Hollow forward RV speed reducer for heavy-load industrial robot

Abstract

The utility model relates to a hollow positive RV speed reducer for a heavy-load industrial robot, which comprises a gear sleeve seat, an output plate rack combination and a cycloidal gear, the output plate rack combination is fixed in the gear sleeve seat through an upper angular contact ball bearing and a lower angular contact ball bearing, and three eccentric transmission shafts are arranged in the output plate rack combination. The eccentric transmission shaft is mounted and fixed through upper and lower tapered roller bearings; a needle bearing is sleeved on an eccentric shaft ring of the eccentric transmission shaft, a check ring is arranged at the end part of the eccentric shaft ring, a plurality of needle rollers are arranged between the cycloidal gear and the gear sleeve seat, a planetary gear is connected to the shaft end of the eccentric transmission shaft, the planetary gear is meshed with a pinion of a duplicate gear, and a bull gear of the duplicate gear is meshed with an input gear of the input shaft; the output disc rack combination is of a penetrating hollow structure, so that the threading pipe forms a hollow threading area on the speed reducer; and the speed reducer base turntable and the speed reducer are consistent in thread locking direction to form an upright structure. The utility model has the advantages of small volume and easy assembly.

Description

Technical Field

[0001] The utility model relates to the field of industrial manufacturing and automation, and in particular to a hollow upright RV reducer for a heavy-load industrial robot. Background Art

[0002] Currently the general rated load is 200 kg The market size of heavy-load robots of 1000 kg and above is relatively small. With the explosive development of intelligent and large-scale production lines, the demand for heavy-load general-purpose robots has also increased, and the market has heated up rapidly. As the structure of robots and usage scenarios change, new requirements are also put forward for the reducer structure.

[0003] The investigation found that most RV reducers used in the base structure of heavy-load robots adopt an inverted hollow structure, that is, the output shaft is fixed to the base, the gear sleeve seat is fixed on the turntable, and the input gear mechanism on the top makes the overall height of the RV reducer relatively high; in addition, since the RV reducer is not specially sealed, it is necessary to design a box structure for overall sealing, which is not easy to process and assemble. Summary of the invention

[0004] The purpose of the utility model is to provide a hollow upright RV reducer for heavy-duty industrial robots that is small in size and easy to assemble in order to solve the above-mentioned problems. Another purpose is to provide a hollow upright RV reducer with good sealing performance.

[0005] The purpose of the utility model is achieved in this way. A hollow upright RV reducer for a heavy-duty industrial robot comprises a gear sleeve seat, an output disc frame assembly and a cycloid wheel, wherein the output disc frame assembly is formed by an output shaft and an output shaft cover being locked and assembled by fastening bolts; the output disc frame assembly is fixed in the gear sleeve seat by two upper and lower angular contact ball bearings and pre-tightened by adjusting pads, three eccentric transmission shafts passing through the cycloid wheel are arranged inside the output disc frame assembly, and the eccentric transmission shaft is fixed by two upper and lower tapered roller bearings; a needle bearing which is in contact with the cycloid wheel and has a retaining frame is sleeved on the eccentric shaft ring of the eccentric transmission shaft, and a retaining ring is arranged at the end of the eccentric shaft ring, and the retaining ring limits the needle bearing at the eccentric shaft ring; A plurality of needle rollers are arranged between the wire wheel and the gear sleeve seat, and the needle roller limit is located between the upper and lower angular contact ball bearings; a planetary gear is connected to the shaft end of the eccentric transmission shaft, and the planetary gear meshes with the small gear of the duplex gear. After the duplex gear is installed and fixed through the output shaft and the deep groove ball bearing, the large gear of the duplex gear meshes with the input gear of the input shaft; the output disc frame assembly is a through-hollow structure and a threading tube is installed, so that the threading tube forms a hollow threading area on the RV reducer; a mounting hole is provided on the lower flange of the gear sleeve seat, and the screws are fastened from top to bottom through the mounting hole to connect with the robot base, and the robot turntable is fastened and connected with the threaded mounting hole set on the end face of the output shaft through bolts, and the tightening direction of the bolts is consistent with the tightening direction of the screws, forming a positive structure.

[0006] The utility model provides sealing ring installation grooves on the output shaft and the output shaft cover, and grooves are provided at positions of the threading tube corresponding to the sealing ring installation grooves. By installing sealing rings at the sealing ring installation grooves and the groove positions, the internal cavity of the RV reducer is sealed, and the threading tube is installed by clamping.

[0007] In the utility model, the diameter size of the large gear of the double gear is smaller than the diameter size of the installation circle of the threaded installation hole arranged on the end face of the output shaft.

[0008] The utility model has a robot base and a robot turntable with a rated load of 210-280kg and a six-axis robot base turntable.

[0009] The utility model provides an RV reducer with an input power of 9-10 kW at a rated speed and a rated output torque of 4300-4800 N·m.

[0010] The positive effect of the utility model is that, different from the traditional inverted mode, it adopts the upright mode for assembly and installation, the turntable of the reducer base is consistent with the locking direction of the reducer thread, forming a upright structure, which is easier to assemble; it can simplify the matching installation box, making it easy to close the cavity during production, processing and assembly, reducing the center of gravity and maintenance cost of the equipment, with a small volume and enhanced stability of the whole machine; the internal cavity of the RV reducer and the external cable are separated by a sealing ring and a wire threading tube, preventing external environmental pollutants from entering the reducer cavity, and will not affect the operating accuracy of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the utility model;

[0012] Figure 2 yes Figure 1 A schematic structural diagram of an embodiment.

[0013] In the figure, 1. gear sleeve seat; 2. cycloid wheel; 3. output shaft; 4. output shaft cover; 5. fastening bolts; 6. angular contact ball bearing; 7. adjustment pad; 8. eccentric transmission shaft; 9. tapered roller bearing; 10. needle roller bearing; 11. retaining ring; 12. needle roller; 13. planetary gear; 14. duplex gear; 15. deep groove ball bearing; 16. input shaft; 17. threading tube; 18. mounting hole; 19. sealing ring. Implementation

[0014] Reference Figure 1 to Figure 2The present embodiment is a hollow upright RV reducer for a heavy-duty industrial robot, comprising a gear sleeve seat 1, an output disc frame assembly and a cycloid wheel 2, wherein the output disc frame assembly is formed by an output shaft 3 and an output shaft cover 4 being locked and assembled by a fastening bolt 5; the output disc frame assembly is fixed in the gear sleeve seat by two upper and lower angular contact ball bearings 6 and pre-tightened by adjusting a gasket 7, three eccentric transmission shafts 8 passing through the cycloid wheel are arranged inside the output disc frame assembly, and the eccentric transmission shaft is fixed by two upper and lower tapered roller bearings 9; a needle roller bearing 10 which is in contact with the cycloid wheel and has a retaining frame is sleeved on the eccentric shaft ring of the eccentric transmission shaft, and a retaining ring 11 is arranged at the end of the eccentric shaft ring, and the retaining ring limits the needle roller bearing at the eccentric shaft ring; between the cycloid wheel and the gear sleeve A plurality of needle rollers 12 are arranged between the seats, and the needle rollers are limited between the upper and lower angular contact ball bearings; a planetary gear 13 is connected to the shaft end of the eccentric transmission shaft, and the planetary gear is meshed with the small gear of the duplex gear. After the duplex gear 14 is installed and fixed through the output shaft and the deep groove ball bearing 15, the large gear of the duplex gear is meshed with the input gear of the input shaft 16; the output disc frame assembly is a through-hollow structure and a threading tube 17 is installed, so that the threading tube forms a hollow threading area on the RV reducer; a mounting hole 18 is provided on the lower flange of the gear sleeve seat, and the screws are fastened from top to bottom through the mounting hole to connect with the robot base, and the robot turntable is fastened and connected with the threaded mounting hole set on the end face of the output shaft through bolts, and the tightening direction of the bolts is consistent with the tightening direction of the screws, forming a positive installation structure.

[0015] In the utility model, a sealing ring installation groove is provided on the output shaft and the output shaft cover, and a groove is provided at the position of the threading tube corresponding to the sealing ring installation groove. By installing the sealing ring 19 at the sealing ring installation groove and the groove position, the internal cavity of the RV reducer is sealed, and the threading tube is installed by clamping.

[0016] In the utility model, the diameter size of the large gear of the double gear is smaller than the diameter size of the installation circle of the threaded installation hole arranged on the end face of the output shaft.

[0017] The utility model has a robot base and a robot turntable with a rated load of 210-280kg and a six-axis robot base turntable.

[0018] The utility model provides an RV reducer with an input power of 9-10 kW at a rated speed and a rated output torque of 4300-4800 N·m.

[0019] The utility model, such as Figure 1 As shown, the lower flange of the gear sleeve seat is provided with a through mounting hole, and the mounting screws are tightened from top to bottom. The shaft end of the output shaft, the planetary gear and related fastening accessories are all designed to be sunken, and the shaft end face of the output shaft is provided with a threaded mounting hole. The robot turntable is fastened with bolts, and the tightening direction of the bolts is consistent with the tightening direction of the mounting screws of the gear sleeve seat, forming a positive installation structure.

[0020] The utility model, such as Figure 2 As shown, the center hole of the output disc frame assembly and the cycloidal wheel are both hollow structures, and the output shaft and the output shaft cover are both provided with O-ring installation grooves. At the same time, a groove is provided at the corresponding position of the threading tube for installing the O-ring. The elastic force of the O-ring is used to seal the internal cavity, and the O-ring and the groove are used to fix the threading tube.

[0021] The above describes the specific embodiments of the utility model, but does not limit the scope of the utility model patent. The devices and structures that are not described in detail should be understood to be implemented in a common manner in the art. Those skilled in the art can make various deformations or modifications within the scope of the claims, which should all be included in the scope of protection of the utility model patent.

Claims

1. A hollow positive RV reducer for heavy-duty industrial robots, characterized by: It comprises a gear sleeve seat (1), an output disc frame assembly and a cycloidal wheel (2), wherein the output disc frame assembly is formed by an output shaft (3) and an output shaft cover (4) which are locked together by fastening bolts (5); The output disc frame assembly is fixed in the gear sleeve seat through two upper and lower angular contact ball bearings (6) and is pre-tightened by adjusting the adjustment pad (7). Three eccentric transmission shafts (8) passing through the cycloid wheel are arranged inside the output disc frame assembly. The eccentric transmission shafts are installed and fixed through two upper and lower tapered roller bearings (9); A needle roller bearing (10) which is in contact with the cycloid wheel and has a retaining frame is sleeved on the eccentric shaft ring of the eccentric transmission shaft, and a retaining ring (11) is provided at the end of the eccentric shaft ring to limit the needle roller bearing at the eccentric shaft ring; A plurality of needle rollers (12) are arranged between the cycloid wheel and the gear sleeve seat, and the needle rollers are limited between the upper and lower angular contact ball bearings; The shaft end of the eccentric transmission shaft is connected to a planetary gear (13), which meshes with the pinion of the duplex gear. After the duplex gear (14) is fixed by the output shaft and the deep groove ball bearing (15), the large gear of the duplex gear meshes with the input gear of the input shaft (16); The output disc frame assembly is a through-hole structure and is loaded with a threading tube (17), so that the threading tube forms a hollow threading area on the RV reducer; A mounting hole (18) is provided on the lower flange of the gear sleeve seat, and screws are fastened from top to bottom through the mounting hole to connect with the robot base. The robot turntable is fastened and connected with the threaded mounting hole provided on the end face of the output shaft through bolts, and the tightening direction of the bolts is consistent with the tightening direction of the screws, thereby forming a positive installation structure.

2. The hollow upright RV reducer for heavy-load industrial robots according to claim 1, characterized in that: The output shaft and the output shaft cover are both provided with a sealing ring installation groove, and the threading tube is provided with a groove at a position corresponding to the sealing ring installation groove. By installing the sealing ring (19) at the sealing ring installation groove and the groove position, the internal cavity of the RV reducer is sealed, and the threading tube is installed by clamping.

3. The hollow upright RV reducer for heavy-load industrial robots according to claim 1, characterized in that: The diameter of the large gear of the duplex gear is smaller than the diameter of the installation circle of the threaded installation hole arranged on the end face of the output shaft.

4. The hollow upright RV reducer for heavy-load industrial robots according to claim 1, characterized in that: The specifications of the robot base and robot turntable are a six-axis robot base turntable with a rated load of 210-280kg.

5. The hollow upright RV reducer for heavy-load industrial robots according to claim 1, characterized in that: The input power of the RV reducer at rated speed is 9-10 kW, and the rated output torque is 4300-4800 N·m.

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