Cycloid steel ball planetary transmission mechanism and robot joint speed reduction device thereof

Abstract

The invention discloses a cycloid steel ball planetary transmission mechanism and a robot joint speed reduction device thereof and belongs to the field of speed reduction transmission devices. The cycloid steel ball planetary transmission mechanism disclosed by the invention comprises a planetary plate, a central plate and a steel ball group. A gap d [d=Z0(h+delta) / 2pi] is reserved between every two steel balls in the steel ball group; a tooth space, the tooth profile of which is a profiled hypocycloid, is formed in the end surface of the central plate, and a tooth space, the tooth profile of which is a profiled epicycloid, is formed in the end surface of the planetary plate. A cross steel ball constant speed transmission mechanism comprises the planetary plate, the steel ball group, a cross plate and an end cover plate; and structurally optimized straight line grooves are formed in the end surfaces of the planetary plate, the cross plate and the end cover plate. On the basis of retainment of a small speed ratio performance, the actual bearing capacity of the robot joint speed reduction device can be effectively enhance and the service life of the robot joint speed reduction device can be effectively prolonged, so that the cycloid steel ball planetary transmission mechanism is in particular suitable for an electric rotary joint of a high speed carrying robot.

Description

technical field [0001] The invention relates to the technical field of reduction transmission devices, and more specifically relates to a cycloidal steel ball planetary transmission mechanism and a robot joint reduction device thereof. Background technique [0002] At present, there are many types of joint reduction devices for industrial robots, including RV reducers, harmonic reducers, and cycloidal ball reducers. Among them, although the RV reducer and harmonic reducer have strong carrying capacity, their speed ratio is usually greater than 30, which is not suitable for the operating speed requirements of high-speed handling robots. The cycloidal steel ball reducer is a two-tooth difference planetary reduction device. Although it has the advantages of small speed ratio and zero backlash required by high-speed handling robots, it also has poor lubrication of the meshing pair, easy undercutting of the tooth shape, and constant velocity mechanisms. Problems such as poor loa...

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Problems solved by technology

[0006] The purpose of the present invention is to overcome the shortcomings of the cycloidal steel ball reducer in the prior art, which has a small speed ratio but poor actual load capacity, and provides a cycloidal steel ball planetary transmission mechanism. It can effectively improve its actual load capacity and service life; the provided robot joint deceleration device is more suitable for industrial robot joints, especially suitable for the use requirements of high-speed handling robot electric rotary joints

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