Rigid inside and outside tooth-profile-wrapped tooth reducer

Abstract

The invention relates to a rigid inside and outside tooth-profile-wrapped tooth reducer which comprises a first level reducing mechanism and a second level reducing mechanism. The first level reducing mechanism comprises an eccentric wheel (101), a first turning arm bearing (5), an outer meshing curve wheel (7) and a gear pin (8), wherein the gear pin (8) is fixed on a first support (9) and is meshed with the outer meshing curve wheel (7) in an external mode. The second level reducing mechanism comprises an eccentric driving wheel (14), a second turning arm bearing (13), an inner meshing curve wheel (11) and an output disc (16), wherein the inner meshing curve wheel (11) is meshed and matched with the gear pin (8) in an internal mode, the output disc (16) is connected with an output shaft (20) of the output disc (16) in a linkage mode, the eccentric driving wheel (14) is connected with the outer meshing curve wheel (7) in a transmission mode through a pin (26), the inner meshing curve wheel (11) is connected with the output disc (16) in a transmission mode through a transmission pin (24), one side of the outer meshing curve wheel (7) is provided with a first reinforcing bracket (6), and one side of the inner meshing curve wheel (11) is further provided with a second reinforcing bracket (23). The rigid inside and outside tooth-profile-wrapped tooth reducer has the advantages of being small in the number of teeth, large in speed ratio, small in size, high in bearing and efficiency, long in service life, high in rigidity, and particularly suitable for a reducer for a heavy-load robot.

Description

technical field

[0001] The invention relates to an industrial reducer with small tooth difference, belonging to the technical field of reducers. This invention is funded by the "National High Technology Research and Development Program (863 Program)". Background technique

[0002] There are two main types of reducers used in the field of robotics: harmonic reducers and cycloidal reducers. The harmonic reducer, once used as the main device for robot transmission, realizes the deceleration motion through the elastic deformation of the flexspline. Its elastic deformation is large, and the resulting elastic hysteresis is also large, which inevitably affects the accuracy of robot motion. When the load is large, the deformed flexible spline meshes with the rigid spline and the non-conjugate tooth profile meshes, and the accuracy guarantee life is low. It cannot be used on heavy-duty robots, and can only be used on light-load, medium-light-load robots. Compared with the harmon...

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