Anti-backlash cycloid reducer of industrial robot

Abstract

The invention relates to the technical field of robot speed reducers, in particular to an anti-backlash cycloid reducer of an industrial robot. The reducer is characterized by comprising a round shell, a fist-stage speed reduction part and a second-stage speed reduction part; the first-stage speed reduction part comprises an input shaft, a sun wheel and a planet wheel, it is ensured that the rotating speed of eccentric shafts is smaller than or equal to 950 rpm, the second-stage speed reduction part comprises two to three evenly-distributed eccentric shafts, two cycloidal gears, a pin wheel housing, a needle pin, a left rigid disc and a right rigid disc, the minimum radial gap delta j between the cycloidal gears and the needle pin is approximately equal to 0.5 delta(mm), the phase difference of two eccentric segments of the eccentric shafts is equal to 179.805 degrees to 179.895 degrees, two sets of six round holes in the two cycloidal gears are arranged on the same circumference, a first bearing is a long-s metal sliding bearing, and a third bearing 10 is a thin-wall seal four-point contact ball bearing or crossing roller bearing. The reducer has the beneficial effects that the good lubricating state and the good dynamic property can be achieved, and during forward rotation, the return difference is smaller than or equal to 1-3 arc minutes.

Description

【Technical field】 [0001] The invention relates to the technical field of robot reducers, in particular to an industrial robot anti-backlash cycloid reducer based on the principle of 'anti-backlash gear', with good manufacturability and hysteresis ≤ 1-3 arc minutes. 【Background technique】 [0002] Background technology has the problem of poor dynamic performance: [0003] "The gap between my country's three core components of industrial robots and developed countries" pointed out: "The noise and heat of domestic reducers are significantly higher than those of Japan's Nabo. It is more obvious, and the fatigue strength gap is also more obvious, and it is easy to wear and scrap.” (2017.03.27) [0004] The main reason is: the 'negative shift-negative isometric' modification causes the radial gap to be too small, and the thermal expansion is stuck [0005] Professor He Weidong's "Study on the Effect of Cycloidal Wheel Modification on Hysteresis in High-precision RV Transmission f...

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Problems solved by technology

[0012] The main reason for the large gap between domestic and foreign countries is that the radial clearance Δ is too small, the side clearance ΔC is also small, the side clearance is small, the lubrication is poor, and the cycloidal wheel will expand due to temperature rise, resulting in wear and heating, poor dynamic performance and long service life. shorten

[0013] Due to the above problems, the development of domestic RV reducers has not been successful so far.

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