High-rigidity hollow RV speed reducer for industrial robot

Abstract

The invention relates to the technical field of speed reducers and provides a high-rigidity hollow RV speed reducer for an industrial robot. The high-rigidity hollow RV speed reducer comprises a left rigid disc, a right rigid disc, a pin wheel housing, a pin, a cycloidal wheel, a cycloid part of a crankshaft, and planet parts of a sun wheel and a planet wheel. The high-rigidity hollow RV speed reducer is characterized in that the rigid discs, the cycloidal wheel, a driven gear and the sun wheel are each provided with a center hole, shaft elastic retainer rings are arranged on the eccentric sections of the two sides of a crankshaft barrier, a rotating arm bearing assembly is arranged between the retainer ring and the barrier and comprises a loop, an elastic retainer ring and a radial bearing, the radial bearing is located on an axial pretightening structure, the loop is matched with a corresponding hole of the cycloidal wheel or melt into the hole, and the radial bearing is a deep groove ball bearing or a radial thrust ball bearing or a single-row tapered roller bearing or a single double-row tapered roller bearing. The high-rigidity hollow RV speed reducer has the beneficial effects that by means of the axial pretightening structure for the rotating arm bearing, the bearing rigidity is improved, and it is ensured that the total return difference caused by elastic deformation of the bearing is no more than 6 arc min, for the domestic machine tool, the conventional manufacturing precision is high, the technology is simple, and the cost is low and is reduced by 55-70%.

Description

[0001] 【Technical field】 [0002] The invention relates to the technical field of industrial robot reducers. It adopts domestic machine tools, conventional manufacturing precision, and the total hysteresis caused by elastic deformation does not exceed 6 arc min. It is a high-rigidity hollow RV reducer for industrial robots. [0003] 【Background technique】 [0004] The national 863 robot expert said: "The high manufacturing cost of the whole machine enterprise derived from the bottleneck of key components has become a serious constraint on the development of China's industrial robot market. In particular, high-precision robot joint reducers mainly rely on imports. At present, 75 % of the market is monopolized by Nabtesco and Harmonic Drive." [0005] Over the years, the Ministry of Science and Technology has repeatedly issued the 863 plan for RV reducers, hoping that my country's robot machine companies will no longer suffer from the humiliation of expensive Japanese RVs. The go...

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Problems solved by technology

[0024] The purpose of the present invention is to provide a high-rigidity hollow RV reducer for industrial robots, which uses domestic machine tools and conventional manufacturing precision to solve the technical problem of high-rigidity arm bearings, thereby ensuring that under load conditions, including hysteresis caused by elastic deformation. The total hysteresis cannot exceed 6arc min

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