Double-cycloid speed reducer for RV-E simulation carrying welding robot

Abstract

The invention relates to the technical field of precision speed reducers, in particular to a double-cycloid speed reducer for an RV-E simulation carrying welding robot. The double-cycloid speed reducer comprises a planetary driving medium and a double-cycloid driving medium, wherein the planetary driving medium comprises a sun wheel, a planetary wheel and an input shaft; and the double-cycloid driving medium comprises a frame, an inner cycloidal gear ring, a first cycloidal gear, a second cycloidal gear and a double eccentric shaft. The double-cycloid speed reducer is characterized in that: a second sealing element is arranged between the sun wheel and a third bearing; a third sealing element is arranged between the planetary wheel and a fifth bearing; the sealing elements are rotating shaft lip-shaped sealing rings or Che seals; the phase angle difference between two single eccentric sections of the double eccentric shaft is 180 degree-deltapsi, and the minute deflection angle is deltapsi; the gear teeth of the first cycloidal gear cling to one anticlockwise side of the gear pin in an upper half region; the gear teeth of the second cycloidal gear cling to one clockwise side of the gear pin in a lower half region; the return difference of the speed reducer is always kept at zero; and the effective facewidth of the first cycloidal gear is 1-3 times that of the second cycloidal gear. The double-cycloid speed reducer has the beneficial effects of simple structure, low manufacturing process difficulty and no need of any high-accuracy processing machine tool.

Description

【Technical Field】 [0001] The invention relates to the technical field of precision reducers, and is a double cycloid reducer imitating an RV-E type conveying and welding robot. 【Background technique】 [0002] Gear experts in my country began to study Japanese RV reducers in 1991. Since 1997, the Ministry of Science and Technology has included imitation RV reducers in the national 863 plan four times. The domestic Harbin Institute of Technology, Shanghai Jiaotong University, Dalian Jiaotong University and Qinchuan Machinery Development Company I hope that through imitation, domestic RV reducers can be produced by themselves. According to reports, imitation has achieved great success. However, domestic robots still have to import RV, which can only show that the 863 program has not been successful. In 2011, the National 863 Program spent another 16 million to develop two gear reducers for handling and welding robots, one of which should be of type E and the other of type C. Nation...

AI Technical Summary

Problems solved by technology

[0003] The problems of "Compound Rolling Movable Gear Transmission" (ie: CORT) (ZL97100463.6) are: (1) relying on high-precision manufacturing to eliminate hysteresis, so the process is difficult and costly, and it is difficult to replace the Japanese RV-E type; ( 2) The planetary stage is placed in the middle of the dicycloid wheel, and its overall size is larger than that of the Japanese RV-E type

[0004] The disadvantages of "Industrial Robot Micro-hysteresis Cycloid Reducer" (ZL200910196984.4) are: the complex structure affects the improvement of rigidity, and the difficulty of the process will increase the manufacturing cost

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