Double-cycloid speed reducer of RV-E type substituted industrial robot

Abstract

The invention relates to a double-cycloid speed reducer of an RV-E type substituted industrial robot. The double-cycloid speed reducer of the RV-E type substituted industrial robot comprises a planetary transmission part and a double-cycloid transmission part, wherein the planetary transmission part comprises a central shaft, a sun wheel, a planet wheel and an input shaft, and the double-cycloid transmission part comprises a first cycloid wheel, a second cycloid wheel, a first eccentric bearing, a second eccentric bearing, an inner cycloid gear ring, a left machine frame and a right machine frame. The cycloid wheels are connected through a roller bearing in a penetrating mode, eccentric sleeves are installed in inner holes of the roller bearing, and an inner hole of the eccentric sleeve is an involute oblique inner tooth, and the involute oblique inner tooth is matched with an involute oblique outer tooth in a sliding mode on the input shaft. The oblique inner teeth and the oblique outer teeth are processed by a cutting machine tool with medium-slow production lines, a processing technology is simple, the production efficiency is high, the cost is low, and the matching accuracy of the oblique inner teeth and the oblique outer teeth is high. Elastic retainer rings are respectively arranged on outer sides of disc springs on two sides of the input shaft. The double-cycloid speed reducer aims at enabling phase difference of the two single eccentric sleeves to be 180 degrees-delta psi, wherein a small deflection angle delta psi is that wheel teeth of the first cycloid wheel 9 lean against one anticlockwise side of wheel teeth of an upper half region of the inner cycloid gear ring, and wheel teeth of the second cycloid wheel 21 lean against one clockwise side of wheel teeth of a lower half region of the inner cycloid gear ring. The shortcoming of repeated dismantling in the former invention is improved.

Description

technical field [0001] The invention relates to the technical field of reducers for industrial robots, in particular to a double cycloid reducer for industrial robots that replaces the RV-E type. Background technique [0002] The patent No. 200910196984.4 of the applicant's prior application is micro-hysteresis cycloidal reducer for industrial robots. When implementing this technology, "the inner hole of the eccentric sleeve is a left-handed multi-head internal thread, which is connected with the left-handed multi-head external thread on the input shaft." The process is very difficult , especially the inner hole of the eccentric sleeve (7, 12) is the most difficult process for the multi-head internal trapezoidal thread. Now take the RV-80E reducer as an example: Design parameters: Panasonic MDMA servo motor, N 1 =2.5kW, n 1 =2000r / min reduction ratio R=81, for the convenience of manufacture, for the trapezoidal screw pair without reverse travel self-locking requirements, g...

AI Technical Summary

Problems solved by technology

Difficulties in machining nuts are: small screw holes, large lift angle λ, difficult turning tool grinding, thin and poor rigidity of the tool rod, resulting in cutting vibration, poor surface roughness, low efficiency and low splitting accuracy

We tried tapping with multi-head trapezoidal thread taps. Custom taps are expensive, as high as 1,100 yuan for a pair. The manufacturing accuracy of the taps can only reach level 8. In addition, the tapping speed is slow and the yield is low.

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