RV-C speed reducer transmission mechanism with coaxial input and output

Abstract

The utility model discloses an input and output coaxial RV-C speed reducer transmission mechanism which comprises a planetary gear B, a duplicate gear, a duplicate gear pinion, a duplicate gear bull gear, pin teeth, an eccentric shaft, a left cycloidal gear, a right cycloidal gear, a planet carrier and a pin wheel housing, the duplicate gear bull gear is further meshed with a gear C, the gear C is coaxially connected with the gear B, the gear B is meshed with a gear A, and the gear A is coaxially connected with the eccentric shaft. A rotating shaft of the gear A is connected with an output shaft of a motor M. The duplicate gear large gear and the duplicate gear small gear are coaxially arranged, the duplicate gear small gear is meshed with the planet gear B, and the output shaft of the motor M and the rotating shaft of the gear A coincide with the axis of the planet carrier. Coaxial placement of the motor and the planet carrier can be achieved, the stability of a transmission system is improved, and the upper limit of the speed ratio interval of the speed reducer is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of cycloid speed reducer, and relates to RV-C speed reducer transmission mechanism of coaxial input and output. BACKGROUND

[0002] RV speed reducer is the core functional component of industrial robot, and the cost accounts for about 1 / 3 of total robot cost. RV speed reducer is composed of a front stage of planetary gear reducer and a rear stage of cycloid speed reducer, and has the advantages of high efficiency, light weight, small size, high rigidity, large carrying capacity and long service life. With the development of industrial robot, RV speed reducer is required to adjust multiple speed ratios, but RV speed reducer is two-stage reduction, the speed ratio of cycloid speed reducer is fixed, adjustment is complex, the speed ratio of involute planetary gear is adjusted, and the requirement cannot be met, and due to the material strength limitation, the speed ratio interval of different transmission modes is fixed, the existing transmission mode cannot improve the upper limit of the speed ratio interval, for RV-C series speed reducer, the motor offset structure cannot meet the coaxial placement of the motor and the planet carrier, and the stability of the whole transmission system is poor and the transmission precision is poor. CONTENT OF THE UTILITY MODEL

[0003] The utility model aims at providing RV-C speed reducer transmission mechanism of coaxial input and output, which can realize coaxial placement of the motor and the planet carrier, improve the stability of the transmission system and improve the upper limit of the speed ratio interval of the speed reducer.

[0004] The utility model adopts the technical scheme, RV-C speed reducer transmission mechanism of coaxial input and output, including planetary gear B, double gear, double gear pinion, double gear gear, needle tooth, eccentric shaft, left cycloid wheel, right cycloid wheel, planet carrier and needle tooth shell, and the double gear gear is engaged with gear C, gear C is coaxially connected with gear B, gear B is engaged with gear A, the rotating shaft of gear A is connected with the output shaft of motor M, the double gear gear and the double gear pinion are coaxially arranged, the double gear pinion is engaged with planetary gear B, and the output shaft of motor M and the rotating shaft of gear A coincide with the axis of planet carrier.

[0005] Preferably, gear C and gear B are connected on the same rotating shaft through a key, so that gear B and gear C are integrated.

[0006] Preferably, the outer diameter of the double gear gear is larger than that of the double gear pinion.

[0007] Preferably, the double gear pinion and the double gear gear are connected on the same rotating shaft through a pin.

[0008] Preferably, the planetary gear B is connected with the eccentric shaft, the right cycloid wheel and the left cycloid wheel are provided with through holes equal to the number of the eccentric shaft, the eccentric shaft passes through the through holes of the left cycloid wheel and the right cycloid wheel, the left cycloid wheel and the right cycloid wheel are driven to eccentric motion, the left cycloid wheel and the right cycloid wheel are engaged with the pin gear through the pin teeth, and the planetary carrier and the pin gear shell are connected through bearings to realize relative rotation.

[0009] Preferably, the left cycloid wheel and the right cycloid wheel are 180 degrees out of phase.

[0010] Preferably, the planetary gear B is connected with the eccentric shaft through the spline.

[0011] Preferably, the power of the motor M is transmitted to the gear B through the gear A, then the power is transmitted to the gear C through the gear B, then the power is transmitted to the double gear large gear through the gear C, the double gear large gear is transmitted to the double gear small gear, the double gear small gear is engaged with the planetary gear B, and the power is transmitted to the planetary gear B so that the speed reducer operates.

[0012] Preferably, the center distance between the gear C and the double gear large gear and the center distance between the gear A and the gear B are equal.

[0013] The beneficial effects of the utility model are:

[0014] (1) the RV-C speed reducer transmission mechanism of the utility model is coaxial with input and output, gear A, gear B and gear C are added, the transmission mode is adjusted, the original transmission mode is improved, the structure can realize coaxial arrangement of the RV-C speed reducer motor M and the planetary carrier, the coaxial arrangement is based on the equal center distance between gear C and double gear large gear 302 and the equal center distance between gear A and gear B, the coaxial arrangement of the motor and the speed reducer is good, accurate centering, the stability of the whole transmission system is good, therefore, the transmission precision of the speed reducer can be improved.

[0015] (2) the RV-C speed reducer transmission mechanism of the utility model is coaxial with input and output, the gear engagement is increased, the upper limit of the speed ratio interval can be increased, the speed ratio of the speed reducer is calculated as the cycloid part speed ratio multiplied by the involute gear part speed ratio plus one, under the condition that the cycloid part speed ratio is unchanged, the involute gear part speed ratio can be improved, thereby the upper limit of the speed ratio interval of the speed reducer is increased.

[0016] (3) the RV-C speed reducer transmission mechanism of the utility model is coaxial with input and output, the gear engagement is increased, the speed ratio type of the speed reducer can be improved, the speed ratio of the speed reducer is calculated as the cycloid part speed ratio multiplied by the involute gear part speed ratio plus one, the involute gear part speed ratio is calculated as the product of the number of all meshing gears, after the gear engagement is increased, it is equal to multiplying the coefficient on the basis of the original speed reducer speed ratio, thereby the speed ratio type of the speed reducer is increased. DRAWINGS

[0017] Figure 1 is the RV-C reducer transmission mechanism of the utility model input and output coaxial.

[0018] Figure 2 is the RV-E series reducer motion diagram in the prior art;

[0019] Figure 3 is the RV-C series reducer motion diagram in the prior art.

[0020] In the figure, 100, planetary gear A, 200, motor shaft gear A, 101, planetary gear B, 201, motor shaft gear B, 300, double gear, 301, double gear pinion, 302, double gear gear, 400, gear C, 500, gear B, 600, gear A, 700, needle tooth, 800, eccentric shaft, 901, left cycloid wheel, 902, right cycloid wheel, 1000, planet carrier, 1100, needle tooth shell. DETAILED DESCRIPTION

[0021] The following will be described in detail in combination with specific embodiments.

[0022] Embodiment 1

[0023] The RV-C reducer transmission mechanism of the utility model input and output coaxial, its structure as Figure 1 shown, including planetary gear B 101, double gear 300, double gear pinion 301, double gear gear 302, needle tooth 700, eccentric shaft 800, left cycloid wheel 901, right cycloid wheel 902, planet carrier 1000 and needle tooth shell 1100, double gear gear 302 is also meshed with gear C 400, gear C 400 is coaxially connected with gear B 500, gear B 500 is meshed with gear A 600, the rotating shaft of gear A 600 is connected with the output shaft of motor M, double gear gear 302 and double gear pinion 301 are coaxially arranged, double gear pinion 301 is meshed with planetary gear B 101, and the output shaft of motor M and the rotating shaft of gear A 600 coincide with the axis of planet carrier 1000.

[0024] When the RV reducer runs, the power of motor M is transmitted to gear B 500 through gear A 600, then the power is transmitted to gear C 400 through gear B 500, and then transmitted to double gear gear 302 through gear C 400, double gear gear 302 is transmitted to double gear pinion 301, double gear pinion 301 and planetary gear B 101 are meshed, and transmitted to planetary gear B 101 so as to make the reducer run.

[0025] Embodiment 2

[0026] The utility model discloses RV-C speed reducer transmission mechanism of input and output coaxial, its structure as shown in Figure 1 Same, including planetary gear B101, double gear 300, double gear pinion 301, double gear gear 302, needle tooth 700, eccentric shaft 800, left cycloid 901, right cycloid 902, planet carrier 1000 and needle tooth shell 1100, and double gear gear 302 is still meshed with gear C 400, and gear C 400 is coaxially connected with gear B 500, and gear B 500 is meshed with gear A 600, and the rotating shaft of gear A 600 is connected with the output shaft of motor M, and double gear gear 302 is coaxially arranged with double gear pinion 301, and double gear pinion 301 is meshed with planetary gear B101, and the output shaft of motor M and the rotating shaft of gear A 600 coincide with the axis of planet carrier 1000.

[0027] When RV speed reducer runs, the power of motor M is transmitted to gear B 500 through gear A 600, and then the power is transmitted to gear C 400 through gear B 500, and then the power is transmitted to double gear gear 302 through gear C 400, and then the power is transmitted to double gear pinion 301 through double gear gear 302, and then the power is transmitted to planetary gear B101 through double gear pinion 301 and planetary gear B101, so that the speed reducer runs.

[0028] Gear C 400 and gear B 500 are connected on the same rotating shaft through a key, so that gear B 500 and gear C 400 are integrated, so as to transmit the power of gear A 600, gear C 400 is meshed with double gear gear 302, further, the same as RV-C series speed reducer transmission mode, drives RV speed reducer to run.

[0029] The outer diameter of double gear gear 302 is greater than the outer diameter of double gear pinion 301.

[0030] Example 3

[0031] The utility model discloses RV-C speed reducer transmission mechanism of input and output coaxial, its structure as shown in Figure 1 Same, including planetary gear B101, double gear 300, double gear pinion 301, double gear gear 302, needle tooth 700, eccentric shaft 800, left cycloid 901, right cycloid 902, planet carrier 1000 and needle tooth shell 1100, and double gear gear 302 is still meshed with gear C 400, and gear C 400 is coaxially connected with gear B 500, and gear B 500 is meshed with gear A 600, and the rotating shaft of gear A 600 is connected with the output shaft of motor M, and double gear gear 302 is coaxially arranged with double gear pinion 301, and double gear pinion 301 is meshed with planetary gear B101, and the output shaft of motor M and the rotating shaft of gear A 600 coincide with the axis of planet carrier 1000.

[0032] When the RV reducer is running, the power of the motor M is transmitted to the gear B 500 through the gear A 600, and then the power is transmitted to the gear C 400 through the gear B 500, and then transmitted to the double gear large gear 302 through the gear C 400, and then transmitted to the double gear small gear 301, and then transmitted to the planetary gear B 101 through the double gear small gear 301, and then transmitted to the planetary gear B 101, so that the reducer runs.

[0033] The double gear small gear 301 and the double gear large gear 302 are connected on the same rotating shaft through a pin.

[0034] Example 4

[0035] On the basis of example 1, the center distance of the gear C and the double gear large gear and the center distance of the gear A and the gear B are equal.

[0036] Example 5

[0037] The utility model discloses an RV-C reducer transmission mechanism of coaxial input and output, and its structure as shown in Figure 1 The utility model discloses an RV-C reducer transmission mechanism of coaxial input and output, and its structure as shown in

[0038] The planetary gear B 101 is connected with the eccentric shaft 800, and the right cycloid gear 902 and the left cycloid gear 901 are provided with through holes equal to the number of the eccentric shaft 800, the eccentric shaft 800 passes through the through holes of the left cycloid gear 901 and the right cycloid gear 902, so that the left cycloid gear 901 and the right cycloid gear 902 make eccentric motion, the left cycloid gear 901 and the right cycloid gear 902 are engaged with the needle tooth shell 1100 through the needle tooth 700, the planetary carrier 1000 and the needle tooth shell 1100 are connected through a bearing, so that the needle tooth shell 1100 is fixed, the planetary carrier 1000 rotates or the planetary carrier 1000 is fixed, and the needle tooth shell 1100 rotates.

[0039] The left cycloid gear 901 and the right cycloid gear 902 are 180 degrees out of phase.

[0040] The planetary gear B 101 is connected with the eccentric shaft 800 through a spline.

[0041] Gear C and the center distance of double gear large gear and gear A and gear B are equal.

[0042] When the RV reducer runs, the power of the motor M is transmitted to gear B 500 through gear A 600, and then the power is transmitted to gear C 400 through gear B 500, and then transmitted to double gear large gear 302 through gear C 400, and then transmitted to double gear small gear 301 through double gear large gear 302, and then transmitted to planetary gear B 101 through double gear small gear 301 and planetary gear B 101, so that the reducer runs.

[0043] Example 6

[0044] This embodiment compares the utility model example 5 and the existing RV-C series reducer, as shown in Figure 3 The motor shaft gear B 201 is engaged with the double gear large gear 302 of the double gear 300, the double gear large gear 302 is connected with the double gear small gear 301 through the pin, the double gear small gear 301 is engaged with the planetary gear B 101, and the power is transmitted to the planetary gear B 101 through the motor shaft gear B 201, so that the reducer runs. The existing RV-C series reducer, the motor is arranged offset relative to the planet carrier 1000, that is, the motor axis does not coincide with the planet carrier 1000 axis, resulting in single motor arrangement structure, poor transmission stability, the speed ratio of the existing RV-C series reducer is mainly obtained by multiplying the cycloid gear ratio by the involute gear ratio plus one, when the cycloid gear ratio is constant, the speed ratio is adjusted by adjusting the number of teeth of the involute gear. The RV-C reducer transmission mechanism of the utility model input and output coaxial is based on the original reducer transmission mode and increases gear A 600, gear B 500 and gear B 400. This structure can make the motor M coaxial with the reducer, accurate centering, and the stability of the whole transmission system is good, so as to improve the transmission precision; compared with the existing RV-C reducer, the speed ratio adjusting mode is the same, but because of the increase of the gear, the upper limit of the involute gear ratio interval is increased, and the adjustable speed ratio type is increased.

[0045] Example 7

[0046] On the basis of example 1, the RV-C reducer transmission mechanism of the utility model input and output coaxial is different from the existing RV-E series reducer. The existing RV-E series reducer, as shown in Figure 2As shown, power is transmitted to the planetary gear B through the gear shaft to drive the reducer to run, and the speed ratio of the existing reducer is adjusted by adjusting the planetary gear B and the motor gear shaft; and the power is transmitted to the gear A600 through the gear shaft in the utility model, the gear A600 is engaged with the gear B500, the gear B500 and the gear B400 are integrated, the gear B400 is engaged with the double gear large gear, the double gear large gear is connected with the double gear small gear through the pin, and the double gear small gear is engaged with the planetary gear, so as to drive the reducer to run. Although the utility model and the RV-E series reducer motor arrangement are the same, and are coaxially arranged. According to the speed ratio calculation mode in the embodiment 6, the speed ratio upper limit and the speed ratio type of the utility model are greater than the RV-E series reducer after the gear is increased.

Claims

1. An input and output coaxial RV-C reducer transmission mechanism, characterized in that, The planetary gear B (101), the double gear (300), the double gear pinion (301), the double gear gear (302), the needle gear (700), the eccentric shaft (800), the left cycloid gear (901), the right cycloid gear (902), the planet carrier (1000) and the needle gear housing (1100) are provided, the double gear gear (302) is also engaged with the gear C (400), the gear C (400) is coaxially connected with the gear B (500), the gear B (500) is engaged with the gear A (600), the rotating shaft of the gear A (600) is connected with the output shaft of the motor M, the double gear gear (302) is coaxially arranged with the double gear pinion (301), the double gear pinion (301) is engaged with the planetary gear B (101), and the rotating shaft of the motor M and the gear A (600) are coincident with the axis of the planet carrier (1000).

2. The input-output coaxial RV-C reducer transmission mechanism according to claim 1, characterized in that, The gear C (400) and the gear B (500) are connected on the same rotating shaft through a key, so that the gear B (500) and the gear C (400) are integrated.

3. The input-output coaxial RV-C reducer transmission mechanism according to claim 1, characterized in that, The outer diameter of the double gear gear (302) is greater than that of the double gear pinion (301).

4. The input-output coaxial RV-C reducer transmission mechanism according to claim 1, characterized in that, The double gear pinion (301) and the double gear gear (302) are connected on the same rotating shaft through a pin.

5. The input-output coaxial RV-C reducer transmission mechanism according to claim 1, characterized in that, The planetary gear B (101) is connected with the eccentric shaft (800), the right cycloid gear (902) and the left cycloid gear (901) are provided with through holes equal to the number of the eccentric shaft (800), the eccentric shaft (800) passes through the through holes of the left cycloid gear (901) and the right cycloid gear (902), so that the left cycloid gear (901) and the right cycloid gear (902) make eccentric motion, the left cycloid gear (901) and the right cycloid gear (902) are engaged with the needle gear housing (1100) through the needle gear (700), and the planet carrier (1000) and the needle gear housing (1100) are connected through bearings to realize relative rotation.

6. The input-output coaxial RV-C reducer transmission mechanism according to claim 5, characterized in that, The left cycloid gear (901) and the right cycloid gear (902) are 180 degrees out of phase.

7. The input-output coaxial RV-C reducer transmission mechanism according to claim 6, characterized in that, The planetary gear B (101) is connected with the eccentric shaft (800) through a spline.

8. The input-output coaxial RV-C reducer transmission mechanism according to claim 1, characterized in that, The power of the motor M is transmitted to the gear B (500) through the gear A (600), then the power is transmitted to the gear C (400) through the gear B (500), then the power is transmitted to the double gear gear (302) through the gear C (400), the double gear gear (302) transmits the power to the double gear pinion (301), the double gear pinion (301) and the planetary gear B (101) are engaged, the power is transmitted to the planetary gear B (101) so that the speed reducer operates.

9. The input-output coaxial RV-C reducer transmission mechanism according to claim 1, characterized in that, The center distance of the gear C (400) and the double gear gear (302) is equal to the center distance of the gear A (600) and the gear B (500).

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