CN216045246U

CN216045246U - Sealed cycloidal speed reducer for light robot

Info

Publication number: CN216045246U
Application number: CN202122544097.0U
Authority: CN
Inventors: 黄志辉; 耿建伟; 郭斌; 贾成成; 陈斌; 黄圳新
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 sealed cycloidal speed reducer for a light robot, which comprises a needle shell, a transition flange, an input flange, a planetary transmission mechanism and a power input mechanism. The sealed cycloidal speed reducer for the light robot has the characteristics of reasonable structure, small size, 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 the structural design, facilitating the processing and manufacturing of parts, reducing the cost, having the characteristics of high efficiency, light weight, stable operation, impact resistance, low noise, strong overload capacity, long service life, strong sealing property and the like, and the number of the eccentric shafts and the planet gears is changed from two to three, thereby improving the impact resistance of the speed reducer, greatly increasing the strength of the eccentric shafts and greatly prolonging the service life of the speed reducer. In addition, an input flange and a transition flange are arranged at the input end, so that the whole speed reducer forms a closed structure, and the sealing performance is enhanced.

Description

Sealed cycloidal speed reducer for light robot

Technical Field

The utility model relates to the technical field of cycloidal speed reducers, in particular to a sealed cycloidal speed reducer for a light 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, and transmission precision is high, and service environment all is different moreover, how to design the RV speed reducer that small, precision is high, with low costs, the leakproofness is good, has become the difficult problem that faces now.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a sealing type cycloidal speed reducer for a light robot, which solves the problems brought forward by the prior art.

In order to achieve the purpose, the utility model provides the following technical scheme: a sealed cycloidal speed reducer for a light robot comprises a needle shell, a transition flange, an input flange, a planetary transmission mechanism and a power input mechanism, wherein the transition flange is fixedly installed on the left side of the needle shell through a bolt;

the planetary transmission mechanism comprises an encapsulation cover end, a hole retainer ring, a framework oil seal, a tapered roller bearing, an eccentric shaft gasket, a rear planet carrier, a rear cycloidal gear, a front cycloidal gear, a steel retainer, a conical pin, a roller pin, an angular contact bearing, an eccentric shaft and a front planet carrier, wherein the encapsulation cover end is sleeved in an opening hole at the left end of the rear planet carrier, the tapered roller bearing is clamped in the rear planet carrier by the hole retainer ring, the eccentric shaft gasket is padded on the right side surface of the tapered roller bearing, the left end of the eccentric shaft penetrates through the eccentric shaft gasket and is sleeved in the tapered roller bearing, the rear cycloidal gear is sleeved on the right side of the rear planet carrier, the front cycloidal gear is sleeved on the right side of the rear planet carrier and is positioned on the right side of the rear cycloidal gear, the steel retainer is sleeved in the front cycloidal gear, the eccentric shaft is sleeved in the steel retainer, the front planet carrier is fixedly installed on the right side of the rear planet carrier through an inner hexagon bolt, and the conical pin is inserted with the right end of the rear planet carrier, the angular contact bearing is clamped on the right side surface of the needle shell, the front planet carrier is clamped on the right side of the angular contact bearing, the right end of the eccentric shaft penetrates through the front planet carrier to extend to the right side of the front planet carrier, the framework oil seal sleeve is arranged in a gap between the rear planet carrier and the left side wall of the needle shell, and the needle roller is clamped on the inner side of the needle shell and is positioned in a cavity on the outer sides of the rear cycloid wheel and the front cycloid wheel;

the power input mechanism comprises a hole retainer ring II, a planet gear, a locking sleeve and an input shaft, the planet gear is clamped at the right end of the eccentric shaft through the hole retainer ring II, and the input shaft is clamped in the transition flange through a bearing. The locking sleeve is sleeved with the right end of the input shaft, and the left end of the input shaft is meshed with the planet gear.

Preferably, the number of the planetary gears is 36, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 7.2 mm.

Preferably, the number of teeth of the input shaft is 12, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 13 mm.

Preferably, the eccentric shaft has an eccentricity of 1.5 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 6mm, the eccentricity is 1.5mm, the diameter of the central circle of the needle wheel is phi 153mm, and the tooth width is 11.8 mm.

Preferably, the outer diameter of the roller pin is phi 6mm, and the length of the roller pin is 24 mm.

Preferably, the number of teeth of the needle shell is 40, the diameter of the central circle is phi 153mm, and the diameter of the needle teeth is phi 6 mm.

Compared with the prior art, the utility model provides a sealed cycloidal speed reducer for a light robot, which has the following beneficial effects:

1. the sealed cycloidal speed reducer for the light robot is reasonable and compact in structure, the axial size of the speed reducer is reduced, the purpose of reducing weight is achieved, the return difference of the speed reducer is reduced under a large load, and the working precision is improved. The rear cycloid wheel and the front cycloid wheel are of single differential tooth structures, the meshing precision is superior to that of two differential teeth, and the rear cycloid wheel, the front cycloid wheel, the roller pin and the needle shell of the rear cycloid wheel are in full-tooth rolling friction contact and have good rigidity. 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 rear planet carrier and the front planet carrier adopt a column type taper pin connecting structure, and have the characteristics of simple structure, convenient processing, high strength and the like. 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. In addition, an input flange and a transition flange are arranged at the input end, so that the whole speed reducer forms a closed structure, and the sealing performance is enhanced.

2. The sealed cycloidal speed reducer for the light robot has the characteristics of reasonable structure, small size, 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, strong sealing performance and the like.

Drawings

Fig. 1 is an exploded view of a sealed cycloidal reducer for a light robot according to the present invention;

fig. 2 is a structural assembly diagram of the sealed cycloidal reducer for the light robot.

The scores in the figures are as follows:

1. encapsulating the cover end; 2. a retainer ring for a bore; 3. framework oil seal; 4. a tapered roller bearing; 5. an eccentric shaft gasket; 6. a rear planet carrier; 7. a rear cycloid wheel; 8. a front cycloid wheel; 9. a steel cage; 10. a taper pin; 11. rolling needles; 12. a needle shell; 13. an angular contact bearing; 14. a second hole retainer ring; 15. an eccentric shaft; 16. a forward planet carrier; 17. a planet gear; 18. a transition flange; 19. a locking sleeve; 20. an input shaft; 21. and (4) inputting the flange.

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 sealed cycloidal reducer for a light robot, which comprises a needle shell 12, a transition flange 18, an input flange 21, a planetary transmission mechanism and a power input mechanism, wherein the transition flange 18 is fixedly installed on the left side of the needle shell 12 through bolts, the planetary transmission mechanism is arranged inside the needle shell 12, the input flange 21 is fixedly installed on the right end of the transition flange 18 through bolts, and the power input mechanism is arranged inside the input flange 21;

the planetary transmission mechanism comprises a rubber-covered cover end 1, a hole retainer ring 2, a framework oil seal 3, a tapered roller bearing 4, an eccentric shaft gasket 5, a rear planet carrier 6, a rear cycloidal gear 7, a front cycloidal gear 8, a steel retainer 9, a conical pin 10, a roller pin 11, an angular contact bearing 13, an eccentric shaft 15 and a front planet carrier 16, wherein the rubber-covered cover end 1 is sleeved in a hole at the left end of the rear planet carrier 6, the tapered roller bearing 4 is clamped in the rear planet carrier 6 by the hole retainer ring 2, the eccentric shaft gasket 5 is padded on the right side surface of the tapered roller bearing 4, the left end of the eccentric shaft 15 penetrates through the eccentric shaft gasket 5 and is sleeved in the tapered roller bearing 4, the rear cycloidal gear 7 is sleeved on the right side of the rear planet carrier 6, the front cycloidal gear 8 is sleeved at the right side of the rear cycloidal gear 7, the steel retainer 9 is sleeved in the front cycloidal gear 8, and the eccentric shaft 15 is sleeved in the steel retainer 9, the front planet carrier 16 is fixedly installed on the right side of the rear planet carrier 6 through an inner hexagon bolt, the taper pin 10 is inserted with the right end of the rear planet carrier 6, the angular contact bearing 13 is clamped on the right side surface of the needle shell 12, the front planet carrier 16 is clamped on the right side of the angular contact bearing 13, the right end of the eccentric shaft 15 penetrates through the front planet carrier 16 to extend to the right side of the front planet carrier 16, the framework oil seal 3 is sleeved in a gap between the rear planet carrier 6 and the left side wall of the needle shell 12, and the needle roller 11 is clamped on the inner side of the needle shell 12 and is positioned in a cavity outside the rear cycloidal gear 7 and the front cycloidal gear 8;

the power input mechanism comprises a second hole retainer ring 14, planet gears 17, a locking sleeve 19 and an input shaft 20, wherein the planet gears 17 are clamped at the right end of the eccentric shaft 15 through the second hole retainer ring 14, and the input shaft 20 is clamped in the transition flange 18 through a bearing. The locking sleeve 19 is sleeved with the right end of the input shaft 20, and the left end of the input shaft 20 is meshed with the planetary gear 17.

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 the working precision. The rear cycloid wheel 7 and the front cycloid wheel 8 adopt a single differential tooth structure, the meshing precision is superior to that of two differential teeth meshing, and the rear cycloid wheel 7, the front cycloid wheel 8, the roller pin 11 and the needle shell 12 of the rear cycloid wheel are in full-tooth rolling friction contact and have good rigidity. 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 rear planet carrier 6 and the front planet carrier 16 adopt a column type taper pin connecting structure, and have the characteristics of simple structure, convenient processing, high strength and the like, and meanwhile, the high-precision taper pin connecting structure can ensure the identity of processing and assembling. 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. In addition, the input end is provided with the input flange and the transition flange, so that the whole speed reducer forms a closed structure, the sealing performance is enhanced, the speed reducer has the characteristics of small size, 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, strong sealing performance and the like.

Furthermore, the number of the planet teeth 17 is 36, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 7.2 mm.

Further, the input shaft 20 has 12 teeth, a module of 1.75, a pressure angle of 20 °, and a tooth width of 13 mm.

Further, the eccentric shaft 15 has an eccentricity of 1.5 mm.

Furthermore, the number of teeth of the rear cycloid wheel 7 and the front cycloid wheel 8 is 39, the outer diameter of the needle gear sleeve is phi 6mm, the eccentricity is 1.5mm, the central circle diameter of the needle wheel is phi 153mm, and the tooth width is 11.8 mm.

Further, the outer diameter of the roller pin 11 is phi 6mm, and the length is 24 mm.

Furthermore, the number of teeth of the needle shell 12 is 40, the diameter of the central circle is phi 153mm, and the diameter of the needle teeth is phi 6 mm.

When the device is used, a power input end and an input shaft 20 are connected and fixed through a locking sleeve 19, the power input end rotates to drive the input shaft 20 to rotate, the input shaft 20 drives a planet gear 17 to rotate, the planet gear 17 drives an eccentric shaft 15 to rotate, the eccentric shaft 15 drives a front cycloid wheel 8 and a rear cycloid wheel 7 to deflect through a steel retainer 9, the rear cycloid wheel 7 and the front cycloid wheel 8 can rotate under the limitation of a roller pin 11 on the inner wall of a needle shell 12 when rotating in a deflection mode, each rotation circle of the eccentric shaft 15 drives the rear cycloid wheel 7 and the front cycloid wheel 8 to rotate by a tooth position, and the rear cycloid wheel 7 and the front cycloid wheel 8 drive a rear planet carrier 6 to rotate when rotating.

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 a sealed type cycloidal reducer for light robot, includes needle shell (12), transition flange (18), input flange (21), planetary drive mechanism and power input mechanism, its characterized in that: the transition flange (18) is fixedly mounted with the left side of the needle shell (12) through bolts, a planetary transmission mechanism is arranged inside the needle shell (12), the input flange (21) is fixedly mounted with the right end of the transition flange (18) through bolts, and a power input mechanism is arranged inside the input flange (21);

the planetary transmission mechanism comprises a rubber cover end (1), a hole retainer ring (2), a framework oil seal (3), a tapered roller bearing (4), an eccentric shaft gasket (5), a rear planet carrier (6), a rear cycloid wheel (7), a front cycloid wheel (8), a steel retainer (9), a conical pin (10), a roller pin (11), an angular contact bearing (13), an eccentric shaft (15) and a front planet carrier (16), the rubber cover end (1) is sleeved in a left end opening of the rear planet carrier (6), the tapered roller bearing (4) is clamped in the rear planet carrier (6) by the hole retainer ring (2), the eccentric shaft gasket (5) is padded on the right side surface of the tapered roller bearing (4), the left end of the eccentric shaft (15) penetrates through the eccentric shaft gasket (5) and is sleeved in the tapered roller bearing (4), the rear cycloid wheel (7) is sleeved on the right side of the rear planet carrier (6), the front cycloid wheel (8) is sleeved on the right side of the rear planet carrier (6) and is located on the right side of the rear cycloid wheel (7) The steel retainer (9) is sleeved in the front cycloidal gear (8), the eccentric shaft (15) is sleeved in the steel retainer (9), the front planet carrier (16) is fixedly installed on the right side of the rear planet carrier (6) through an inner hexagonal bolt, the taper pin (10) is inserted into the right end of the rear planet carrier (6), the angular contact bearing (13) is clamped on the right side face of the needle shell (12), the front planet carrier (16) is clamped on the right side of the angular contact bearing (13), the right end of the eccentric shaft (15) penetrates through the front planet carrier (16) to extend to the right side of the front planet carrier (16), the framework oil seal (3) is sleeved in a gap between the rear planet carrier (6) and the left side wall of the needle shell (12), and the needle roller (11) is clamped in the inner side of the needle shell (12) and is positioned in a cavity in the outer side of the rear cycloidal gear (7) and the front cycloidal gear (8).

2. The sealed cycloidal reducer for a light robot according to claim 1, further comprising: the power input mechanism comprises a hole retainer ring II (14), planet teeth (17), a locking sleeve (19) and an input shaft (20), the planet teeth (17) are clamped at the right end of the eccentric shaft (15) through the hole retainer ring II (14), the input shaft (20) is clamped inside the transition flange (18) through a bearing, the locking sleeve (19) is sleeved with the right end of the input shaft (20), and the left end of the input shaft (20) is meshed with the planet teeth (17).

3. The sealed cycloidal reducer for a light robot according to claim 2, further comprising: the number of teeth of the planet gear (17) is 36, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 7.2 mm.

4. The sealed cycloidal reducer for a light robot according to claim 2, further comprising: the number of teeth of the input shaft (20) is 12, the modulus is 1.75, the pressure angle is 20 degrees, and the tooth width is 13 mm.

5. The sealed cycloidal reducer for a light robot according to claim 1, further comprising: the eccentric distance of the eccentric shaft (15) is 1.5 mm.

6. The sealed cycloidal reducer for a light robot according to claim 1, further comprising: the number of teeth of the rear cycloid wheel (7) and the front cycloid wheel (8) is 39, the outer diameter of the needle gear sleeve is phi 6mm, the eccentricity is 1.5mm, the diameter of the central circle of the needle wheel is phi 153mm, and the tooth width is 11.8 mm.

7. The sealed cycloidal reducer for a light robot according to claim 1, further comprising: the outer diameter of the roller pin (11) is phi 6mm, and the length of the roller pin is 24 mm.

8. The sealed cycloidal reducer for a light robot according to claim 1, further comprising: the number of teeth of the needle shell (12) is 40, the diameter of a central circle is phi 153mm, and the diameter of the needle teeth is phi 6 mm.