Internal oblique teeth built-up crankshaft type RV speed reducer of industrial robot

Abstract

The invention relates to the technical field of robot deceleration and discloses an internal oblique teeth built-up crankshaft type RV speed reducer of an industrial robot. The speed reducer comprises a left rigid disc, a right rigid disc, an internal cycloid gear ring, a cycloid wheel, an internal cycloid component of a crankshaft, and a planet component, wherein the planet component comprises a sun gear and a planet gear; the speed reducer is characterized in that a planet shaft is connected with eccentric sleeves to form a double- eccentric built-up crankshaft; a tumbler bearing is a zinc base alloy sliding bearing, a spiral oil groove is formed in the excircle of the tumbler bearing, and the axial length is 5-10 mm longer than the cycloid wheel; the eccentric sleeves are connected with a planet shaft internal inclined gear pair; an internal inclined gear ring adopts plasticity precision forming and has the phase fine tuning function; one side of a first eccentric sleeve is propped against a second elastic collar, and a spring is positioned between the other side of the first eccentric sleeve and a second elastic collar; and a second eccentric sleeve is arranged between a first elastic collar and the second elastic collar on the planet shaft. The internal oblique teeth built-up crankshaft type RV speed reducer has the following beneficial effects: assisted by the eccentric sleeves and the planet shaft internal inclined gear pair, the double- eccentric built-up crankshaft ensures phase difference precision; the zinc base alloy sliding bearing can carry out self-lubrication; and the cost is reduced by 60-75% for the general manufacturing precision.

Description

[0001] 【Technical field】 [0002] The invention relates to the technical field of reducers for industrial robots. The RV reducer is an internal helical gear combined crankshaft type RV reducer for industrial robots, which adopts domestic machine tools, conventional manufacturing precision, and the total hysteresis caused by elastic deformation does not exceed 6 arc min. [0003] 【Background technique】 [0004] "There are two extremely strict technical indicators for high-precision RV transmission for robots: one is that the motion accuracy error does not exceed 1arcmin; The total hysteresis including the hysteresis cannot exceed 6 arc min." (Zhu Xiaolu "Gear Transmission Design Manual" page 827) [0005] Gap backlash, also known as geometric backlash, refers to the output rotation angle value caused by geometric factors such as tooth backlash and bearing clearance in planetary and cycloidal pinwheel transmissions when 3% of the rated torque is applied and the components are in ...

AI Technical Summary

Problems solved by technology

Theoretical monographs say that the gear shaping machine can process the inclined internal ring gear, but it is not practical: the special profiling device for the gear shaping machine device, the design and manufacture of the profiling device is expensive; special and expensive gear shaping tools need to be customized; gear shaping efficiency low, thus high cost

[0013] Theoretical monographs say that the gear shaping machine can process the inclined internal ring gear, but it is not practical: the special profiling device for the gear shaping machine device, the design and manufacture of the profiling device is expensive; special and expensive gear shaping tools need to be customized; the gear shaping efficiency is low , so the cost is high

Images