CN217271699U

CN217271699U - Industrial robot single-stage small tooth difference speed reducer

Info

Publication number: CN217271699U
Application number: CN202220156482.XU
Authority: CN
Inventors: 吴声震; 刘谷华; 顾辽兵; 贾旭
Original assignee: Suzhou Huazhen Industry RV Reducer Co Ltd
Current assignee: Suzhou Huazhen Industry RV Reducer Co Ltd
Priority date: 2022-01-20
Filing date: 2022-01-20
Publication date: 2022-08-23
Anticipated expiration: 2032-01-20

Abstract

The utility model relates to an industrial robot joint technical field provides an industrial robot single-stage few tooth difference reduction gear, include: the planet carrier comprises a main disc, an auxiliary disc, a pin and a pin sleeve. According to the utility model discloses, simplified the structure greatly, the heat dissipation space increases 30% -40% and changes into oil lubrication, and the eccentric section phase difference of two eccentric shafts is not equal to 180 etc. therefore has eliminated the influence of former planet level manufacturing accuracy, not only has reduced the manufacturing degree of difficulty, has also reduced the cost, has still solved the reduction gear return difference, has generated heat and increase of service life's technological problem.

Description

Industrial robot single-stage small tooth difference speed reducer

Technical Field

The utility model relates to an industrial robot joint technical field, specifically speaking relates to the technique of simplifying the current few tooth difference reduction gear structure, is an industrial robot single-stage few tooth difference reduction gear.

Background

Currently, domestic robot manufacturers need to purchase small tooth difference reducers, servo motors and lubricating grease of Sejin in Korea respectively, then precisely assemble the small tooth difference reducers, the servo motors and the lubricating grease into robot joints, and enough amount of specific lubricating grease is injected into the joints, so that the operation is not only inefficient, but also the lubricating grease is easily polluted by impurities. In addition, the coaxiality of the servo motor and the Sejin small-tooth-difference speed reducer is required to be within +/-0.005 mm, and vibration and noise can occur due to poor mounting precision.

When the robot works, a user cannot replace the lubricating grease for the Sejin small-tooth-difference speed reducer. Therefore, the grease, once dirty, will heat up the reducer, meaning that the robot will soon be forced to stop.

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 few tooth difference reduction gear.

The utility model discloses an inventor has provided the combination technical scheme of "backlash eliminating gear theory + single-stage few tooth difference" through many years theoretical research and practice, has obtained the breakthrough of theory and manufacturing, has accomplished the innovation of the few tooth difference reduction gear of industrial robot single-stage, effectively solves return difference in the current reduction gear, generates heat, the short-lived technological problem.

Means for solving the problems

The utility model discloses the first aspect relates to a few tooth difference reduction gear of industrial robot single-stage, include:

a planet carrier, an inner gear ring, a double eccentric shaft, a roller bearing without an outer ring, a first planet wheel, a second planet wheel, a space 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 inner gear ring,

the planet carrier consists of a main disc, an auxiliary disc, a pin and a pin bush,

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 planet wheel and the second planet wheel 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 plus 2e, e is the eccentricity of the double eccentric shafts,

the two sides of the planet carrier are respectively supported at the inner holes of the two sides of the inner 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 outer-ring-free roller bearing, and the excircle of the outer-ring-free roller bearing is in transition fit with the central hole of the first planet wheel.

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 inner 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 inner gear ring or the circular end cover.

Effect of the utility model

According to the utility model relates to an industrial robot single-stage few tooth difference reduction gear, even dismantle the planet level in the few tooth difference 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 the poor revolution of single-stage few tooth is less than or equal to 1000rpm, therefore the reduction gear can not vibrate.

The utility model discloses few tooth difference reduction gear of industrial robot single-stage 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 efforts all 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 diagram of a single-stage small tooth difference speed reducer of an industrial robot according to a first embodiment of the present invention. As shown in fig. 1, the industrial robot single-stage small tooth difference speed reducer comprises: the planet carrier, an inner gear ring 1, a double eccentric shaft 6, an outer ring-free roller bearing 4, a first planet wheel 11, a second planet wheel 15, a space ring 12, a first main bearing 10, a second main bearing 13, a first cone bearing 3, a second cone bearing 5 and a circular end cover 14 connected to a spigot of the inner 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 on the main disc 7, and the other end of the pin 9 passes through pin holes uniformly distributed on the planet wheel 11 to be in transition fit with corresponding holes of the auxiliary disc 2. Both sides of the carrier are supported at both side bores of the ring gear 1 by a first main bearing 10 and a second main bearing 13, respectively. 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 in a back-to-back mode, the outer side of the inner ring of the first conical bearing 3 is provided with a first check ring 18, the outer side of the inner ring of the second conical bearing 5 is sequentially provided with a circular ring adjusting sheet 16 and a second check ring 17, 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 of the method is to improve the torsional rigidity of the double eccentric shafts 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 planet wheel 11 and the second planet wheel 15, the fit between the first planet wheel and the second planet wheel is zero clearance as far as possible, and the purpose is to ensure that the return difference generated by the first planet wheel and the second planet 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).

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 less than or equal to 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 internal gear member in the ring gear is performed by oil lubrication instead of grease lubrication, and the 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 internal gear member in the reduction gear with a small gear difference is changed to oil lubrication, and when the oil temperature in the engine body rises, the vent cap is used to keep the oil pressure balance between the inside and the outside of the casing, thereby preventing oil leakage from the oil seal. Change grease lubrication into oil lubrication, its beneficial technical effect is, the robot user need not to tear the machine open can change the built-in dirty oil, clean oil can prolong reduction gear life.

Compared with the prior art, the industrial robot single-stage small tooth difference speed reducer adopting the first embodiment effectively solves the technical problems that return difference in the prior speed reducer does not reach the standard, heat is generated and the service life is short, so that a brand new joint of the industrial robot is formed.

Specifically, compared to the small tooth difference speed reducer of Sejin corporation in korea, the following advantageous technical effects are obtained:

(1) compared with the prior art, the utility model discloses a few tooth difference speed reduction part has removed the planet level in the few tooth difference reduction gear of current Korean Sejin company, sun gear, three planet wheels and three two eccentric shafts promptly, has still removed six special tapered roller bearings and six special needle roller bearing on the two eccentric shafts, special tapered roller bearing and needle roller bearing, domestic bearing product quality is not as good as abroad, but the price is on the high side, and when sun gear, planet wheel were in 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 that is connected with it is not more than when 1000rpm, just can guarantee the utility model discloses an industrial robot single-stage few tooth difference reduction gear performance is not inferior to the few tooth difference reduction gear of present Korean Sejin company.

(2) When the existing small-tooth-difference speed reducer of the Korean Sejin company is installed, a user needs to inject grease by himself, the operation of adding lubricating grease into the cavity of the small-tooth-difference 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 a few poor reduction gear of industrial robot single-stage is owing to carry out the structure with half many parts in the poor reduction gear part of few tooth that has now and simplify, but consequently the oil storage chamber in the casing increases 30% -40% than the poor reduction gear of few tooth that has now, and when changing the grease lubrication into 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 a few tooth difference reduction gears of industrial robot single-stage is owing to carry out the structure with half a lot of part in the few tooth difference reduction parts of present Korean Sejin company and simplify, has still reduced the manufacturing degree of difficulty of the key spare of reduction gear on a very big way. 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 bearing steel GCr15 needs to be forged, tempered, semi-finished lathe, milled shaft end spline, integral quenching, and double-eccentric shaft grinding, and has high phase difference precision and great process difficulty. The planet carrier rigid disc component of the small tooth difference speed reducer is a core supporting component, and has the advantages of complex structure, high precision requirement and high process difficulty.

The utility model discloses the small elastic deformation of pin can the adjacent distance deviation of automatic compensation planet wheel pin hole 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 a few tooth difference reduction gear of industrial robot single-stage 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 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

1. The utility model provides an industrial robot single-stage few tooth difference reduction gear which characterized in that includes:

a planet carrier, an inner gear ring (1), a double eccentric shaft (6), an outer ring-free roller bearing (4), a first planet wheel (11), a second planet wheel (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 inner 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 planet wheel (11) and the second planet wheel (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 inner 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), and the excircle of the outer-ring-free roller bearing (4) is in transition fit with the center holes of the first planet wheel (11) and the second planet wheel (15).

2. The industrial robot single-stage small tooth difference speed reducer according to claim 1,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is not equal to 180 degrees.

3. The industrial robot single-stage few-tooth-difference speed reducer according to claim 2,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is 178.5-179.5 degrees.

4. The industrial robot single-stage small tooth difference speed reducer according to claim 3,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is 178.8-179.25 degrees.

5. The industrial robot single-stage small tooth difference speed reducer according to claim 4,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is 179.0-179.2 degrees.

6. The industrial robot single-stage reduction gear with less tooth difference according to any one of claims 1 to 5, characterized in that,

the meshing parts in the inner 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 inner gear ring (1) or the round end cover (14).