CN216842924U - Industrial robot single-stage hypocycloid speed reducer - Google Patents
Industrial robot single-stage hypocycloid speed reducer Download PDFInfo
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- CN216842924U CN216842924U CN202220156491.9U CN202220156491U CN216842924U CN 216842924 U CN216842924 U CN 216842924U CN 202220156491 U CN202220156491 U CN 202220156491U CN 216842924 U CN216842924 U CN 216842924U
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Abstract
The utility model relates to an industrial robot joint technical field provides an industrial robot single-stage hypocycloid reduction gear, include: the planet carrier comprises a main disc, an auxiliary disc, a pin and a pin sleeve, and the cycloid wheel adopts the optimal positive equal distance-positive displacement modification. According to the utility model discloses, simplified the structure greatly, the heat dissipation space increases 30% -40% and changes the oil lubrication into, and two eccentric shaft eccentric section phase difference is not equal to 180 etc. therefore has eliminated the influence of former planet level manufacturing accuracy, not only reduces the manufacturing degree of difficulty, has also reduced the cost, has still solved the reduction gear return difference, has generated heat and has prolonged life's technological problem.
Description
Technical Field
The utility model relates to an industrial robot joint technical field, specifically speaking relates to the technique of simplifying with current hypocycloid reduction gear structure, is an industrial robot single-stage hypocycloid reduction gear.
Background
At present, domestic robot manufacturers need to purchase hypocycloid speed reducers, servo motors and lubricating greases produced by Nippon Nabo respectively, then precisely assemble the hypocycloid speed reducers, the servo motors and the lubricating greases into robot joints, and enough lubricating greases specified by Nippon Nabo are injected into the joints. In addition, it is difficult to ensure the coaxiality of the servo motor and the hypocycloid reducer to be ± 0.005mm, and the technical manual of nabo corporation in japan indicates that vibration and noise occur due to poor mounting accuracy.
The technical manual of the japan nebo company also states that the user must not replace the hypocycloid reducer grease without authorization during the work of the robot. Thus, once the grease becomes dirty, the reducer will heat up meaning that the robot will soon be forced to stop.
The core of the hypocycloid speed reducer is the shape trimming technology of a cycloid wheel. At present, most of domestic manufacturers have world-class machine tools but can only imitate hypocycloid speed reducers of Japan Nabo company, but the technical problem of the cycloid wheel is not really solved so far, and the imitated speed reducers still have the problems of heat generation, short service life, poor reliability and the like.
SUMMERY OF THE UTILITY MODEL
Problem to be solved by utility model
The utility model aims at overcoming prior art's defect, providing an industrial robot single-stage hypocycloid reduction gear.
The utility model discloses an inventor has proposed "just equidistance-positive displacement modification-anti-backlash gear theory + single-stage hypocycloid"'s combination technical scheme through many years theoretical research and practice, has obtained the breakthrough of great theory and manufacturing technique, has accomplished the innovation of industrial robot single-stage hypocycloid reduction gear, effectively solves return difference, the difficult technical problem who generates heat, life-span weak in the reduction gear that has now.
Means for solving the problems
The utility model relates to a first aspect of a single-stage hypocycloid speed reducer of an industrial robot,
a planet carrier, a hypocycloid gear ring, a double eccentric shaft, a roller bearing without an outer ring, a first cycloidal gear, a second cycloidal gear, a spacer ring, a first main bearing, a second main bearing, a first cone bearing, a second cone bearing and a round end cover connected with a spigot of the hypocycloid gear ring,
the planet carrier consists of a main disc, an auxiliary disc, a pin and a pin sleeve,
one end of a pin is in interference fit with the uniformly distributed holes on the main disc, the other end of the pin passes through pin holes uniformly distributed on the first cycloidal gear and the second cycloidal gear to be in transition fit with corresponding holes of the auxiliary disc, the number of the pins is 6 or 8 or 10 or 12, a pin sleeve is arranged outside the pin,
the diameter of the pin hole is equal to the outer diameter of the pin sleeve +2e, e is the eccentricity of the double eccentric shafts,
two sides of the planet carrier are respectively supported at the inner holes of two sides of the hypocycloid gear ring by a first main bearing and a second main bearing,
two sides of the double eccentric shaft are respectively supported at the central holes of the main disc and the auxiliary disc by a first conical bearing and a second conical bearing,
the outer rings of the first conical bearing and the second conical bearing are arranged between the inner rings of the first conical bearing and the second conical bearing back to back, the outer side of the inner ring of the first conical bearing is provided with a first retaining ring, the outer side of the inner ring of the second conical bearing is sequentially provided with a circular ring adjusting sheet and a second retaining ring,
the eccentric section of the double eccentric shaft is in interference fit with the inner hole of the roller bearing without the outer ring, the excircle of the roller bearing without the outer ring is in transition fit with the central holes of the first cycloid wheel and the second cycloid wheel,
the first cycloid wheel and the second cycloid wheel are modified by adopting a combination of 'regular equal distance-regular displacement', so that a radial clearance delta is formed between the gear teeth of the first cycloid wheel and the second cycloid wheel and the hypocycloid gear ringjAnd a lateral clearance deltac。
Preferably, the first cycloid wheel and the second cycloid wheel are subjected to optimal 'positive equal distance-positive displacement' combined modification, and the modification amount calculation formula is as follows:
equidistant modification quantity delta rz＝Δj/(1-K), the displacement modification amount Δ Rz＝KΔrz,
Wherein K is (1-K)1 2)0.5Coefficient of shortwave K1＝eZb/Rz，ZbIs the number of hypocycloid teeth turns, RzIs the central radius of the needle teeth.
According to the principle of the anti-backlash gear, the return difference can be reduced by changing the phase difference of the double eccentric shafts, so that:
preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is not equal to 180 °.
Preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is 178.5-179.5 °.
Preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is 178.8-179.25 °.
Preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is 179.0-179.2 °.
Preferably, the meshing parts in the hypocycloid gear ring are lubricated by oil instead of grease, and an oil filling hole, an oil drain hole and a vent cap are arranged on the hypocycloid gear ring or the circular end cover.
Effect of the utility model
According to the utility model relates to an industrial robot single-stage hypocycloid reduction gear, even dismantle the planet level in the hypocycloid reduction gear, because the planet speed reduction in the servo planet all-in-one of being connected with it still makes the input the utility model discloses single-stage hypocycloid's revolution is less than or equal to 1000rpm, therefore the reduction gear can not vibrate.
The utility model discloses an industrial robot single-stage hypocycloid reduction gear has simplified the structure owing to tear open the planet level, has reduced the two eccentric shafts and the planet carrier and has made the degree of difficulty, has solved special taper bearing, the bearing degree of difficulty, and the heat dissipation space increases 30% -40% therefore changes oil lubrication into to change oil by oneself and improve the oil and increase of service life.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic view of a single-stage hypocycloid reducer of an industrial robot according to a first embodiment of the present invention. As shown in fig. 1, the single-stage hypocycloid reducer of the industrial robot comprises: the device comprises a planet carrier, a hypocycloid gear ring 1, a double eccentric shaft 6, an outer ring-free roller bearing 4, a first cycloidal gear 11, a second cycloidal gear 15, a spacer ring 12, a first main bearing 10, a second main bearing 13, a first conical bearing 3, a second conical bearing 5 and a circular end cover 14 connected to a spigot of the hypocycloid gear ring 1. The planet carrier is composed of a main disc 7, an auxiliary disc 2, a pin 9 and a pin sleeve 8. One end of a pin 9 is in interference fit with the uniformly distributed holes in the main disc 7, and the other end of the pin 9 penetrates through pin holes uniformly distributed in the first cycloidal gear 11 to be in transition fit with corresponding holes in the auxiliary disc 2, namely one end of the pin 9 is tightly matched with the uniformly distributed holes in the main disc 7. The two sides of the planet carrier are supported at the inner holes of the two sides of the hypocycloidal ring gear 1 by a first main bearing 10 and a second main bearing 13 respectively. The two sides of the double eccentric shaft 6 are supported at the central holes of the main disc 7 and the auxiliary disc 2 by a first conical bearing 3 and a second conical bearing 5 respectively. The outer rings of the first conical bearing 3 and the second conical bearing 5 are arranged between the inner rings of the first conical bearing 3 and the second conical bearing 5 in a back-to-back mode, a first check ring 18 is arranged on the outer side of the inner ring of the first conical bearing 3, a circular ring adjusting sheet 16 and a second check ring 17 are sequentially arranged on the outer side of the inner ring of the second conical bearing 5, the circular ring adjusting sheet 16 adjusts the pre-tightening degree of the first conical bearing 3 and the second conical bearing 5 by different thicknesses, the purpose is to improve the torsional rigidity of the double eccentric shaft 6, and the torsional rigidity is an important index of the robot speed reducer. The first retainer ring 18 and the second retainer ring 17 on the two sides of the double eccentric shaft 6 can also prevent the auxiliary disc 2 from axially moving. The eccentric section of the double eccentric shaft 6 is in interference fit with the inner hole of the outer-ring-free roller bearing 4, the excircle of the outer-ring-free roller bearing 4 is in transition fit with the central holes of the first cycloid wheel 11 and the second cycloid wheel 15, the fit between the first cycloid wheel and the second cycloid wheel is zero as far as possible, and the purpose is to ensure that the return difference generated by the first cycloid wheel and the second cycloid wheel is minimum.
The number of pins 9 in the planet carrier should be even, such as 6 or 8 or 10 or 12. The diameter of the pin hole is equal to the outer diameter +2e of the pin sleeve 8 (e is the eccentricity of the dual eccentric shaft 6).
The first cycloid wheel 11 and the second cycloid wheel 15 are modified by adopting the combination of 'regular equal distance-regular displacement', so that a radial clearance delta is formed between the gear teeth of the first cycloid wheel 11 and the second cycloid wheel 15 and the hypocycloid gear ring 1jAnd a lateral clearance deltac。
In a preferred embodiment of the first embodiment, it is preferable to use an optimal "positive equal distance-positive displacement" combination modification, and the modification amount is not empirically given by the designer, but calculated by the following formula:
equidistant modification quantity delta rz＝Δj/(1-K), the displacement modification amount Δ Rz＝KΔrz,
Wherein K is (1-K)1 2)0.5Coefficient of shortwave K1＝eZb/RzE is a double eccentric shaft 6Eccentricity of, ZbIs the number of hypocycloid teeth turns, RzIs the central radius of the needle teeth.
The optimal 'regular equal distance-regular displacement' combined modification can generate reasonable lateral clearance, thereby avoiding the short heating service life caused by interference friction when doing work. According to the principle of the anti-backlash gear, the return difference can be reduced by changing the phase difference of the double eccentric shafts, so that:
in a preferred embodiment of the first embodiment, the phase difference of the two eccentric sections of the double eccentric shaft 6 is preferably not equal to 180 °. More preferably, the phase difference between the two eccentric sections of the dual eccentric shaft 6 is 178.0 ° to 179.5 °. More preferably, the phase difference between the two eccentric sections of the dual eccentric shaft 6 is 178.5 ° to 179.25 °. More preferably, the phase difference between the two eccentric sections of the dual eccentric shaft 6 is 179.0 ° to 179.2 °. The phase difference of the two eccentric sections of the double eccentric shaft 6 is taken as the value, so that the return difference of the speed reducer is not more than 1', and the precision is improved. Particularly, when the phase difference is 179.0 ° to 179.2 °, the effect of reducing the return difference is the best.
In a preferred embodiment of the first embodiment, it is preferable that the lubrication of the inner gear in the hypocycloidal ring gear is not grease lubrication but oil lubrication, and the hypocycloidal ring gear 1 or the circular end cap 14 is provided with an oil filling hole, an oil drain hole and a vent cap, that is, the grease lubrication of the inner gear of the original hypocycloidal reducer is changed into oil lubrication, and when the oil temperature in the engine body rises, the vent cap is used for keeping the balance of the internal oil pressure and the external oil pressure of the casing, and preventing oil leakage from the oil seal. The grease lubrication is changed into oil lubrication, and the grease lubrication oil cleaning device has the beneficial technical effects that a robot user can replace dirty oil in the machine without disassembling the machine, and the clean oil product can prolong the service life of the speed reducer.
Compared with the prior art, the industrial robot single-stage hypocycloid speed reducer adopting the first embodiment effectively solves the technical problems of substandard return difference, heat generation and short service life of the prior speed reducer, thereby forming a brand new joint of the industrial robot.
Specifically, the following beneficial technical effects are obtained:
(1) compared with the prior art, the utility model discloses a hypocycloid speed reduction part has removed the planet level in the hypocycloid reduction gear of current Japan Nabo, sun gear, three planet wheels and three double eccentric shafts promptly, has still removed six special tapered roller bearings and six special needle roller bearing on the double eccentric shaft, special tapered roller bearing and needle roller bearing, domestic bearing product quality is not as foreign, but the price is on the high side, and when sun gear, planet wheel operation, six tapered roller bearings and six needle roller bearing generate heat, the noise is great. In addition, the machining man-hour is shortened, the productivity is improved and the manufacturing cost is reduced.
The utility model discloses as long as the servo planet all-in-one input of being connected with it is not more than when 1000rpm, just can guarantee the utility model discloses an industrial robot single-stage hypocycloid reduction gear performance is not inferior to the hypocycloid reduction gear that present Japan was received and is beated.
(2) When the existing hypocycloid speed reducer is installed, a user needs to inject grease by himself, the operation of adding lubricating grease into the cavity of the hypocycloid speed reducer is extremely complicated, dirt is easily brought into the cavity of the speed reducer, grease pollution is caused, and the service life of the speed reducer is shortened. The utility model discloses an industrial robot single-stage hypocycloid reduction gear is owing to carry out the structure with the part that half is many in the hypocycloid speed reduction part that has now and simplify and become single-stage cycloid wheel, but consequently the oil storage chamber in the casing increases 30% -40% than current hypocycloid reduction gear, and when changing the grease lubrication for oil lubrication, heat dispersion is good, the operative employee trades oil conveniently, and oil is much lower than the grease price moreover.
(3) The utility model discloses an industrial robot single-stage hypocycloid reduction gear is owing to carry out the structure with the part that half is many in the hypocycloid speed reduction part that has now and simplify and become single-stage hypocycloid, has still reduced the manufacturing degree of difficulty of reduction gear key spare very greatly. The double eccentric shafts are required to be processed on an expensive inlet follow-up grinding machine, and the three small-diameter double eccentric shafts have poor rigidity, so that the production efficiency is low and the cost is high. Import follow-up grinders are expensive and slow to deliver. The double eccentric shaft system bearing steel GCr15 needs to be forged and beaten → tempered → semi-finish turning → milling shaft end spline → integral quenching → grinding double eccentric, the phase difference precision of the double eccentric shaft is high, and the process difficulty is large.
The utility model discloses the small elastic deformation of pin can the adjacent distance deviation of automatic compensation cycloid wheel column pinhole in the planet carrier. The planet carrier has simple structure, small machining process difficulty, low cost and convenient assembly and disassembly.
Industrial applicability
According to the utility model relates to an industrial robot single-stage hypocycloid reduction gear has effectively solved the return difference in the current reduction gear not up to standard, generate heat, the short-lived technological problem to constitute industrial robot's a brand-new joint.
The hypocycloid speed reducer firstly breaks through from the meshing principle, utilizes a pair of full-envelope cycloid gears as a gear mechanism of a conjugate curve, and adopts different forms of one-tooth-difference planetary gear transmission to realize speed reduction, thereby greatly simplifying the structure and the process. The hypocycloid transmission system is in concave-convex meshing, and the equivalent curvature radius is small, so that the bearing capacity is higher than that of RV-E type pinwheel-cycloid wheel transmission. In addition, the lubricating performance of the hypocycloid transmission is superior to that of pin-cycloid wheel transmission.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A single-stage hypocycloid speed reducer of an industrial robot, comprising:
a planet carrier, a hypocycloid gear ring (1), a double eccentric shaft (6), a roller bearing (4) without an outer ring, a first cycloidal gear (11), a second cycloidal gear (15), a spacer ring (12), a first main bearing (10), a second main bearing (13), a first cone bearing (3), a second cone bearing (5) and a round end cover (14) connected with a spigot of the hypocycloid gear ring (1),
the planet carrier consists of a main disc (7), an auxiliary disc (2), a pin (9) and a pin sleeve (8),
one end of a pin (9) is in interference fit with the uniformly distributed holes on the main disc (7), the other end of the pin (9) passes through pin holes uniformly distributed on the first cycloidal gear (11) and the second cycloidal gear (15) to be in transition fit with corresponding holes of the auxiliary disc (2), the number of the pins (9) is 6 or 8 or 10 or 12, a pin sleeve (8) is arranged outside the pin (9),
the diameter of the pin hole is equal to the outer diameter +2e of the pin sleeve (8), e is the eccentricity of the double eccentric shafts (6),
two sides of the planet carrier are respectively supported at the inner holes of two sides of the hypocycloid gear ring (1) by a first main bearing (10) and a second main bearing (13),
two sides of the double eccentric shaft (6) are respectively supported at the central holes of the main disc (7) and the auxiliary disc (2) by a first conical bearing (3) and a second conical bearing (5),
the outer rings of the first conical bearing (3) and the second conical bearing (5) are arranged between the inner rings of the first conical bearing (3) and the second conical bearing (5) back to back, a first check ring (18) is arranged on the outer side of the inner ring of the first conical bearing (3), a circular ring adjusting sheet (16) and a second check ring (17) are sequentially arranged on the outer side of the inner ring of the second conical bearing (5),
the eccentric section of the double eccentric shaft (6) is in interference fit with the inner hole of the outer-ring-free roller bearing (4), the excircle of the outer-ring-free roller bearing (4) is in transition fit with the central holes of the first cycloid wheel (11) and the second cycloid wheel (15),
the first cycloid wheel (11) and the second cycloid wheel (15) adopt the combination of 'regular equidistance-regular displacement' for modification, so that a radial clearance delta is formed between the gear teeth of the first cycloid wheel (11) and the second cycloid wheel (15) and the hypocycloid gear ring (1)jAnd a lateral clearance deltac。
2. Single-stage hypocycloidal reducer according to an industrial robot according to claim 1,
the first cycloid wheel (11) and the second cycloid wheel (15) are subjected to optimum 'positive equal distance-positive displacement' combined modification, and the modification amount calculation formula is as follows:
equidistant modification quantity delta rz＝Δj/(1-K), the displacement modification amount Δ Rz＝KΔrz,
Wherein K is (1-K)1 2)0.5Coefficient of shortwave K1＝eZb/Rz，ZbIs the number of hypocycloid teeth turns, RzIs the central radius of the needle teeth.
3. Single-stage hypocycloidal reducer according to an industrial robot according to claim 1,
the phase difference of the two eccentric sections of the double eccentric shaft (6) is not equal to 180 degrees.
4. Single-stage hypocycloidal reducer according to claim 3 for an industrial robot,
the phase difference of the two eccentric sections of the double eccentric shaft (6) is 178.5-179.5 degrees.
5. Single-stage hypocycloidal reducer according to claim 4 for an industrial robot,
the phase difference of the two eccentric sections of the double eccentric shaft (6) is 178.8-179.25 degrees.
6. Single-stage hypocycloidal reducer according to claim 5 for an industrial robot,
the phase difference of the two eccentric sections of the double eccentric shaft (6) is 179.0-179.2 degrees.
7. Single-stage hypocycloidal reducer according to any of claims 1-6 for an industrial robot,
the meshing parts in the hypocycloid gear ring are lubricated by oil instead of grease, and an oil filling hole, an oil drain hole and a ventilation cap are arranged on the hypocycloid gear ring (1) or the circular end cover (14).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220156491.9U CN216842924U (en) | 2022-01-20 | 2022-01-20 | Industrial robot single-stage hypocycloid speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220156491.9U CN216842924U (en) | 2022-01-20 | 2022-01-20 | Industrial robot single-stage hypocycloid speed reducer |
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| CN216842924U true CN216842924U (en) | 2022-06-28 |
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| CN202220156491.9U Active CN216842924U (en) | 2022-01-20 | 2022-01-20 | Industrial robot single-stage hypocycloid speed reducer |
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