Low-back-clearance robot speed reducer

Abstract

The invention discloses a low-back-clearance robot speed reducer. The low-back-clearance robot speed reducer comprises a wheel base, a needle tooth shell, a first cycloidal gear, a rolling needle, a second cycloidal wheel, a gland, an elastic piece, cross slide blocks and a crankshaft; two cycloidal wheels are provided, and form a phase relation of 180 degrees; the cycloidal wheels belong to multi-point engagement transmission relation with the needle tooth shell and the rolling needle; two cross slide blocks are provided, and form a double-cross-slide-block structure; groove types of the slide blocks are trapezoidal groove structures; a clearance is automatically compensated through the elastic piece; and the rotating center of the crankshaft is coaxial with the wheel base and the gland. The low-back-clearance robot speed reducer adopts single-crankshaft cycloidal needle wheel to drive, adopts the cross slide block structures to output, belongs to first-grade speed reduction transmission, and has the characteristics of high efficiency and low back clearance.

Description

technical field [0001] The invention relates to a speed reducer, in particular to a low backlash robot speed reducer. Background technique [0002] Most of the existing robot reducers use harmonic reducers, RV reducers, etc. Harmonic reducers are not as rigid as RV reducers, and do not have the characteristics of high rigidity, while the current RV reducers are double-crank two-stage transmission structures , belongs to two-stage transmission, and the first-stage deceleration adopts gear transmission. When the gears are in high-speed meshing, there are disadvantages of large vibration and high noise. At the same time, there must be a certain gap, and the bearing of the internal double crankshaft is affected by the space. Even small needle bearings are required, the clearance of which is the main source of backlash. [0003] As the current development requires faster and faster running speed of the robot, the input speed of its reducer is also getting higher and higher. Howe...

AI Technical Summary

Problems solved by technology

[0002] Most of the existing robot reducers use harmonic reducers, RV reducers, etc. Harmonic reducers are not as rigid as RV reducers, and do not have the characteristics of high rigidity, while the current RV reducers are double-crank two-stage transmission structures , belongs to two-stage transmission, and the first-stage deceleration adopts gear transmission. When the gears are in high-speed meshing, there are disadvantages of large vibration and high noise. At the same time, there must be a certain gap, and the bearing of the internal double crankshaft is affected by the space. Need even small needle bearings, whose clearance is the main source of backlash

[0003] As the current development requires faster and faster running speed of the robot, the input speed of its reducer is also getting higher and higher. However, the traditional RV reducer uses gear transmission for the primary transmission, and there is vibration noise at high speed. It is a big disadvantage, and the small bearing of the double crankshaft will also generate a large amount of heat, which will affect the life of the entire reducer. The first-stage gear meshing also requires a certain clearance, and the clearance of the double crankshaft bearing will affect the entire reducer. One of the main sources of machine backlash, and its backlash cannot be automatically compensated

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