CN216045245U

CN216045245U - Joint cycloid speed reducer for industrial heavy-duty robot

Info

Publication number: CN216045245U
Application number: CN202122544046.8U
Authority: CN
Inventors: 黄志辉; 耿建伟; 郭斌; 邓云庆; 贾成成; 梅川
Original assignee: Zhuhai Feima Transmission Gear Co ltd
Current assignee: Zhuhai Feima Transmission Gear Co ltd
Priority date: 2021-10-21
Filing date: 2021-10-21
Publication date: 2022-03-15
Anticipated expiration: 2031-10-21

Abstract

The utility model discloses a joint cycloid speed reducer for an industrial heavy-load robot, which comprises a rubber-coated end cover I, a rubber-coated end cover II, a framework oil seal, an inner hexagonal flat end set screw, a rear planet carrier, a needle shell, an O-shaped sealing ring, an angular contact bearing, a planet carrier adjusting gasket, a front planet carrier, a conical pin, an inner hexagonal screw I and a planetary transmission mechanism. This industry heavy load is joint cycloid speed reducer for robot, compare with ordinary RV speed reducer, eccentric shaft and planetary gear quantity are changed into three by two, have improved the shock resistance of speed reducer, greatly increased the intensity of eccentric shaft, the life-span of speed reducer has greatly been improved, still have characteristics such as rational in infrastructure, small, efficient, with low costs, the application scope of RV speed reducer has been widened, the structural design has been simplified, the part processing of being convenient for is made, the cost is reduced, simultaneously have characteristics such as efficient, light in weight, operate steadily, shock-resistant, the noise is low, overload capacity is strong, long-lived.

Description

Joint cycloid speed reducer for industrial heavy-duty robot

Technical Field

The utility model relates to the technical field of speed reducers, in particular to a joint cycloid speed reducer for an industrial heavy-duty robot.

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 gear 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 gear planetary transmission, and the rigidity of an output shaft is large, so that the RV (Rot-vector) transmission is widely emphasized at home and abroad, and pure cycloidal pin gear planetary transmission and harmonic transmission are gradually replaced in a transmission mechanism of a Japanese robot to a great extent. 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.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a joint cycloid speed reducer for an industrial heavy-duty robot, which solves the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: a joint cycloid speed reducer for an industrial heavy-duty robot comprises a first rubber-coated end cover, a second rubber-coated end cover, a framework oil seal, a hexagon socket head cap set screw, a rear planet carrier, a needle shell, an O-shaped sealing ring, an angular contact bearing, a planet carrier adjusting gasket, a front planet carrier, a taper pin, a hexagon socket screw I and a planet transmission mechanism, wherein the first rubber-coated end cover is clamped inside a central opening at the left end of the rear planet carrier, the second rubber-coated end cover is clamped inside a left end opening of the rear planet carrier close to the outer opening, the angular contact bearing is sleeved with the right end of the rear planet carrier, the needle shell is sleeved on the right side of the angular contact bearing, the O-shaped sealing ring is sleeved on the right end of the needle shell, the framework oil seal is clamped in a gap between the rear planet carrier and the needle shell, the hexagon socket head cap set screw is installed inside the rear planet carrier, the front planet carrier is fixedly installed with the right end of the rear planet carrier through the taper pin and the hexagon socket screw I, the planet carrier adjusting gasket is padded between the right angular contact bearing and the front planet carrier, and the planet transmission mechanism is arranged inside the planet carrier adjusting gasket;

the planetary transmission mechanism comprises a needle roller, an eccentric shaft gasket, a steel retainer bearing, a tapered roller bearing, a rear cycloidal gear, a front cycloidal gear, a hole snap spring, a planet gear, a shaft snap spring, a second hexagon socket screw, an input gear shaft, a ZJ type tensioning connecting sleeve and an input gear shaft pressing disc, wherein the needle roller is clamped in a needle shell and positioned in a gap between the rear cycloidal gear and the outer side of the front cycloidal gear, the steel retainer bearing is sleeved in the front cycloidal gear, the eccentric shaft is sleeved in the steel retainer bearing, the tapered roller bearing is adjusted at the right end of the eccentric shaft, the steel retainer bearing and the tapered roller bearing are provided with the eccentric shaft gasket, the tapered roller bearing is clamped in the front planet carrier, the hole snap spring is clamped in the front planet carrier and positioned at the position close to the right side of the tapered roller bearing, and the planet gear is fixedly clamped with the right end of the eccentric shaft through the shaft snap spring, the input gear shaft is meshed with the planet gear, the ZJ type tensioning connecting sleeve is clamped in the input gear shaft and is located at a position close to the outer side, and the input gear shaft pressing disc is fixedly installed at the right end of the input gear shaft through a second hexagon socket head cap screw.

Preferably, the number of teeth of the input gear shaft is 17, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 32 mm.

Preferably, the eccentric shaft has an eccentricity of 4 mm.

Preferably, the number of teeth of the rear cycloid wheel and the front cycloid wheel is 39, the outer diameter of the needle gear sleeve is phi 16mm, the eccentricity is 4mm, the diameter of the central circle of the needle wheel is phi 410mm, and the tooth width is 40 mm.

Preferably, the outer diameter of the roller pin is phi 16mm, and the length of the roller pin is 80 mm.

Preferably, the number of teeth of the needle shell is 40, the diameter of the central circle is phi 410mm, and the diameter of the needle teeth is phi 16 mm.

Compared with the prior art, the utility model provides a joint cycloid speed reducer for an industrial heavy-duty robot, which has the following beneficial effects:

1. the joint cycloid speed reducer for the industrial heavy-duty robot is reasonable and compact in structure, the axial size of the speed reducer is reduced, the purpose of reducing weight is achieved, return difference of the speed reducer is reduced under a large load, and working accuracy is improved. The cycloidal gear adopts a single differential tooth structure, the meshing precision is superior to that of two differential teeth, the rolling friction of the rear cycloidal gear, the front cycloidal gear, the roller pin and the needle shell 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 column type taper pin connection structure, has simple structure, and processing is convenient, characteristics such as intensity height, and simultaneously, high accuracy taper pin connection structure can guarantee the identity of processing and assembly. Compared with a common RV speed reducer, the number of the eccentric shafts and the planetary gears is changed from two to three, so that the shock resistance of the speed reducer is improved, the strength of the eccentric shafts is greatly increased, and the service life of the speed reducer is greatly prolonged.

2. The joint cycloid speed reducer for the industrial heavy-duty robot has the characteristics of reasonable structure, small volume, high efficiency, low cost and the like, and the application range of the RV speed reducer is widened. The utility model has the advantages of simplifying structural design, facilitating part processing and manufacturing, reducing cost, and simultaneously having the characteristics of high efficiency, light weight, stable operation, impact resistance, low noise, strong overload capacity, long service life and the like.

Drawings

FIG. 1 is an exploded view of a cycloidal reducer for an industrial heavy-duty robot according to the present invention;

fig. 2 is a schematic structural assembly diagram of a cycloidal reducer for an industrial heavy-duty robot according to the present invention.

The scores in the figures are as follows:

1. a first rubber-coated end cover; 2. a second rubber-coated end cover; 3. framework oil seal; 4. a set screw is fastened at the flat end of the inner hexagon; 5. a rear planet carrier; 6. a needle shell; 7. rolling needles; 8. an O-shaped sealing ring; 9. an eccentric shaft; 10. an eccentric shaft gasket; 11. a steel cage bearing; 12. a tapered roller bearing; 13. a rear cycloid wheel; 14. a front cycloid wheel; 15. an angular contact bearing; 16. a planet carrier adjusting shim; 17. a forward planet carrier; 18. a taper pin; 19. a first inner hexagon screw; 20. a clamp spring for the hole; 21. a planet gear; 22. a clamp spring for the shaft; 23. a second socket head cap screw; 24. an input gear shaft; 25. ZJ1 type tension connecting sleeve; 26. the input gear shaft compresses tightly the dish.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, the utility model provides a cycloidal reducer for an industrial heavy-duty robot, which comprises a first rubber-coated end cover 1, a second rubber-coated end cover 2, a framework oil seal 3, a hexagon socket cap flat-end set screw 4, a rear planet carrier 5, a needle shell 6, an O-shaped seal ring 8, an angular contact bearing 15, a planet carrier adjusting gasket 16, a front planet carrier 17, a conical pin 18, a hexagon socket screw 19 and a planetary transmission mechanism, wherein the first rubber-coated end cover 1 is clamped in a central opening at the left end of the rear planet carrier 5, the second rubber-coated end cover 2 is clamped in a left end opening close to the outer opening of the rear planet carrier 5, the angular contact bearing 15 is sleeved with the right end of the rear planet carrier 5, the needle shell 6 is sleeved on the right side of the angular contact bearing 15, the O-shaped seal ring 8 is sleeved on the right end of the needle shell 6, the framework oil seal 3 is clamped in a gap between the rear planet carrier 5 and the needle shell 6, the hexagon socket flat-end set screw 4 is installed in the rear planet carrier 5, the front planet carrier 17 is fixedly installed at the right end of the rear planet carrier 5 through a taper pin 18 and a hexagon socket head cap screw 19, a planet carrier adjusting gasket 16 is arranged at a position between the right-side angular contact bearing 15 and the front planet carrier 17 in a cushioning mode, the planet transmission mechanism is arranged inside the planet carrier adjusting gasket 16, the planet carrier is of a column type taper pin connecting structure, and the planet carrier adjusting device has the advantages of being simple in structure, convenient to process, high in strength and the like.

The planetary transmission mechanism comprises a needle roller 7, an eccentric shaft 9, an eccentric shaft gasket 10, a steel retainer bearing 11, a tapered roller bearing 12, a rear cycloidal gear 13, a front cycloidal gear 14, a hole clamp spring 20, a planetary gear 21, a shaft clamp spring 22, a hexagon socket screw II 23, an input gear shaft 24, a ZJ1 type tensioning connecting sleeve 25 and an input gear shaft pressing disc 26, wherein the needle roller 7 is clamped in a needle shell 6 and is positioned in a gap between the rear cycloidal gear 13 and the outer side of the front cycloidal gear 14, the steel retainer bearing 11 is sleeved in the front cycloidal gear 14, the cycloidal gear adopts a single differential gear structure, the meshing precision is superior to that of two differential gears, the single differential gear meshing is easier to realize high transmission chain error and speed reducer return difference requirements, the rigidity is better, the tooth clearance is smaller, the shaking in the using process can be avoided, the damping vibration is overlarge, the rear cycloidal gear 13, the front cycloidal gear 14, the needle roller 7 and the needle shell 6 are relieved from full-tooth rolling friction, the rigidity is good.

The eccentric shaft 9 is sleeved inside the steel retainer bearing 11, the right end of the eccentric shaft 9 is adjusted with a tapered roller bearing 12, the steel retainer bearing 11 and the tapered roller bearing 12 are provided with an eccentric shaft gasket 10, the tapered roller bearing 12 is clamped inside the front planet carrier 17, a hole is clamped inside the front planet carrier 17 by a clamp spring 20 and is positioned at the position close to the right side of the tapered roller bearing 12, the planet gear 21 is fixedly clamped with the right end of the eccentric shaft 9 by a shaft clamp spring 22, the input gear shaft 24 is meshed with the planet gear 21, a ZJ1 type tensioning connecting sleeve 25 is clamped inside the input gear shaft 24 and is positioned at the position close to the outer side, the input gear shaft pressing disc 26 is fixedly installed with the right end of the input gear shaft 24 by a second hexagon socket head cap screw 23, the structure is reasonable, the reduction gear is compact, the axial size of the reduction gear is reduced, the purpose of reducing weight is achieved, the return difference of the reduction gear is reduced under a large load, and the working precision is improved.

Compared with the common RV reducer, the number of the eccentric shafts 9 and the planetary gears 21 is changed from two to three, so that the shock resistance of the reducer is improved, the strength of the eccentric shafts is greatly increased, the service life of the reducer is greatly prolonged, the reducer has the characteristics of small volume, high efficiency, low cost and the like, and the application range of the RV reducer is widened.

Further, the number of teeth of the input gear shaft 24 is 17 of the front planet carrier, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 32 mm.

Further, the eccentric shaft 9 has an eccentricity of 4 mm.

Furthermore, the number of teeth of the rear cycloid wheel 13 and the front cycloid wheel 14 is 39, the outer diameter of the needle gear sleeve is phi 16mm, the eccentricity is 4mm, the central circle diameter of the needle wheel is phi 410mm, and the tooth width is 40 mm.

Furthermore, the outer diameter of the roller pin 7 is phi 16mm, and the length is 80 mm.

Furthermore, the number of teeth of the needle shell 6 is 40, the diameter of the central circle is phi 410mm, and the diameter of the needle teeth is phi 16 mm.

When the device is used, the power input shaft is connected with the input gear shaft 24 to drive the input gear shaft 24 to rotate, the input gear shaft 24 drives the planet gears 21 to rotate, the planet gears 21 drive the eccentric shaft 9 to rotate, the eccentric shaft 9 pushes the rear cycloid wheel 13 and the front cycloid wheel 14 to deflect through the steel retainer bearing 11, the rear cycloid wheel 13 and the front cycloid wheel 14 rotate at low speed under the support of the needle shell 6 and the needle rollers 7 in the deflection process, and the rear cycloid wheel 13 and the front cycloid wheel 14 rotate to drive the rear planet carrier 5 to rotate at low speed, so that the rear planet carrier 5 outputs the low-speed rotation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an industry is joint cycloid speed reducer for heavy load robot, includes rubber coating end cover one (1), rubber coating end cover two (2), skeleton oil blanket (3), hexagon socket head cap holding screw (4), back planet carrier (5), needle shell (6), O type sealing washer (8), angular contact bearing (15), planet carrier adjusting shim (16), preceding planet carrier (17), taper pin (18), hexagon socket head cap screw one (19) and planetary transmission mechanism, its characterized in that: the rubber-coated end cover I (1) is clamped inside a left end central opening of a rear planet carrier (5), the rubber-coated end cover II (2) is clamped inside a left end of the rear planet carrier (5) close to an outer side opening, an angular contact bearing (15) is sleeved with the right end of the rear planet carrier (5), a needle shell (6) is sleeved on the right side of the angular contact bearing (15), an O-shaped sealing ring (8) is sleeved on the right end of the needle shell (6), a framework oil seal (3) is clamped in a gap between the rear planet carrier (5) and the needle shell (6), an inner hexagonal flat end fastening screw (4) is installed inside the rear planet carrier (5), a front planet carrier (17) is fixedly installed with the right end of the rear planet carrier (5) through a conical pin (18) and an inner hexagonal screw I (19), and a planet carrier adjusting gasket (16) is padded at a position close to the right side angular contact bearing (15) and the front planet carrier (17), the planetary transmission mechanism is arranged inside the planet carrier adjusting gasket (16);

the planetary transmission mechanism comprises a roller pin (7), an eccentric shaft (9), an eccentric shaft gasket (10), a steel retainer bearing (11), a tapered roller bearing (12), a rear cycloid wheel (13), a front cycloid wheel (14), a hole clamp spring (20), planetary teeth (21), a shaft clamp spring (22), a hexagon socket screw II (23), an input gear shaft (24), a ZJ1 type tensioning connecting sleeve (25) and an input gear shaft pressing disc (26), wherein the roller pin (7) is clamped in a needle shell (6) and is positioned in a gap between the rear cycloid wheel (13) and the outer side of the front cycloid wheel (14), the steel retainer bearing (11) is sleeved in the front cycloid wheel (14), the eccentric shaft (9) is sleeved in the steel retainer bearing (11), the tapered roller bearing (12) is adjusted at the right end of the eccentric shaft (9), the eccentric shaft gasket (10) is arranged on the steel retainer bearing (11) and the tapered roller bearing (12), the bevel roller bearing (12) is clamped in the front planet carrier (17), the hole snap spring (20) is clamped in the front planet carrier (17) and is located at a position close to the right side of the bevel roller bearing (12), the planet gear (21) is fixedly clamped with the right end of the eccentric shaft (9) through the shaft snap spring (22), the input gear shaft (24) is meshed with the planet gear (21), the ZJ1 type tensioning connecting sleeve (25) is clamped in the input gear shaft (24) and is located at a position close to the outer side, and the input gear shaft pressing disc (26) is fixedly installed with the right end of the input gear shaft (24) through the inner hexagon screw II (23).

2. The cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the number of teeth of the input gear shaft (24) is 17, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 32 mm.

3. The cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the eccentric distance of the eccentric shaft (9) is 4 mm.

4. The cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the number of teeth of the rear cycloid wheel (13) and the front cycloid wheel (14) is 39, the outer diameter of the needle gear sleeve is phi 16mm, the eccentricity is 4mm, the diameter of the central circle of the needle wheel is phi 410mm, and the tooth width is 40 mm.

5. The cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the outer diameter of the roller pin (7) is phi 16mm, and the length of the roller pin is 80 mm.

6. The cycloidal reducer for industrial heavy-duty robots according to claim 1, characterized in that: the number of teeth of the needle shell (6) is 40, the diameter of the central circle is phi 410mm, and the diameter of the needle teeth is phi 16 mm.