Transmission assembly, speed reducer and industrial robot

Abstract

The invention discloses a transmission assembly, a speed reducer and an industrial robot. The transmission assembly comprises a first transmission part and a second transmission part, the first transmission part is provided with a gear pin, the second transmission part is provided with a gear groove, and the first transmission part and the second transmission part can perform transmission through mutual meshing of the gear pin and the groove wall of the gear groove; according to the configuration of the transmission assembly, the size of a gap formed by meshing of the gear pin and the groove wall of the gear groove is within a first preset range, and the first preset range can be determined through the radius of the gear pin and the radius of the groove wall of the gear groove. According to the transmission assembly, the design range of the gap when the gear pin and the gear groove are meshed is determined according to the radiuses of the gear pin and the gear groove, so that the gear pin and the gear groove are more reasonable in size matching, lubricating oil can achieve a good lubricating effect between the gear pin and the gear groove, stress concentration of the gear pin and the gear groove can be avoided, and the service life of the gear pin and the gear groove is prolonged. And the service life of the whole transmission structure is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a transmission component, a reducer and an industrial robot. Background Art

[0002] RV reducers and traditional cycloid reducers mainly rely on the meshing of cycloid gears, pins and pin grooves to transmit speed and torque. During operation, the pin pins and cycloid wheels perform pure rolling motion, while the pin pins make sliding contact in the pin grooves. In actual applications, the pin pins and pin grooves are prone to mutual wear, which in turn affects the service life of the reducer. Summary of the invention

[0003] The present invention provides a transmission assembly, a reducer and an industrial robot to solve at least one of the above-mentioned technical problems.

[0004] A transmission assembly for a reducer of the present invention comprises:

[0005] a first transmission member, the first transmission member having a pin-tooth pin, and;

[0006] a second transmission member, wherein the second transmission member has a needle tooth groove, and the first transmission member and the second transmission member can be transmitted through the mutual engagement of the needle tooth pin and the groove wall of the needle tooth groove;

[0007] The transmission assembly is configured so that the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove is within a first preset range, and the first preset range can be determined by the radius of the needle tooth pin and the radius of the groove wall of the needle tooth groove.

[0008] The above-mentioned transmission assembly determines the design range of the gap between the two when they are engaged according to the radius of both the needle tooth pin and the needle tooth groove, so that the size matching of the needle tooth pin and the needle tooth groove is more reasonable. The lubricating oil can have a good lubrication effect between the needle tooth pin and the needle tooth groove, which can avoid stress concentration in the needle tooth pin and the needle tooth groove, and help to improve the service life of the entire transmission structure.

[0009] In an optional technical solution of the present invention, the radius of the needle tooth pin is smaller than the radius of the groove wall of the needle tooth groove, so as to ensure that the needle tooth pin can rotate in the needle tooth groove.

[0010] In an optional technical solution of the present invention, the transmission assembly is further configured such that the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove is within a second preset range, the second preset range can be determined by the surface roughness of the needle tooth pin and the surface roughness of the groove wall of the needle tooth groove, and the intersection between the first preset range and the second preset range is not empty. In this way, the lubricating oil can still be located between the needle tooth pin and the groove wall of the needle tooth groove at the microscopic level to ensure the lubrication effect.

[0011] In an optional technical solution of the present invention, the second preset range can be determined by the following calculation formula:

[0012] h>Ra1+Ra2;

[0013] Among them, h is the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove, Ra1 is the surface roughness of the needle tooth pin, and Ra2 is the surface roughness of the groove wall of the needle tooth groove.

[0014] In an optional technical solution of the present invention, the first preset range can be determined by the following calculation formula:

[0015] [b1×R×r / (Rr)] <h<[b2×R×r / (R-r)];

[0016] Among them, b1 is the first coefficient, b2 is the second coefficient, R is the radius of the groove wall of the needle tooth groove, r is the radius of the needle tooth pin, and h is the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove.

[0017] In an optional technical solution of the present invention, the value range of the first coefficient is greater than or equal to 0.0000012 and less than or equal to 0.0000015. In this way, the wear of the first transmission member and the second transmission member due to lack of lubricating oil can be avoided.

[0018] In an optional technical solution of the present invention, the value range of the second coefficient is greater than or equal to 0.0000050 and less than or equal to 0.0000055. In this way, the transmission effect between the first transmission member and the second transmission member may be prevented from being affected by excessive lubricating oil.

[0019] In an optional technical solution of the present invention, along the axial direction of the transmission assembly, the central axis of the needle tooth pin is distributed on a first distribution circle, and the central axis of the groove wall of the needle tooth groove is distributed on a second distribution circle;

[0020] The transmission assembly is further configured to adjust at least one of the diameter of the first distribution circle and the diameter of the second distribution circle so that the gap size is within the first preset range when the radius of the needle tooth pin and the radius of the groove wall of the needle tooth groove are determined. In this way, the gap size can be limited within the design range.

[0021] In an optional technical solution of the present invention, the first transmission member includes a connecting member, and at least two of the needle tooth pins are connected to the connecting member and are distributed around the same side of the connecting member;

[0022] The first transmission member is arranged around the at least two pin-tooth pins, or the at least two pin-tooth pins are arranged around the first transmission member. In this way, the applicability of the transmission assembly during configuration can be improved.

[0023] A reducer of the present invention includes the transmission assembly described in any one of the above technical solutions.

[0024] The above-mentioned reducer determines the design range of the gap between the needle tooth pin and the needle tooth groove when the two are in meshing according to the radius of both, so that the size matching of the needle tooth pin and the needle tooth groove is more reasonable. The lubricating oil can have a good lubrication effect between the needle tooth pin and the needle tooth groove, which can avoid stress concentration in the needle tooth pin and the needle tooth groove, and help to improve the service life of the entire transmission structure.

[0025] An industrial robot of the present invention comprises the reducer described in the above technical solution.

[0026] The above-mentioned industrial robot determines the design range of the gap between the needle tooth pin and the needle tooth groove when the two are engaged according to the radius of both, so that the size matching of the needle tooth pin and the needle tooth groove is more reasonable. The lubricating oil can have a good lubrication effect between the needle tooth pin and the needle tooth groove, which can avoid stress concentration in the needle tooth pin and the needle tooth groove, and help to improve the service life of the entire transmission structure.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 It is a partial structural schematic diagram of a transmission assembly according to an embodiment of the present invention;

[0030] Figure 2 Schematic diagram of the structure of the needle tooth pin and the needle tooth groove according to the embodiment of the present invention;

[0031] Figure 3 It is another partial structural schematic diagram of the transmission assembly according to the embodiment of the present invention.

[0032] Description of main component numbers:

[0033] Transmission assembly 10; a first transmission member 11, a second transmission member 12, a needle tooth pin 13, a needle tooth groove 14, and a connecting member 15. DETAILED DESCRIPTION

[0034] In the description of the present invention, some of the disclosed contents have been shown in the accompanying drawings accordingly, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The contents described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] In the description of the present invention, many different contents or examples are disclosed to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In the description of the present invention, it should be understood that the terms used to indicate orientation or positional relationships (such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc.) are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and facilitating the understanding of the corresponding embodiments, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms used to indicate orientation or positional relationships cannot be understood as limiting the present invention.

[0038] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. It can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Furthermore, the present invention may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various situations and / or settings discussed.

[0041] Please refer to Figure 1 and Figure 2 A transmission assembly 10 of the present invention may include a first transmission member 11 and a second transmission member 12. The first transmission member 11 may have a pin-tooth pin 13. The second transmission member 12 may have a pin-tooth groove 14. The first transmission member 11 and the second transmission member 12 can be driven by the mutual engagement of the pin-tooth pin 13 and the groove wall of the pin-tooth groove 14.

[0042] The transmission assembly 10 can be configured such that the size of the gap formed by the meshing between the pin 13 and the groove wall of the pin groove 14 is within a first preset range. The first preset range can be determined by the radius of the pin 13 and the groove wall of the pin groove 14.

[0043] The transmission assembly 10 described above determines the design range of the clearance between the needle tooth pin 13 and the needle tooth groove 14 when they are in meshing according to the radii of both, so that the dimensions of the needle tooth pin 13 and the needle tooth groove 14 are more reasonably matched, and the lubricating oil can have a good lubricating effect between the needle tooth pin 13 and the needle tooth groove 14, thereby avoiding stress concentration between the needle tooth pin 13 and the needle tooth groove 14, and helping to improve the service life of the entire transmission structure.

[0044] exist Figure 1In the figure, the A1 direction and the A2 direction may represent the circumferential direction of the transmission assembly 10. The first transmission member 11 may rotate relative to the second transmission member 12 along the A1 direction or the A2 direction.

[0045] exist Figure 2 In the embodiment, the needle tooth pin 13 can be cylindrical, so that the needle tooth pin 13 can have a radius along its own central axis; the needle tooth groove 14 can be regarded as a groove left by digging out part of the structure on the surface of the second transmission member 12, and the dug-out part of the structure can be used as a structure with an arc-shaped surface of a cylinder, that is, the groove wall of the needle tooth groove 14 can be arc-shaped, and the central axis of the needle tooth groove 14 can be the central axis of the cylinder corresponding to the dug-out part of the structure, so that the needle tooth groove 14 can have a radius along its own central axis. Figure 2 In the figure, the central axis of the pin 13 can be represented as L1, the radius of the pin 13 can be represented as r, the central axis of the pin slot 14 can be represented as L2, and the radius of the pin slot 14 can be represented as R. Figure 2 The viewing angle is parallel to the straight line direction of L1 and L2, so that L1 and L2 are Figure 2 They will overlap into one point.

[0046] exist Figure 1 and Figure 2 In the embodiment, the needle tooth pin 13 can be partially located in the needle tooth groove 14. When the first transmission member 11 moves relative to the second transmission member 12, the needle tooth pin 13 can move relative to the needle tooth groove 14 accordingly, so that the needle tooth pin 13 has a tendency to abut against the groove wall of the needle tooth groove 14.

[0047] In actual situations, lubricating oil is provided in the groove of the needle tooth groove 14. When the needle tooth pin 13 is about to abut against the groove wall of the needle tooth groove 14 and engage, the needle tooth pin 13 will contact the lubricating oil in the needle tooth groove 14 and form a certain gap with the part of the groove wall of the needle tooth groove 14 that is about to engage, so that the lubricating oil is indirectly transmitted between the needle tooth pin 13 and the groove wall of the needle tooth groove 14, so as to reduce the sliding contact between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 and achieve the lubrication effect. Figure 2 In the figure, the gap between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 can be expressed as h. The gap formed by the meshing between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 can be the distance between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 when they are closest to each other.

[0048] On the basis of the above, since the size of the gap formed by the meshing between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 will vary depending on the radius of the needle tooth pin 13 and the radius of the groove wall of the needle tooth groove 14, the design range of the gap size is determined by the radius of the needle tooth pin 13 and the radius of the groove wall of the needle tooth groove 14, so that when the needle tooth pin 13 and the groove wall of the needle tooth groove 14 are meshed, the gap between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 can still retain sufficient lubricating oil to achieve a lubrication effect, which is conducive to standardizing the size of the overall structure and ultimately reducing the difficulty of processing the transmission assembly 10.

[0049] In addition, the unit of the dimension length involved in the present invention may be millimeter.

[0050] Please refer to Figure 2 , the radius of the needle tooth pin 13 can be smaller than the radius of the groove wall of the needle tooth groove 14.

[0051] In this way, it can be ensured that the needle tooth pin 13 can rotate in the needle tooth groove 14 .

[0052] Specifically, in Figure 2 In the embodiment, the needle tooth groove 14 is located on one side of the needle tooth pin 13, and the needle tooth pin 13 can transmit with the corresponding structure through the other side. The needle tooth pin 13 can transmit with the corresponding structure through rolling contact. Since r is less than R, enough space can be reserved in the needle tooth groove 14 as the activity space of the needle tooth groove 14, and the rotation of the needle tooth pin 13 will not be restricted.

[0053] The transmission assembly 10 can also be configured so that the size of the gap formed by the meshing between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 is within a second preset range, and the second preset range can be determined by the surface roughness of the needle tooth pin 13 and the surface roughness of the groove wall of the needle tooth groove 14, and the intersection between the first preset range and the second preset range is not empty.

[0054] In this way, the lubricating oil can still be located between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 at the microscopic level to ensure the lubrication effect.

[0055] Specifically, the surface roughness of an object can indicate the degree of unevenness of the surface of the object at the microscopic level. When the distance between the needle pin 13 and the groove wall of the needle groove 14 is only a small distance, only a small amount of lubricating oil can be retained between the needle pin 13 and the groove wall of the needle groove 14 within a microscopic distance range. The design range of the gap size formed by the meshing between the needle pin 13 and the groove wall of the needle groove 14 is determined by the surface roughness of the needle pin 13 and the surface roughness of the groove wall of the needle groove 14, so that the needle pin 13 and the groove wall of the needle groove 14 can still maintain a certain distance at the microscopic level to retain an amount of lubricating oil sufficient to ensure the lubrication effect.

[0056] On the basis of the above, by taking the intersection of the first preset range and the second preset range, while ensuring that the size of the groove wall of the needle tooth pin 13 and the needle tooth groove 14 is sufficiently standardized, it is also possible to provide a sufficient amount of lubricating oil for the meshing of the two at the microscopic level to ensure the lubrication effect.

[0057] The second preset range can be determined by the following calculation formula:

[0058] h>Ra1+Ra2;

[0059] Among them, h is the size of the gap formed by the meshing between the needle tooth pin 13 and the groove wall of the needle tooth groove 14, Ra1 is the surface roughness of the needle tooth pin 13, and Ra2 is the surface roughness of the groove wall of the needle tooth groove 14.

[0060] On the basis of the above calculation formula, sufficient space can be reserved between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 to accommodate a sufficient amount of lubricating oil.

[0061] The first preset range can be determined by the following calculation formula:

[0062] [b1×R×r / (Rr)] <h<[b2×R×r / (R-r)];

[0063] Among them, b1 is the first coefficient, b2 is the second coefficient, R is the radius of the groove wall of the needle tooth groove 14, r is the radius of the needle tooth pin 13, and h is the size of the gap formed by the meshing between the needle tooth pin 13 and the groove wall of the needle tooth groove 14.

[0064] Based on the above calculation formula, the design range of the gap size can be clearly determined.

[0065] The value range of the first coefficient may be greater than or equal to 0.0000012, and less than or equal to 0.0000015.

[0066] Specifically, the calculation result obtained by the first coefficient b1, the radius R of the groove wall of the needle tooth groove 14, and the radius r of the needle tooth pin 13 can correspond to the maximum minimum spacing that can be achieved between the needle tooth pin 13 and the groove wall of the needle tooth groove 14. According to the test results, if the maximum minimum spacing is too small, the lubricating oil is easily squeezed out, and the groove wall of the needle tooth pin 13 and the needle tooth groove 14 will be more likely to directly contact when meshing, resulting in stress concentration, which will lead to structural wear. By taking the value of the first coefficient within the range of [0.0000012, 0.0000015], wear of the first transmission member 11 and the second transmission member 12 due to lack of lubricating oil can be avoided.

[0067] The value range of the second coefficient may be greater than or equal to 0.0000050, and less than or equal to 0.0000055.

[0068] Specifically, the calculation result obtained by the second coefficient b2, the radius R of the groove wall of the needle tooth groove 14, and the radius r of the needle tooth pin 13 can correspond to the maximum limit spacing that can be achieved between the needle tooth pin 13 and the groove wall of the needle tooth groove 14. According to the test results, if the maximum limit spacing is too large, more lubricating oil will remain between the groove wall of the needle tooth pin 13 and the needle tooth groove 14, and the groove wall of the needle tooth pin 13 and the needle tooth groove 14 will easily slip when meshing, thereby affecting the transmission effect between the first transmission member 11 and the second transmission member 12. By selecting the value of the second coefficient within the range of [0.0000050, 0.0000055], the transmission effect between the first transmission member 11 and the second transmission member 12 can be avoided from being affected by excessive lubricating oil.

[0069] Please refer to Figure 1 Along the axial direction of the transmission assembly 10, the central axis of the needle tooth pin 13 is distributed on a first distribution circle, and the central axis of the groove wall of the needle tooth groove 14 is distributed on a second distribution circle.

[0070] The transmission assembly 10 is also configured to, when the radius of the needle tooth pin 13 and the radius of the groove wall of the needle tooth groove 14 are determined, be able to adjust at least one of the diameter of the first distribution circle and the diameter of the second distribution circle so that the gap size is within a first preset range.

[0071] In this way, the gap size can be limited within the design range.

[0072] Specifically, the aforementioned content mainly focuses on how to determine the design range of the gap size so as to achieve standardized dimensional matching and sufficient lubrication effect, and how to make the gap size between the groove wall of the needle tooth pin 13 and the needle tooth groove 14 when meshing within the design range. In this case, it is necessary to adjust the diameter of the first distribution circle and / or the diameter of the second distribution circle.

[0073] Specifically, in Figure 1 In FIG. 1 , the first distribution circle can be represented as C1, and the second distribution circle can be represented as C2. The axis of the transmission assembly 10 can be Figure 1 The center of the first distribution circle C1 and the center of the second distribution circle C2 coincide at point O.

[0074] Since the determination of the first preset range requires that the radius of the needle tooth pin 13 and the radius of the groove wall of the needle tooth groove 14 be determined first, in this case, the distance adjustment between the needle tooth pin 13 and the groove wall of the needle tooth groove 14 needs to be achieved by adjusting at least one of the diameter of the first distribution circle and the diameter of the second distribution circle.

[0075] Among them, the diameter of the first distribution circle can be taken as a fixed value, and then the diameter of the second distribution circle can be adjusted. The larger the diameter of the second distribution circle, the farther the groove wall of the needle tooth groove 14 is from the needle tooth pin 13, and the larger the gap size is. The smaller the diameter of the second distribution circle, the closer the groove wall of the needle tooth groove 14 is to the needle tooth pin 13, and the smaller the gap size is. The diameter of the second distribution circle can be taken as a fixed value, and then the diameter of the first distribution circle can be adjusted. The larger the diameter of the first distribution circle, the closer the groove wall of the needle tooth groove 14 is to the needle tooth pin 13, and the smaller the gap size is. The smaller the diameter of the first distribution circle, the farther the groove wall of the needle tooth groove 14 is from the needle tooth pin 13, and the larger the gap size is. The diameter of the first distribution circle and the diameter of the second distribution circle can also be adjusted at the same time, and the diameter of the first distribution circle is kept smaller than the diameter of the second distribution circle.

[0076] Please refer to Figure 1 The first transmission member 11 may include a connecting member 15. At least two pins 13 may be connected to the connecting member 15 and are distributed around the same side of the connecting member 15. The first transmission member 11 may be arranged around at least two pins 13, or at least two pins 13 may be arranged around the first transmission member 11.

[0077] In this way, the applicability of the transmission assembly 10 during configuration can be improved.

[0078] Specifically, in Figure 1 In the embodiment, the connecting member 15 is closer to Figure 1 The position of the corresponding sight source makes the part of the structure of the pin 13 Figure 1 The portion of the pin 13 blocked by the connecting member 15 is Figure 1 At least two pins 13 may be distributed around the axis of the transmission assembly 10 and connected to the connecting member 15. The second transmission member 12 may be annular as a whole. The pins 13 may be located inside the annular shape of the second transmission member 12, so that the second transmission member 12 may be arranged around the pins 13.

[0079] In addition, please combine Figure 3 ,exist Figure 3 In the embodiment, the second transmission member 12 may be disc-shaped as a whole. The needle tooth groove 14 may be arranged on the outer edge of the disc shape of the second transmission member 12. At least two needle tooth pins 13 are located outside the outer edge of the disc shape of the second transmission member 12, so that at least two needle tooth pins 13 may be arranged around the first transmission member 11.

[0080] On the basis of determining the design range of the gap size, by adjusting the radial relative positions of the needle tooth pin 13 and the needle tooth groove 14 along the axis of the transmission assembly 10, the size matching of the two can be applied to different transmission structures, thereby improving the applicability of the transmission assembly 10 during configuration.

[0081] A speed reducer of the present invention may include the transmission assembly 10 of any one of the above-mentioned embodiments.

[0082] The above-mentioned reducer determines the design range of the gap between the needle tooth pin 13 and the needle tooth groove 14 when they are in meshing according to the radius of both, so that the size matching of the needle tooth pin 13 and the needle tooth groove 14 is more reasonable, and the lubricating oil can have a good lubrication effect between the needle tooth pin 13 and the needle tooth groove 14, which can avoid stress concentration in the needle tooth pin 13 and the needle tooth groove 14, and help to improve the service life of the entire transmission structure.

[0083] The reducer may be an RV reducer. The first transmission member 11 may serve as a power output shaft of the reducer. The second transmission member 12 may serve as a pinion housing of the reducer. When the reducer is transmitted through the transmission assembly 10, stress concentration and structural wear problems due to lack of lubricating oil between the first transmission member 11 and the second transmission member 12 may be avoided.

[0084] An industrial robot of the present invention may include the speed reducer of the above-mentioned embodiment.

[0085] The above-mentioned industrial robot determines the design range of the gap between the needle tooth pin 13 and the needle tooth groove 14 when they are in meshing according to the radius of both, so that the size matching of the needle tooth pin 13 and the needle tooth groove 14 is more reasonable, and the lubricating oil can play a good lubrication effect between the needle tooth pin 13 and the needle tooth groove 14, which can avoid stress concentration in the needle tooth pin 13 and the needle tooth groove 14, and help to improve the service life of the entire transmission structure.

[0086] Specifically, the reducer of the present invention can be used for transmission when an industrial robot is moving or moving, and the transmission assembly 10 of the present invention can ensure that the first transmission member 11 and the second transmission member 12 have a good lubrication effect during transmission, thereby enabling the industrial robot to smoothly perform the movement or activity operation. The needle tooth pin 13 and the groove wall of the needle tooth groove 14 are not easily worn, thereby avoiding frequent maintenance and replacement of the transmission assembly 10 of the industrial robot.

[0087] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments of the present invention without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A transmission assembly for a reducer, characterized in that: include: a first transmission member, the first transmission member having a pin-tooth pin, and; a second transmission member, wherein the second transmission member has a needle tooth groove, and the first transmission member and the second transmission member can be transmitted through the mutual engagement of the needle tooth pin and the groove wall of the needle tooth groove; The transmission assembly is configured so that the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove is within a first preset range, and the first preset range can be determined by the radius of the needle tooth pin and the radius of the groove wall of the needle tooth groove.

2. The transmission assembly according to claim 1, characterized in that: The radius of the needle tooth pin is smaller than the radius of the groove wall of the needle tooth groove.

3. The transmission assembly according to claim 1, characterized in that: The transmission assembly is also configured so that the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove is within a second preset range, and the second preset range can be determined by the surface roughness of the needle tooth pin and the surface roughness of the groove wall of the needle tooth groove, and the intersection between the first preset range and the second preset range is not empty.

4. The transmission assembly according to claim 3, characterized in that: The second preset range can be determined by the following calculation formula: h>Ra1+Ra2; Among them, h is the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove, Ra1 is the surface roughness of the needle tooth pin, and Ra2 is the surface roughness of the groove wall of the needle tooth groove.

5. The transmission assembly according to claim 1, characterized in that: The first preset range can be determined by the following calculation formula: [b1×R×r / (Rr)] <h<[b2×R×r / (R-r)]; Among them, b1 is the first coefficient, b2 is the second coefficient, R is the radius of the groove wall of the needle tooth groove, r is the radius of the needle tooth pin, and h is the size of the gap formed by the meshing between the needle tooth pin and the groove wall of the needle tooth groove.

6. The transmission assembly according to claim 5, characterized in that: The value range of the first coefficient is greater than or equal to 0.0000012 and less than or equal to 0.0000015.

7. The transmission assembly according to claim 5, characterized in that: The value range of the second coefficient is greater than or equal to 0.0000050 and less than or equal to 0.0000055.

8. The transmission assembly according to claim 1, characterized in that: Along the axial direction of the transmission assembly, the central axis of the needle tooth pin is distributed on a first distribution circle, and the central axis of the groove wall of the needle tooth groove is distributed on a second distribution circle; The transmission assembly is also configured to, when the radius of the needle tooth pin and the radius of the groove wall of the needle tooth groove are determined, be able to adjust at least one of the diameter of the first distribution circle and the diameter of the second distribution circle so that the gap size is within the first preset range.

9. The transmission assembly according to claim 1, characterized in that: The first transmission member includes a connecting member, and at least two of the needle tooth pins are connected to the connecting member and are distributed around the same side of the connecting member; The first transmission member is disposed around the at least two needle tooth pins, or the at least two needle tooth pins are disposed around the first transmission member.

10. A reducer, characterized in that: include: The transmission assembly according to any one of claims 1 to 9.

11. An industrial robot, characterized in that: Includes the reducer as described in claim 10.

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