Precise hollow RV speed reducer

Abstract

The invention discloses a precise hollow RV speed reducer, and relates to the technical field of robot speed reducers. The precise hollow RV speed reducer comprises a pin wheel housing and two stages of speed reduction parts arranged in the pin wheel housing, wherein the first-stage speed reduction part comprises a driving wheel on a servo motor, a duplicate gear and planet gears, and the second-stage speed reduction part comprises evenly-distributed eccentric shafts, cycloidal gears, needle pins, a left rigid disc, a right rigid disc and bearings. The cycloidal gears are subjected to negative equidistance-positive shift combined modification; and after modification, the meshing backlash delta c between cycloidal gear tooth grooves and the needle pins is equal to (0.2-2)lambda (mm), and the radial clearance delta j is equal to (0.1-1)lambda (mm), wherein lambda is the actual or theoretical thermal expansion amount of the cycloidal gears. The phase difference theta between two eccentric sections of each eccentric shaft is larger than or equal to 179 degrees and smaller than 179.81 degrees or is larger than 180.19 degrees and smaller than or equal to 181 degrees. The cycloidal gear modification meets the relation between the meshing backlash delta c and the radial clearance delta j and the actual or theoretical thermal expansion amount lambda of the cycloidal gears, the return difference is reduced based on the gear backlash elimination principle, and therefore excellent precision and dynamic characteristics are achieved.

Description

technical field [0001] The invention relates to the technical field of reducers, in particular to a precision hollow RV reducer which solves dynamic performance defects such as accuracy retention by using cycloid wheel shape modification technology. Background technique [0002] The precision reducer is one of the core components of the robot. It is listed by the country as one of the 80 iconic core basic components that urgently need localization. It has been included in the national 863 project and listed in the "Made in China-2025" ten Major key research projects. [0003] Precision reducer transmission technology is a new type of transmission developed on the basis of general cycloidal pinwheel transmission technology. It has the advantages of small size, light weight, wide range of transmission ratio and high transmission efficiency. It is widely used in robots, CNC machine tools, Semiconductor equipment, precision packaging equipment, welding positioner, plasma cuttin...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to propose the correct modification method of the cycloidal wheel and the gap parameters of the work and assembly, so as to solve the defects in the prior art such as easy heat generation, easy wear, easy vibration, easy noise and poor precision retention, and provide A precision hollow RV reducer with good dynamic characteristics

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