Robot RV-C type speed reducer

Abstract

The invention relates to the technical field of robot speed reducers, in particular to a robot RV-C type speed reducer. The robot RV-C type speed reducer comprises four components of an input, a planet, a cycloid and an output and is characterized in that the radial clearance delta is approximately equal to the cycloid wheel expansion quantity, composite modification of positive equidistance and negative shifting distance is adopted for cycloid wheels, the eccentric-shaft eccentric segment phase difference is 179.7-179.95 degrees, semi-buried holes of a needle gear shell are provided with an oil groove, the semi-buried holes are cut with slow wire threads, a left rigidity plate is provided with three cylinder flanges which are evenly distributed, a first bearing is a cross roller bearing,and the cross section of extension ends of the eccentric shafts and an inner hole a planet wheel is extension inner cycloid equidistance curves. The robot RV-C type speed reducer has the beneficial effects that the radial clearance theoretical value delta is approximately equal to the cycloid wheel thermal expansion quantity, the robot RV-C type speed reducer will not get hot in running and is made to have good dynamic performance, the phase difference of two eccentric segments of the eccentric shafts is equal to 180 degrees-delta theta, the fact that the return difference is less than or equal to 1' is realized, the composite modification of positive equidistance and negative shifting distance is adopted, the contact stress is least, the semi-buried holes of the needle gear shell are provided with the oil groove, the cost is 55-70% lower, and the external dimension of the robot RV-C type speed reducer is the same as that of a Japanese robot speed reducer of the RV-C type and can be interchanged with the Japanese robot speed reducer of the RV-C type.

Description

technical field [0001] The invention relates to the technical field of industrial robot reducers, in particular to a robot RV-C reducer. Background technique [0002] Experts from the National 863 Robot Expert Group said: "The high manufacturing cost of complete machine companies 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. Currently 75% of the market is dominated by Nabtesco and Harmonic Drive." [0003] Over the years, the Ministry of Science and Technology has repeatedly issued the 863 plan for RV reducers, hoping that my country's industrial robot complete machine companies will no longer import expensive Japanese RV reducers. Many domestic researchers, including the papers of graduate students in colleges and universities, said that they have overcome the RV reducer problem and broken the Japanese monopoly. ...

AI Technical Summary

Problems solved by technology

[0004] On February 21, 2016, Huachuang Securities pointed out in the "Global Robot Research Report": "The gap between domestic precision RV reducers and foreign technologies: poor precision, short life and unstable quality

[0013] [Question 1] No one in China has studied the theoretical value of 'radial clearance', so most of the radial clearances after cycloid wheel modification are too small:

[0042] [Question 2] The combined radial clearance of 'negative displacement-negative equidistant' is too small, and the contact stress between the wheel and the pin is large:

[0050] [Question 3] There is a radial gap in the shape modification, and there is a hysteresis. There is no technical solution to eliminate the hysteresis in the RV structure:

[0054] [Question 4] There is no oil groove on the half-buried hole of the pin gear housing, and the sliding friction is easy to generate heat:

[0055] The needle pin on the half-buried hole of the pin gear housing rotates around its central axis, causing sliding friction between the pin and the cycloidal wheel, resulting in increased temperature rise, easy wear, shortened service life and reduced transmission efficiency

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