CN219242564U

CN219242564U - Hollow small tooth difference speed reduction integrated machine for industrial robot

Info

Publication number: CN219242564U
Application number: CN202220156519.9U
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: 2023-06-23
Anticipated expiration: 2032-01-20

Abstract

The utility model relates to the technical field of industrial robot joints, and provides an industrial robot hollow small-tooth-difference speed reduction all-in-one machine, wherein the industrial robot hollow small-tooth-difference speed reduction all-in-one machine comprises a small-tooth-difference speed reduction part and a servo motor, and the small-tooth-difference speed reduction part comprises: the planetary gear comprises a main disc, an auxiliary disc, a pin and a pin bush, wherein the circular end cover is connected with an input side spigot of the inner gear, the servo motor is fastened on the circular end cover, and a pinion on an output shaft of the servo motor is meshed with the pinion. According to the utility model, the structure is greatly simplified, the heat dissipation space is increased by 30-40%, the oil lubrication is changed into oil lubrication, the oil can be automatically changed at regular intervals, the phase difference of the eccentric sections of the hollow double eccentric shafts is not equal to 180 degrees, and the like, so that the technical problems of poor return, heat generation and service life of the speed reducer are solved.

Description

Hollow small tooth difference speed reduction integrated machine for industrial robot

Technical Field

The utility model relates to the technical field of industrial robot joints, in particular to a joint technology for organically integrating a servo motor and a small-tooth-difference speed reducer, which is a hollow small-tooth-difference speed reduction integrated machine of an industrial robot.

Background

Currently, domestic robot manufacturers need to purchase a small gear difference speed reducer, a servo motor and grease of korean Sejin company, respectively, and then assemble them precisely into a robot joint, and inject a sufficient amount of specific grease into the joint, which is not only inefficient but also easily brought into sundries to pollute the grease. In addition, the coaxiality requirement of the servo motor and the Sejin small-tooth-difference speed reducer is within +/-0.005 mm, and vibration and noise can occur due to poor installation accuracy.

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

Disclosure of Invention

Problems to be solved by the utility model

The utility model aims to overcome the defects of the prior art and provides a hollow small-tooth-difference speed reduction integrated machine for an industrial robot.

Through theoretical research and practice for more than ten years, the inventor of the utility model provides a combined technical scheme of a gap elimination gear theory and a Sejin small tooth difference simplified model, obtains breakthrough of important theory and manufacturing technology, and completes innovation of a hollow small tooth difference speed reduction integrated machine of an industrial robot.

The hollow small-tooth-difference speed reduction integrated machine for the industrial robot provided by the utility model effectively solves the technical problems of low assembly efficiency, poor installation precision, poor grease lubrication and heat dissipation performance, difficult grease replacement, poor return of a speed reducer, heat generation, short service life and the like of a joint of the robot in the prior art.

Means for solving the problems

The first aspect of the utility model relates to a hollow small-tooth-difference speed reduction integrated machine of an industrial robot,

comprises a small tooth difference speed reducing component and a servo motor,

the small tooth difference speed reducing member includes:

the device comprises a round end cover, an inner gear ring, a planet carrier, a roller bearing without an outer ring, a first planet wheel, a second planet wheel, a first space ring, a first main bearing, a second main bearing, a first cone bearing, a second cone bearing, a hollow double eccentric shaft and a large gear,

the large gear is connected with the hollow double eccentric shafts, the round end cover is connected with the input side spigot of the internal gear ring, the servo motor is fastened on the round end cover, the output shaft of the servo motor is provided with a small gear meshed with the large gear,

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

one end of the pin is in interference fit with 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, pin sleeves are arranged outside the pins,

the diameter of the stud bore = the outer diameter of the pin sleeve +2e, e being the eccentricity of the hollow double eccentric shaft,

the two sides of the planet carrier are respectively supported at the inner holes at the two sides of the internal gear ring by a first main bearing and a second main bearing,

the two sides of the hollow double eccentric shaft are respectively supported at the central holes of the main disc and the auxiliary disc by a first cone bearing and a second cone bearing,

the outer rings of the first cone bearing and the second cone bearing are arranged in the middle of the inner rings of the first cone bearing and the second cone bearing back to back, the outer side of the inner ring of the first cone bearing is sequentially provided with a second spacer ring, a large gear and a first check ring, the outer side of the inner ring of the second cone bearing is sequentially provided with a circular ring adjusting piece and a second check ring,

the eccentric section of the hollow double eccentric shaft is in interference fit with the inner hole of the roller bearing without the outer ring, the outer circle of the roller bearing without the outer ring is matched with the centers Kong Guodu of the first planet wheel and the second planet wheel,

the central hole of the hollow double eccentric shafts is used for arranging a cable.

Preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is not equal to 180 °.

Preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is 178.5-179.5 °.

Preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is 178.8-179.25 °.

Preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is 179.0-179.2.

Preferably, the meshing parts in the inner gear ring are lubricated not by grease but by oil, and the inner gear ring or the end cover is provided with an oil filling hole, an oil drain hole and a ventilation cap.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the hollow small-tooth-difference speed reduction integrated machine for the industrial robot, the technical problems that the return difference in the existing speed reducer does not reach the standard, heat is generated and the service life is short are effectively solved, and the single-stage small-tooth-difference speed reduction integrated machine and the servo motor are organically integrated, so that a brand new joint of the industrial robot is formed. When the revolution of the small tooth difference input by the servo motor is less than or equal to 1000rpm, the speed reducer does not vibrate. The hollow small-tooth-difference speed reduction integrated machine for the industrial robot greatly simplifies the structure, reduces the manufacturing difficulty of the hollow double eccentric shafts and the planet carrier, solves the problems of special cone bearings and needle bearings, increases the heat dissipation space by 30% -40%, and can change grease lubrication into oil lubrication, thereby being capable of automatically changing oil to prolong the service life.

Drawings

Fig. 1 is a schematic structural view of a first embodiment of the present utility model.

Fig. 2 is an enlarged schematic view of a structural portion of the planet carrier of fig. 1.

Fig. 3 is a construction diagram of a carrier in a korean Sejin hollow small tooth difference reduction gear in the prior art.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

Fig. 1 is a schematic view of an industrial robot hollow small-tooth-difference speed reduction integrated machine according to a first embodiment of the present utility model. Fig. 2 is an enlarged schematic view of a structural portion of the planet carrier of fig. 1. As shown in fig. 1 and 2, the hollow small-tooth-difference speed reduction integrated machine for the industrial robot comprises a small-tooth-difference speed reduction component and a servo motor component D. The small tooth difference speed reducing member includes: the planetary gear transmission device comprises a round end cover 15, an annular gear 1, a planet carrier, an outer ring-free roller bearing 4, a first planet wheel 11, a second planet wheel 18, a first spacer ring 12, a first main bearing 10, a second main bearing 13, a first cone bearing 3, a second cone bearing 5, a hollow double eccentric shaft 6 and a large gear 16 connected with the hollow double eccentric shaft 6, wherein the round end cover 15 is connected with an input side spigot of the annular gear 1, a servo motor D is fastened on the round end cover 15, and a small gear 17 on an output shaft of the servo motor is meshed with the large gear 16.

The planet carrier comprises a main disc 7, an auxiliary disc 2, a pin 9 and a pin sleeve 8, wherein: one end of the pin 9 is in interference fit with holes uniformly distributed 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 18 to be in transition fit with corresponding holes of the auxiliary disc 2, a pin sleeve 8 is arranged outside the pin 9, the diameter of the pin hole = the outer diameter of the pin sleeve 8 plus 2e (e is the eccentric distance of the hollow double eccentric shaft 6), the pin 9 is an even number, such as 6 or 8 or 10 or 12, and the like, and two sides of the planet carrier are respectively supported by inner holes on two sides of the ring gear 1 by a first main bearing 10 and a second main bearing 13.

The two sides of the hollow double eccentric shaft 6 are respectively supported in the central holes of the main disc 7 and the auxiliary disc 2 by a first cone bearing 3 and a second cone bearing 5, the outer rings of the first cone bearing 3 and the second cone bearing 5 are arranged in the middle of the inner rings of the first cone bearing 3 and the second cone bearing 5 in a back-to-back mode, wherein: the outer side of the inner ring of the first cone bearing 3 is sequentially provided with a second spacer ring 14, a large gear 16 and a first check ring 21, and the outer side of the inner ring of the second cone bearing 5 is sequentially provided with a circular ring adjusting piece 19 and a second check ring 20.

The ring adjusting piece 19 adjusts the pretightening degree of the first cone bearing 3 and the second cone bearing 5 by different thicknesses, and the aim is to improve the torsional rigidity of the hollow double eccentric shaft 6, wherein the torsional rigidity is an important index of the robot speed reducer. The first check ring 21 and the second check ring 20 on the two sides of the hollow double eccentric shaft 6 can also prevent the auxiliary disc 2 from axially moving, the eccentric section of the hollow double eccentric shaft 6 is in interference fit with the inner hole of the roller bearing 4 without the outer ring, the outer circle of the roller bearing 4 without the outer ring is matched with the centers Kong Guodu of the first planet wheel 11 and the second planet wheel 18, and the matching between the two is as zero clearance as possible, so as to ensure that the return difference generated by the two is minimum.

The central hole K of the hollow double eccentric shaft 6 is used for arranging a cable,

the servo motor D is fastened on the round end cover 15, and a pinion 17 on the output shaft of the servo motor is meshed with the large gear 16 for speed reduction, so that the input revolution of the hollow double eccentric shaft 6 connected with the large gear 16 is less than or equal to 1000rpm, and the speed reducer does not vibrate.

In a preferred embodiment of the first embodiment, the phase difference of the two eccentric sections of the hollow double eccentric shaft 6 is preferably not equal to 180 °. More preferably, the phase difference between the two eccentric sections of the hollow double eccentric shaft 6 is 178.0 ° to 179.5 °. It is further preferable that the phase difference between the two eccentric sections of the hollow double eccentric shaft 6 is 178.5 ° to 179.25 °. Still more preferably, the phase difference between the two eccentric sections of the hollow double eccentric shaft 6 is 179.0 ° to 179.2 °. The phase difference of the two eccentric sections of the hollow 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. In particular, the effect of reducing the return difference is preferable when the phase difference is 179.0 ° to 179.2 °.

In a preferred embodiment of the first embodiment, it is preferable that the lubrication of the inner engagement member of the small-tooth-difference reduction member is not grease lubrication but oil lubrication, and that the ring gear 1 or the end cover 15 is provided with an oil filler hole, an oil drain hole, and a vent cap, that is, the grease lubrication of the inner engagement member of the original small-tooth-difference reduction gear is changed to oil lubrication, and when the oil temperature in the engine body increases, the vent cap is used to keep the balance of the oil pressure inside and outside the engine casing, and oil leakage from the oil seal is prevented. The grease lubrication is changed into oil lubrication, and the robot has the beneficial technical effects that a robot user can replace dirty oil in the robot without disassembling the robot, and the service life of the speed reducer can be prolonged by cleaning the oil.

Compared with the prior art, the hollow small-tooth-difference speed reduction integrated machine for the industrial robot of the first embodiment effectively solves the technical problems that the return difference in the prior speed reducer does not reach the standard, generates heat and has short service life, thereby forming a brand new joint of the industrial robot.

Specifically, compared with the small tooth difference speed reducer of the korean Sejin company, the following advantageous technical effects are obtained:

(1) Compared with the prior art in fig. 3, the small-tooth-difference speed reducing component of the utility model removes the sun wheel and three planet wheels, and also removes six special tapered roller bearings and six special needle roller bearings on the hollow double eccentric shafts, the special tapered roller bearings and the needle roller bearings have inferior domestic product quality and higher price compared with foreign products, and when the motor drives the sun wheel and the planet wheels to operate, the six tapered roller bearings and the six needle roller bearings generate heat and have larger noise. As the cycloid transmission is formed by simplifying the structure of more parts in the existing small-tooth-difference speed reduction part, the machining time is shortened, the production efficiency is improved, the manufacturing cost is further reduced, and meanwhile, the heating and the noise are also reduced. Technical manuals of the japanese nato company indicate that: "two-stage reduction mechanism: the vibration is small; the flywheel moment GD2 is small; the revolution speed becomes slow, the vibration is reduced, and the inertia is reduced. That is, the small vibration and small flywheel moment can be ensured only by inputting less tooth difference less than or equal to 1000 rpm.

(2) Domestic robot manufacturers purchase small gear difference speed reducers, servo motors and lubricating grease of Korean Sejin company respectively, and then assemble the robot joints precisely. The hollow small-tooth-difference speed reduction integrated machine for the industrial robot organically integrates motor driving and small-tooth-difference speed reduction, has high operation efficiency and can ensure that concentricity meets the requirement.

(3) When the existing small-tooth-difference speed reducer of the Korean Sejin company is installed, a user needs to inject grease by himself, and the operation of adding lubricating grease into the cavity of the small-tooth-difference speed reducer is extremely complicated, dirt is easily carried into the cavity of the speed reducer, grease pollution is caused, and therefore the service life of the speed reducer is shortened. The hollow small-tooth-difference speed reduction integrated machine for the industrial robot has the advantages that the structure of one half of the parts in the existing small-tooth-difference speed reduction part is simplified to form a single-stage small-tooth-difference speed reduction part, so that an oil storage cavity in a shell can be increased by 30% -40% compared with the existing small-tooth-difference speed reduction part, and when the grease is changed into oil for lubrication, the heat dissipation performance is good, the oil change of an operator is convenient, and the oil price is much lower than the grease.

(4) The hollow small-tooth-difference speed reduction integrated machine for the industrial robot is characterized in that the structure of half of parts in the existing small-tooth-difference speed reduction parts of the Korean Sejin company is simplified to be single-stage small-tooth-difference, and the manufacturing difficulty of key parts of the speed reducer is greatly reduced. The hollow double eccentric shafts must be processed on an expensive imported follow-up grinding machine, and the rigidity of the three small-diameter hollow double eccentric shafts is poor, so that the production efficiency is low and the cost is high. Imported follower grinders are expensive and slow to deliver. The hollow double eccentric shafting bearing steel GCr15 is required to be forged, tempered, quenched and tempered, semi-finish turning, milling of shaft end spline, integral quenching, double eccentric grinding, high phase difference precision of the hollow double eccentric shafts and high process difficulty. The planet carrier rigid disc component of the small-tooth-difference speed reducer is a core supporting component, and is complex in structure and high in precision requirement. The hollow small-tooth-difference speed reduction integrated machine for the industrial robot has the advantages that the structure of one half of the parts in the existing small-tooth-difference speed reduction part is simplified to form a single-stage small-tooth-difference speed reduction integrated machine, so that the planet carrier is simple in structure, small in machining process difficulty, low in cost and convenient to assemble and disassemble. In particular, the outer circle of the special tapered roller bearing is matched with the uniformly distributed holes of the planet carrier, the adjacent distance deviation of the uniformly distributed holes is difficult to automatically compensate, the outer diameter of the special needle roller bearing is in clearance-free fit with the uniformly distributed holes of the planet wheel, the inner hole is in clearance-free fit with the outer circle of the eccentric section of the hollow double eccentric shaft, and the adjacent distance deviation of the uniformly distributed holes of the planet wheel is difficult to compensate, so that the transmission precision is inevitably influenced.

Industrial applicability

According to the hollow small-tooth-difference speed reduction integrated machine for the industrial robot, the technical problems that the return difference in the existing speed reducer does not reach the standard, heat is generated and the service life is short are effectively solved, and the single-stage small-tooth-difference speed reduction integrated machine and the servo motor are organically integrated, so that a brand new joint of the industrial robot is formed.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. An industrial robot hollow small tooth difference speed reduction integrated machine is characterized in that,

comprises a small tooth difference speed reducing component and a servo motor (D),

the small tooth difference speed reducing member includes:

the device comprises a round end cover (15), an inner gear ring (1), a planet carrier, an outer ring-free roller bearing (4), a first planet wheel (11), a second planet wheel (18), a first spacer ring (12), a first main bearing (10), a second main bearing (13), a first cone bearing (3) and a second cone bearing (5), a hollow double eccentric shaft (6) and a large gear (16),

the large gear (16) is connected with the hollow double eccentric shaft (6), the round end cover (15) is connected with the input side spigot of the internal gear ring (1), the servo motor (D) is fastened on the round end cover (15), the output shaft of the servo motor (D) is provided with a pinion (17) meshed with the large gear (16),

the planet carrier consists of a main disc (7), an auxiliary disc (2), a pin (9) and a pin sleeve (8),

one end of the pin (9) is in interference fit with 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 (18) 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 stud hole = the outer diameter +2e of the pin sleeve (8), e is the eccentricity of the hollow double eccentric shaft (6),

the two sides of the planet carrier are respectively supported at the inner holes at the two sides of the ring gear (1) by a first main bearing (10) and a second main bearing (13),

the two sides of the hollow double eccentric shafts (6) are respectively supported at the central holes of the main disc (7) and the auxiliary disc (2) by a first cone bearing (3) and a second cone bearing (5),

the outer ring of the first cone bearing (3) and the outer ring of the second cone bearing (5) are arranged between the first cone bearing (3) and the inner ring of the second cone bearing (5) back to back, the outer side of the inner ring of the first cone bearing (3) is sequentially provided with a second spacer ring (14), a large gear (16) and a first check ring (21), the outer side of the inner ring of the second cone bearing (5) is sequentially provided with a circular ring adjusting piece (19) and a second check ring (20),

the eccentric section of the hollow double eccentric shaft (6) is in interference fit with the inner hole of the roller bearing (4) without the outer ring, the outer circle of the roller bearing (4) without the outer ring is matched with the centers Kong Guodu of the first planet wheel (11) and the second planet wheel (18),

the central hole (K) of the hollow double eccentric shaft (6) is used for arranging a cable.

2. The industrial robot hollow small tooth difference speed reduction integrated machine according to claim 1, wherein,

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

3. The industrial robot hollow small tooth difference speed reduction integrated machine according to claim 2, wherein,

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

4. The industrial robot hollow small tooth difference speed reduction all-in-one machine according to claim 3, wherein,

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

5. The industrial robot hollow small tooth difference speed reduction integrated machine according to claim 4, wherein,

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

6. The industrial robot hollow small tooth difference speed reduction integrated machine according to any one of claims 1 to 5, wherein,

the lubrication of the meshing piece with small tooth difference in the inner gear ring is not grease lubrication but oil lubrication, and the inner gear ring (1) or the round end cover (15) is provided with an oil filling hole, an oil drain hole and a ventilation cap.