output shaft, the involute input gear shaft (1) is provided with threaded holes along the axial direction and the radial direction of the involute input gear shaft, and the threaded holes are internally provided with bolts for compressing or being in threaded connection with the motor output shaft.
2. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: and clamp springs are arranged on two sides of the tapered roller bearing (17), and the clamp springs are clamped and fixed with the eccentric shaft (4) and used for limiting the tapered roller bearing (17).
3. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: an integrated sleeve is arranged on the involute sun gear (2), the sleeve is sleeved with the transmission shaft (11), and the sleeve is fixedly connected with the involute sun gear (2) through rivets or bolts.
4. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: and an oil filling hole (18) is formed in the position, aligned with the eccentric shaft (4), of the rear planet carrier (7) and used for injecting lubricating grease.
5. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the involute input gear shaft (1) has 27 teeth, a modulus of 2, a pressure angle of 20 degrees and a tooth width of 20 mm.
6. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the number of teeth of the involute planetary gear (3) is 26, the modulus is 2.5, the pressure angle is 20 degrees, and the tooth width is 9.5 mm.
7. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the number of first-stage teeth of the involute sun gear (2) is 110, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 10 mm; the number of teeth in the second stage was 43, the modulus was 2.5, the pressure angle was 20 °, and the tooth width was 17 mm.
8. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the eccentricity of the eccentric shaft (4) is 1.8 mm.
9. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the number of teeth of the cycloid wheel (5) is 55, the diameter of a central circle is phi 263mm, and the tooth width is 16.8 mm.
10. The base cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the length of the roller pins (8) is 32mm, the number of the roller pins (8) is 56, and a needle gear sleeve with the outer diameter of phi 8mm is sleeved on the roller pins (8).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120328712.1U CN214661788U (en) | 2021-02-04 | 2021-02-04 | Base cycloidal speed reducer for industrial heavy-duty robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120328712.1U CN214661788U (en) | 2021-02-04 | 2021-02-04 | Base cycloidal speed reducer for industrial heavy-duty robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115958626A (en) * | 2023-02-10 | 2023-04-14 | 武汉理工大学 | Joint structure of heavy-load robot |
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- 2021-02-04 CN CN202120328712.1U patent/CN214661788U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115958626A (en) * | 2023-02-10 | 2023-04-14 | 武汉理工大学 | Joint structure of heavy-load robot |
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