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Precise planetary cycloid reducer

A technology of cycloidal reducer and planet, which is applied in the direction of transmission parts, gear transmission, belt/chain/gear, etc., can solve the problems of high manufacturing cost and difficult processing, and achieve reasonable structure and low difficulty in modification process , high reliability effect

Inactive Publication Date: 2014-04-23
秦川机床工具集团股份公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot joint reducer has high requirements on motion accuracy and hysteresis. Therefore, the key parts of the joint reducer, such as cycloidal wheel, pin gear, pin gear housing and eccentric shaft, have very high precision requirements, and their processing is difficult. high manufacturing cost

Method used

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  • Precise planetary cycloid reducer
  • Precise planetary cycloid reducer
  • Precise planetary cycloid reducer

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Embodiment

[0036] A precision planetary cycloidal reducer, including a central shaft (equipped with a central gear), an eccentric shaft, a planetary gear (fixed on the eccentric shaft), a cycloidal wheel, pin teeth, a pin gear housing and an output planet carrier, etc. .

[0037] In this precision planetary cycloid reducer, the central gear of the central shaft meshes with a group (2 or 4) of evenly distributed planetary gears at the same time; the planetary gears are fixedly connected to the eccentric shaft, and the eccentric part of the eccentric shaft is rotatable through the bearing Support two cycloidal wheels; the phase difference of the two cycloidal wheels is 180°, and the tooth profile of the cycloidal wheel is not a standard equidistant curve of a short epicycloid, but modified by turning angle and equidistant Optimizing the tooth shape: the optimized amount of modification in this embodiment is 0.003° of corner modification plus 0.006 mm of equidistant modification.

[0038] ...

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Abstract

The invention discloses a precise planetary cycloid reducer which can be used for being connected onto the joint portion of an industrial robot. The precise planetary cycloid reducer comprises a first level planetary gear mechanism and a first level cycloidal-pin wheel mechanism; the planetary gear mechanism is formed by a sun gear and a planetary gear; the cycloidal-pin wheel mechanism is formed by an eccentric shaft, a cycloid gear and a pin tooth housing; the eccentric shaft is fixedly connected with the first level planetary gear to serve as an input shaft of the cycloidal-pin wheel mechanism; the plane movement is performed on the cycloid gear under the combined action of the eccentric shaft and pin teeth, namely that the cycloid gear revolves around the axis of the pin tooth housing and reversely rotates around the self-axis simultaneously and the rotation movement of the cycloid gear is output through a W mechanism. According to the precise planetary cycloid reducer, the modification and optimization is performed on the tooth shape of the cycloid gear and accordingly the bearing capacity can be significantly improved and the lubrication of a side gap can be ensured.

Description

technical field [0001] The invention relates to a joint reducer applicable to industrial robots, in particular to a precision planetary cycloid reducer. Background technique [0002] The existing RV speed reducer that has been disclosed is composed of a first-stage planetary gear mechanism and a first-stage cycloidal pinwheel mechanism, and has the advantages of small size, light weight, large transmission ratio, long life, stable precision, high efficiency, and stable transmission. It has higher fatigue strength, stiffness and life than commonly used harmonic drives. The current robot joint reducer is also widely used in this structure, and there is a tendency to gradually replace the harmonic reducer. [0003] Since the cycloidal pinwheel transmission is an internal meshing transmission with few tooth differences, the coincidence degree is very large. The robot joint reducer has high requirements on motion accuracy and hysteresis. Therefore, the key parts of the joint re...

Claims

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Application Information

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IPC IPC(8): F16H1/32F16H57/08
CPCF16H1/32F16H57/08
Inventor 龙兴元田沙张毅冯仲李刚杨刚
Owner 秦川机床工具集团股份公司
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