CN216045247U

CN216045247U - Automatic change base cycloidal reducer for intelligent robot

Info

Publication number: CN216045247U
Application number: CN202122544366.3U
Authority: CN
Inventors: 黄志辉; 耿建伟; 郭斌; 邓云庆; 陈斌; 易锐
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 base cycloidal speed reducer for an automatic intelligent robot, which comprises a needle shell, a hole clamp spring I, an encapsulated end cover, a framework oil seal, a rear planet carrier, an angular contact bearing, a front planet carrier adjusting gasket, a front planet carrier, a conical pin, an inner hexagonal screw I and a planetary transmission mechanism, wherein the encapsulated end cover is sleeved in a left opening of the rear planet carrier. This automatic change base cycloid speed reducer for intelligent robot, the planet carrier adopts column type taper pin connection structure, simple structure has, processing is convenient, characteristics such as intensity height, and simultaneously, high accuracy taper pin connection structure, can guarantee the identity of processing and assembly, still have characteristics rational in infrastructure, small, efficient, characteristics such as with low costs, the application scope of RV speed reducer has been widened, structural design has been simplified, the part manufacturing of being convenient for, the cost is reduced, simultaneously have characteristics such as efficient, light in weight, operate steadily, impact-resistant, the noise is low, overload capacity is strong, long service life.

Description

Automatic change base cycloidal reducer for intelligent robot

Technical Field

The utility model relates to the technical field of speed reducers, in particular to a base cycloidal speed reducer for an automatic intelligent 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 base cycloidal speed reducer for an automatic intelligent robot, which solves the problems in the prior art.

In order to achieve the purpose, the utility model provides the following technical scheme: a base cycloid speed reducer for an automatic intelligent robot comprises a needle shell, a first hole clamp spring, an encapsulated end cover, a framework oil seal, a rear planet carrier, an angular contact bearing, a first front planet carrier adjusting gasket, a front planet carrier, a conical pin, a first inner hexagon screw and a planetary transmission mechanism, wherein the encapsulated end cover is sleeved in a left opening of the rear planet carrier;

the planetary transmission mechanism comprises a rear cycloidal gear, a front cycloidal gear, a needle roller, a tapered roller bearing, an eccentric shaft gasket, a steel retainer bearing, an eccentric shaft, a hole clamp spring II, a planet gear, a shaft clamp spring, a hexagon socket screw II, an input gear shaft tensioning sleeve inner ring, an input gear shaft tensioning sleeve outer ring and an input gear shaft pressing disc, wherein the rear cycloidal gear and the front cycloidal gear are clamped at the inner side of a needle shell, the rear cycloidal gear and the front cycloidal gear are clamped with the right side of a rear planet carrier, the needle roller is clamped at the inner side of the needle shell and positioned in a gap at the outer side of the rear cycloidal gear and the front cycloidal gear, the tapered roller bearing close to the right end is clamped in the front planet carrier through the hole clamp spring II, the steel retainer bearing is sleeved in the rear cycloidal gear and the front cycloidal gear, an eccentric shaft is sleeved at the inner side of the steel retainer bearing, and the right end of the eccentric shaft passes through the eccentric shaft and extends to the right side of the front planet carrier, the planet gear is fixedly clamped with the right end of the eccentric shaft through a clamp spring for the shaft, the input gear shaft is meshed with the planet gear, the inner ring of the tensioning sleeve of the input gear shaft is clamped inside the input gear shaft and is positioned close to the inner side, the outer ring of the tensioning sleeve of the input gear shaft is clamped inside the input gear shaft and is positioned close to the outer side, and the pressing disc of the input gear shaft is fixedly installed with the right end of the input gear shaft through a second hexagon socket head cap screw.

Preferably, the number of the planetary gears is 107, the module is 2, the pressure angle is 20 degrees, and the tooth width is 20 mm.

Preferably, the number of the second teeth of the socket head cap screw is 22, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 26 mm.

Preferably, the eccentric shaft eccentricity is 2.8 mm.

Preferably, the number of teeth of the rear cycloid wheel and the front cycloid wheel is 57, the outer diameter of the needle gear sleeve is phi 12mm, the eccentricity is 2.8mm, the diameter of the central circle of the needle wheel is phi 410mm, and the tooth width is 35 mm.

Preferably, the outer diameter of the roller pin is phi 12mm, and the length of the roller pin is 70 mm.

Preferably, the number of teeth of the needle shell is 58, the diameter of the central circle is phi 410mm, and the diameter of the needle teeth is phi 12 mm.

Compared with the prior art, the utility model provides a base cycloidal speed reducer for an automatic intelligent robot, which has the following beneficial effects:

1. this automatic change base cycloid speed reducer for intelligent robot, rational in infrastructure, compact has reduced thereby the speed reducer axial dimension and has reached the purpose of subtracting the weight, and the speed reducer has reduced the return difference under the heavy load, has improved the work precision. 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. This automatic change base cycloid speed reducer for intelligent robot, characteristics such as rational in infrastructure, small, efficient, with low costs have widened RV speed reducer's application scope. 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 a schematic diagram of an explosion structure of a base cycloidal reducer for an automated intelligent robot according to the present invention;

fig. 2 is a schematic structural assembly diagram of a base cycloidal reducer for an automated intelligent robot according to the present invention.

The scores in the figures are as follows:

1. a needle shell; 2. a clamp spring I for a hole; 3. encapsulating an end cover; 4. framework oil seal; 5. a rear planet carrier; 6. an angular contact bearing; 7. a rear cycloid wheel; 8. a front cycloid wheel; 9. rolling needles; 10. adjusting a gasket of the front planet carrier; 11. a forward planet carrier; 12. a taper pin; 13. a first inner hexagon screw; 14. a tapered roller bearing; 15. an eccentric shaft gasket; 16. a steel cage bearing; 17. an eccentric shaft; 18. a second snap spring for holes; 19. a planet gear; 20. a clamp spring for the shaft; 21. a second socket head cap screw; 22. an input gear shaft; 23. the input gear shaft tightly sleeves the inner ring; 24. the input gear shaft is provided with an outer ring of a tensioning sleeve; 25. 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 base cycloid speed reducer for an automatic intelligent robot, which comprises a needle housing 1, a hole clamp spring I2, an encapsulated end cover 3, a framework oil seal 4, a rear planet carrier 5, an angular contact bearing 6, a front planet carrier adjusting gasket 10, a front planet carrier 11, a conical pin 12, a hexagon socket screw I13 and a planetary transmission mechanism, wherein the encapsulated end cover 3 is sleeved in a left opening of the rear planet carrier 5, the encapsulated hole is clamped on the left side of the rear planet carrier 5 by the clamp spring I2, the rear planet carrier 5 is inserted in the left end of the angular contact bearing 6, the angular contact bearing 6 close to the left side is padded between the rear planet carrier 5 and the angular contact bearing 6, the framework oil seal 4 is clamped in a gap between the rear planet carrier 5 and the angular contact bearing 6, the front planet carrier 11 is inserted in the right end of the needle housing 1, the front planet carrier 11 is fixedly installed with the rear planet carrier 5 through the conical pin 12 and the hexagon socket screw I13, preceding planet carrier adjustment gasket 10 pad is between the angular contact bearing 6 and preceding planet carrier 11 that lean on the right side, and the planet carrier adopts column type taper pin connection structure, has simple structure, and processing is convenient, characteristics such as intensity height, and simultaneously, the identity of processing and assembly can be guaranteed to high accuracy taper pin connection structure.

The planetary transmission mechanism comprises a rear cycloidal gear 7, a front cycloidal gear 8, a needle roller 9, a tapered roller bearing 14, an eccentric shaft gasket 15, a steel retainer bearing 16, an eccentric shaft 17, a hole clamp spring II 18, a planetary gear 19, a shaft clamp spring 20, an inner hexagon screw II 21, an input gear shaft 22, an input gear shaft tensioning sleeve inner ring 23, an input gear shaft tensioning sleeve outer ring 24 and an input gear shaft pressing plate 25, wherein the rear cycloidal gear 7 and the front cycloidal gear 8 are clamped on the inner side of a needle shell 1, the rear cycloidal gear 7 and the front cycloidal gear 8 are clamped with the right side of a rear planet carrier 5, the needle roller 9 is clamped on the inner side of the needle shell 1 and is positioned in a gap between the rear cycloidal gear 7 and the outer side of the front cycloidal gear 8, the tapered roller bearing 14 close to the right end is clamped in the inner part of the front planet carrier 11 through the hole clamp spring II 18, the steel retainer bearing 16 is sleeved in the rear cycloidal gear 7 and the front cycloidal gear 8, the cycloidal gear has a single differential tooth structure, the meshing precision is superior to the meshing of two differential teeth, and the meshing of single differential tooth is easier to realize high transmission chain error and return difference requirement, and the rigidity is better, and the backlash is littleer, can avoid the shake appearing in the speed reducer use, the too big condition of damping vibrations. The full-tooth rolling friction of the rear cycloid wheel 7, the front cycloid wheel 8, the roller pin 9 and the needle shell 1 is relieved, and the rigidity is good.

The eccentric shaft 17 is sleeved on the inner side of the steel retainer bearing 16, the right end of the eccentric shaft 17 penetrates through the eccentric shaft 17 and extends to the right side of the front planet carrier 11, the planet gear 19 is fixedly clamped with the right end of the eccentric shaft 17 through a shaft clamp spring 20, the input gear shaft 22 is meshed with the planet gear 19, the inner ring 23 of the input gear shaft tensioning sleeve is clamped inside the input gear shaft 22 and is located at a position close to the inner side, the outer ring 24 of the input gear shaft tensioning sleeve is clamped inside the input gear shaft 22 and is located at a position close to the outer side, and the input gear shaft pressing disc 25 is fixedly installed with the right end of the input gear shaft 22 through a second hexagon socket head cap screw 21. Compared with the common RV reducer, the number of the eccentric shafts 17 and the planetary gears 19 is changed from two to three, so that the shock resistance of the reducer is improved, the strength of the eccentric shafts 17 is greatly improved, 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 the planetary gears 19 is 107, the module is 2, the pressure angle is 20 degrees, and the tooth width is 20 mm.

Furthermore, the number of the second socket head cap screws 21 is 22, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 26 mm.

Further, the eccentric shaft 17 has an eccentricity of 2.8 mm.

Furthermore, the number of teeth of the rear cycloid wheel 7 and the front cycloid wheel 8 is 57, the outer diameter of the needle gear sleeve is phi 12mm, the eccentricity is 2.8mm, the diameter of the central circle of the needle wheel is phi 410mm, and the tooth width is 35 mm.

Furthermore, the outer diameter of the roller pin 9 is phi 12mm, and the length is 70 mm.

Furthermore, the number of teeth of the needle shell 1 is 58, the diameter of the central circle is phi 410mm, and the diameter of the needle teeth is phi 12 mm.

When the device is used, the power input shaft and the input gear shaft 22 are fixedly connected through the matching of the inner hexagon screws 21, the input gear shaft tensioning sleeve inner ring 23, the input gear shaft tensioning sleeve outer ring 24 and the input gear shaft pressing disc 25, when the power input shaft drives the input gear shaft 22 to rotate, the input gear shaft 22 drives the planet gears 19 to rotate, the planet gears 19 drive the rear cycloidal gear 7 to rotate, the rear cycloidal gear 7 drives the steel retainer bearing 16 to eccentrically rotate, the steel retainer bearing 16 drives the rear cycloidal gear 7 and the front cycloidal gear 8 to deflect when eccentrically rotating, when deflecting, the rear cycloidal gear 7 and the front cycloidal gear 8 can rotate under the limitation of the needle shell 1 and the needle roller 9, and when rotating, the rear cycloidal gear 7 and the front cycloidal gear 8 drive the rear planet carrier 5 to rotate at a low speed, so that the rear planet carrier 5 can output at a low speed.

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 automatic change base cycloid speed reducer for intelligent robot, includes needle shell (1), hole with jump ring (2), rubber coating end cover (3), skeleton oil blanket (4), back planet carrier (5), angular contact bearing (6), preceding planet carrier adjusting shim (10), preceding planet carrier (11), taper pin (12), hexagon socket head cap screw (13) and planetary drive mechanism, its characterized in that: the rubber-coated end cover (3) is sleeved in an opening in the left side of the rear planet carrier (5), the hole is clamped on the left side of the rubber-coated end cover (3) through a clamp spring I (2), the rear planet carrier (5) is inserted into the left end of the angular contact bearing (6), the angular contact bearing (6) close to the left side is padded between the rear planet carrier (5) and the angular contact bearing (6), the framework oil seal (4) is clamped in a gap between the rear planet carrier (5) and the angular contact bearing (6), the front planet carrier (11) is inserted into the right end of the needle shell (1), the front planet carrier (11) is fixedly mounted with the rear planet carrier (5) through a conical pin (12) and a hexagon socket screw I (13), and the front planet carrier adjusting gasket (10) is padded between the angular contact bearing (6) close to the right side and the front planet carrier (11);

the planetary transmission mechanism comprises a rear cycloidal gear (7), a front cycloidal gear (8), a roller pin (9), a tapered roller bearing (14), an eccentric shaft gasket (15), a steel retainer bearing (16), an eccentric shaft (17), a hole clamp spring II (18), a planetary gear (19), a shaft clamp spring (20), a hexagon socket screw II (21), an input gear shaft (22), an input gear shaft tensioning sleeve inner ring (23), an input gear shaft tensioning sleeve outer ring (24) and an input gear shaft pressing disc (25), wherein the rear cycloidal gear (7) and the front cycloidal gear (8) are clamped on the inner side of a needle shell (1), the rear cycloidal gear (7) and the front cycloidal gear (8) are clamped on the right side of a rear planet carrier (5), the roller pin (9) is clamped on the inner side of the needle shell (1) and positioned in a gap between the rear cycloidal gear (7) and the outer side of the front cycloidal gear (8), and the tapered roller bearing (14) at the right end is clamped inside a front planet carrier (11) through the hole clamp spring II (18), the steel retainer bearing (16) is sleeved inside the rear cycloidal gear (7) and the front cycloidal gear (8), the eccentric shaft (17) is sleeved inside the steel retainer bearing (16), the right end of the eccentric shaft (17) penetrates through the eccentric shaft (17) and extends to the right side of the front planet carrier (11), the planet gear (19) is fixedly clamped with the right end of the eccentric shaft (17) through a shaft snap spring (20), the input gear shaft (22) is meshed with the planet gear (19), the input gear shaft tensioning sleeve inner ring (23) is clamped inside the input gear shaft (22) and is located at a position close to the inner side, the input gear shaft tensioning sleeve outer ring (24) is clamped inside the input gear shaft (22) and is located at a position close to the outer side, and the input gear shaft pressing disc (25) is fixedly installed with the right end of the input gear shaft (22) through a second inner hexagon screw (21).

2. The base cycloidal reducer for the automatic intelligent robot according to claim 1, comprising: the number of teeth of the planet gear (19) is 107, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 20 mm.

3. The base cycloidal reducer for the automatic intelligent robot according to claim 1, comprising: the number of teeth of the second socket head cap screw (21) is 22, the modulus is 2, the pressure angle is 20 degrees, and the tooth width is 26 mm.

4. The base cycloidal reducer for the automatic intelligent robot according to claim 1, comprising: the eccentric distance of the eccentric shaft (17) is 2.8 mm.

5. The base cycloidal reducer for the automatic intelligent robot according to claim 1, comprising: the number of teeth of the rear cycloid wheel (7) and the front cycloid wheel (8) is 57, the outer diameter of the needle gear sleeve is phi 12mm, the eccentricity is 2.8mm, the diameter of the central circle of the needle wheel is phi 410mm, and the tooth width is 35 mm.

6. The base cycloidal reducer for the automatic intelligent robot according to claim 1, comprising: the outer diameter of the roller pin (9) is phi 12mm, and the length of the roller pin is 70 mm.

7. The base cycloidal reducer for the automatic intelligent robot according to claim 1, comprising: the number of teeth of the needle shell (1) is 58, the diameter of a central circle is phi 410mm, and the diameter of the needle teeth is phi 12 mm.