Large-torque cycloidal speed reducer for heavy intelligent equipment

Abstract

The utility model discloses a heavy intelligent equipment large-torque cycloidal speed reducer which comprises a needle shell, a rear planet carrier is arranged at the left end of the needle shell, a front planet carrier is arranged at the right end of the needle shell, and column type taper pins are installed on the rear planet carrier and the front planet carrier. Bearing inner rings are installed between the rear planet carrier and the needle shell and between the front planet carrier and the needle shell, an input gear shaft is arranged on the right side of the needle shell, three sets of planet gears are meshed on the input gear shaft, and a speed reduction structure used for driving the rear planet carrier to rotate and output is arranged on the inner side of the needle shell. According to the large-torque cycloidal speed reducer for the heavy intelligent equipment, the input gear shaft is connected with an external power source, the three sets of planetary gears can be driven to rotate, the three sets of planetary gears can drive the speed reduction structure to rotate, and then the speed reduction structure can drive the rear planet carrier to stably rotate and output.

Description

Technical Field

[0001] The utility model relates to the technical field of reducers, in particular to a large-torque cycloid reducer for heavy-duty intelligent equipment. Background Art

[0002] The RV (rotor-vector) drive for robots (a crank-type closed differential gear train) is a new type of transmission developed based on the cycloid drive. Its key features are three key advantages (high transmission ratio, high load capacity, and high rigidity), two key advantages (high motion precision and high transmission efficiency), and one key advantage (low backlash). Compared to simple cycloid planetary drives, it offers a smaller package, greater overload capacity, and greater output shaft rigidity. Consequently, it has gained widespread attention both domestically and internationally, and has largely replaced simple cycloid planetary drives and harmonic drives in Japanese robot transmissions. The RV drive has two extremely stringent technical specifications: transmission error must not exceed 1'; and backlash must not exceed 1' to 1.5', depending on the RV reducer model. Furthermore, when operating under rated load, the total backlash, including backlash caused by elastic deformation, must not exceed 6'.

[0003] Since the high-precision cycloid differential gear reducer used in robots has a large load and high transmission accuracy, how to design a RV reducer with small size, high precision and low cost has become a difficult problem faced today.

[0004] With technological advancements, some improved cycloid reducers have appeared on the market. For example, patent publication number CN210859766U discloses a cycloid reducer designed for easy lubrication, including an outer protective case, a reducer body, and an oil pipeline. This patent, through a specific structural design, achieves easy lubrication of the reducer, improving its maintenance convenience and service life. However, while these improved reducers have shown improvements in some aspects, they still need to be further improved in terms of structural compactness, transmission accuracy, cost-effectiveness, and impact resistance. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the utility model provides a large-torque cycloid reducer for heavy-duty intelligent equipment, which solves the problems of unreasonable structure, low crank shaft strength and poor impact resistance.

[0006] In order to achieve the purpose of the above structure being reasonable enough, the crankshaft having high strength and good impact resistance, the utility model provides the following technical solutions: a heavy-duty intelligent equipment high-torque cycloid reducer, comprising a needle housing, a rear planetary carrier being provided at the left end of the needle housing, a front planetary carrier being provided at the right end of the needle housing, column-type tapered pins being installed on the rear planetary carrier and the front planetary carrier, an inner ring of a bearing being installed between the rear planetary carrier and the needle housing and between the front planetary carrier and the needle housing, an input gear shaft being provided on the right side of the needle housing, three sets of planetary gears being meshed on the input gear shaft, and a reduction structure for driving the rear planetary carrier to rotate and output being provided on the inner side of the needle housing;

[0007] The deceleration structure includes an eccentric shaft, a hole retaining ring, a tapered roller bearing, an eccentric shaft gasket, a steel retaining needle roller, a rear cycloid wheel, a front cycloid wheel and a needle roller. The eccentric shaft is installed and fixed on the planetary gear, the hole retaining ring is movably clamped on the eccentric shaft, the tapered roller bearing is installed at both ends of the eccentric shaft, the tapered roller bearing is fixed on the eccentric shaft through the eccentric shaft gasket, the steel retaining needle roller is sleeved on the eccentric shaft, the rear cycloid wheel and the front cycloid wheel are located inside the needle shell, the steel retaining needle roller is inserted into the end face opening of the rear cycloid wheel and the front cycloid wheel, the needle roller is located inside the inner wall tooth groove of the needle shell, and the needle roller is located between the rear cycloid wheel, the front cycloid wheel and the needle shell.

[0008] Preferably, the planetary gear has 108 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 17 mm.

[0009] Preferably, the input gear shaft has 21 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 24 mm.

[0010] Preferably, the eccentricity of the eccentric shaft is 2.2 mm.

[0011] Preferably, the number of teeth of the rear cycloid wheel and the front cycloid wheel is 51, the outer diameter of the needle gear sleeve is Φ10 mm, the eccentricity is 2.2 mm, the center circle diameter of the needle wheel is Φ289.15 mm, and the tooth width is 29 mm.

[0012] Preferably, the outer diameter of the needle roller is Φ10 mm and the length is 59.2 mm.

[0013] Preferably, the needle housing has 52 teeth, a center circle diameter of Φ289.15 mm, and a needle tooth diameter of Φ10 mm.

[0014] Compared with the existing technology, the utility model provides a large torque cycloid reducer for heavy-duty intelligent equipment, which has the following beneficial effects:

[0015] 1. The large-torque cycloid reducer for heavy-duty intelligent equipment has a reasonable and compact structure. It reduces the axial size of the reducer to achieve the purpose of weight reduction. The reducer reduces the backlash under large loads and improves the working accuracy. The cycloid wheel uses a single-difference tooth structure, and the meshing accuracy is better than the double-difference tooth meshing. The rolling friction of the cycloid wheel, needle roller, and needle housing is eliminated, and the rigidity is good. Single-difference tooth meshing is easier to achieve high transmission chain error and backlash requirements, with better rigidity and smaller tooth gap, which can avoid jitter and excessive damping vibration during the use of the reducer. The planetary frame adopts a columnar tapered pin connection structure, which has the characteristics of reasonable structure, easy processing, and high strength. At the same time, the high-precision tapered pin connection structure can ensure the identity of processing and assembly. Compared with ordinary RV reducers, the number of eccentric shafts and planetary teeth in this utility model is changed from two to three, which improves the impact resistance of the reducer, greatly increases the strength of the eccentric shaft, and greatly improves the life of the reducer.

[0016] 2. This heavy-duty intelligent equipment high-torque cycloid reducer has the characteristics of small size, high efficiency and low cost, which broadens the application scope of RV reducers. The advantages of this utility model are that it simplifies the structural design, facilitates parts processing and manufacturing, and reduces costs. At the same time, it has the characteristics of high efficiency, light weight, smooth operation, impact resistance, low noise, strong overload capacity and long life. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural assembly diagram of a large-torque cycloid reducer for heavy-duty intelligent equipment described in the utility model;

[0018] Figure 2 This is a structural schematic diagram of a large-torque cycloid reducer for heavy-duty intelligent equipment described in the utility model.

[0019] The symbols in the accompanying drawings are described as follows:

[0020] 1. Needle housing; 2. Rear planetary carrier; 3. Front planetary carrier; 4. Column taper pin; 5. Bearing inner ring; 6. Input gear shaft; 7. Planetary gears; 8. Eccentric shaft; 9. Circlip for hole; 10. Tapered roller bearing; 11. Eccentric shaft spacer; 12. Steel cage needle roller; 13. Rear cycloid pulley; 14. Front cycloid pulley; 15. Needle roller. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figure 1-2 The utility model provides a large-torque cycloid reducer for heavy-duty intelligent equipment, including a needle housing 1, a rear planetary carrier 2 is provided at the left end of the needle housing 1, a front planetary carrier 3 is provided at the right end of the needle housing 1, the rear planetary carrier 2 and the front planetary carrier 3 are installed with a column taper pin 4, the rear planetary carrier 2 and the front planetary carrier 3 are fixedly connected by the column taper pin 4, a bearing inner ring 5 is installed between the rear planetary carrier 2 and the needle housing 1, and between the front planetary carrier 3 and the needle housing 1, the needle housing 1 is rotatably connected to the rear planetary carrier 2 and the front planetary carrier 3 respectively through the bearing inner ring 5, an input gear shaft 6 is provided on the right side of the needle housing 1, three sets of planetary gears 7 are meshed on the input gear shaft 6, and a reduction structure for driving the rear planetary carrier 2 to rotate and output is provided on the inner side of the needle housing 1;

[0023] The deceleration structure includes an eccentric shaft 8, a hole retaining ring 9, a tapered roller bearing 10, an eccentric shaft gasket 11, a steel retaining frame needle roller 12, a rear cycloid wheel 13, a front cycloid wheel 14 and a needle roller 15. The eccentric shaft 8 is mounted and fixed on the planetary gear 7. The hole retaining ring 9 is movably connected to the eccentric shaft 8. The tapered roller bearing 10 is mounted at both ends of the eccentric shaft 8. The tapered roller bearing 10 is mounted and fixed on the eccentric shaft 8 through the eccentric shaft gasket 11. The steel retaining frame needle roller 12 is sleeved on the eccentric shaft 8. The rear cycloid wheel 13 and the front cycloid wheel 14 are located inside the needle housing 1. The steel retaining frame needle roller 12 is inserted into the end faces of the rear cycloid wheel 13 and the front cycloid wheel 14. Inside the mouth, the needle roller 15 is located inside the inner wall tooth groove of the needle shell 1, and the needle roller 15 is located between the rear cycloid wheel 13 and the front cycloid wheel 14 and the needle shell 1. The reducer of this structure has two stages of reduction. The first stage is the planetary reduction mechanism, which mainly includes three planetary gears 7 and the input gear shaft 6. The second stage is the cycloid pinwheel planetary reduction mechanism, which mainly includes three eccentric shafts 8, two rear cycloid wheels 13 and the front cycloid wheel 14, the rear planetary carrier 2 and the front planetary carrier 3, fifty-two needle rollers 15 and the needle shell 1. The two rear cycloid wheels 13 and the front cycloid wheels 14 are differentially meshed with the needle shell 1 to form a reduction, and the rear planetary carrier 2 outputs. The two-stage reduction mechanism forms a planetary mechanism.

[0024] Furthermore, the planetary gear 7 has 108 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 17 mm, which facilitates the engagement of the input gear shaft 6 with the three sets of planetary gears 7 and can drive the three sets of eccentric shafts 8 to rotate.

[0025] Furthermore, the input gear shaft 6 has 21 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 24 mm. By connecting the input gear shaft 6 to an external power source, the input gear shaft 6 can be driven to rotate, and then the input gear shaft 6 can drive the three sets of planetary gears 7 to rotate.

[0026] Furthermore, the eccentric distance of the eccentric shaft 8 is 2.2 mm. During the eccentric rotation of the eccentric shaft 8, the steel cage needle roller 12 can stably drive the rear cycloid wheel 13 and the front cycloid wheel 14 to oscillate eccentrically during the rotation.

[0027] Furthermore, the number of teeth of the rear cycloid wheel 13 and the front cycloid wheel 14 is 51, the outer diameter of the needle gear sleeve is Φ10mm, the eccentricity is 2.2mm, the center circle diameter of the needle wheel is Φ289.15mm, and the tooth width is 29mm. When the rear cycloid wheel 13 and the front cycloid wheel 14 are deflected, the needle roller 15 is staggered with the inner wall tooth groove of the needle housing 1, thereby driving the rear planetary carrier 2 to output.

[0028] Furthermore, the outer diameter of the needle roller 15 is Φ10 mm and the length is 59.2 mm. When the rear cycloid wheel 13 and the front cycloid wheel 14 deflect, the needle roller 15 can be driven to rotate in the inner wall groove of the needle housing 1.

[0029] Furthermore, the needle housing 1 has 52 teeth, a center circle diameter of Φ289.15 mm, and a needle tooth diameter of Φ10 mm. When the needle roller 15 is staggered with the inner wall tooth grooves of the needle housing 1, it can drive the rear planetary carrier 2 to rotate and output.

[0030] When in use, by fixing the needle housing 1 to the external frame and connecting the input gear shaft 6 to the external power source, the input gear shaft 6 can be driven to rotate, and then the input gear shaft 6 can drive the three sets of planetary gears 7 to rotate, and the three sets of planetary gears 7 can drive the three sets of eccentric shafts 8 to rotate eccentrically, and in the process of eccentric rotation of the eccentric shaft 8, the eccentric shaft gasket 11 can axially limit the tapered roller bearing 10, so that the tapered roller bearing 10 can support and rotate both ends of the eccentric shaft 8, so that the eccentric shaft 8 can more stably drive the steel cage needle roller 12 to rotate, thereby The steel retainer needle roller 12 stably drives the rear cycloid wheel 13 and the front cycloid wheel 14 to oscillate eccentrically during the rotation process, and when the rear cycloid wheel 13 and the front cycloid wheel 14 rotate in the inner wall tooth groove of the needle housing 1, the needle roller 15 is staggered with the inner wall tooth groove of the needle housing 1, and the left and right ends of the eccentric shaft 8 are respectively rotatably connected to the end face through holes of the rear planetary carrier 2 and the front planetary carrier 3 through the steel retainer needle rollers 12 on both sides. Therefore, the eccentric shaft 8 can drive the rear planetary carrier 2 and the front planetary carrier 3 to rotate at the same time when rotating, so that the rear planetary carrier 2 can output with a larger torque.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A heavy-duty intelligent equipment high-torque cycloid reducer, comprising a needle housing (1), characterized in that: A rear planet carrier (2) is provided at the left end of the needle housing (1), a front planet carrier (3) is provided at the right end of the needle housing (1), a columnar taper pin (4) is installed between the rear planet carrier (2) and the front planet carrier (3), the rear planet carrier (2) and the front planet carrier (3) are fixedly connected via the columnar taper pin (4), and a bearing inner ring (5) is installed between the rear planet carrier (2) and the needle housing (1) and between the front planet carrier (3) and the needle housing (1); The needle housing (1) is rotatably connected to the rear planetary carrier (2) and the front planetary carrier (3) through the inner ring of the bearing (5), an input gear shaft (6) is provided on the right side of the needle housing (1), three sets of planetary gears (7) are meshed on the input gear shaft (6), and a speed reduction structure for driving the rear planetary carrier (2) to rotate and output is provided on the inner side of the needle housing (1); The deceleration structure comprises an eccentric shaft (8), a hole retaining ring (9), a tapered roller bearing (10), an eccentric shaft gasket (11), a steel retaining frame needle roller (12), a rear cycloid wheel (13), a front cycloid wheel (14) and a needle roller (15), wherein the eccentric shaft (8) is fixedly mounted on the planetary gear (7), the hole retaining ring (9) is movably clamped on the eccentric shaft (8), the tapered roller bearing (10) is mounted on both ends of the eccentric shaft (8), the tapered roller bearing (10) is fixedly mounted on the eccentric shaft (8) through the eccentric shaft gasket (11), and the steel retaining frame needle roller (12) is sleeved on the eccentric shaft (8).

2. A heavy-duty intelligent equipment high-torque cycloid reducer according to claim 1, characterized in that: The rear cycloid wheel (13) and the front cycloid wheel (14) are located inside the needle housing (1); the steel retainer needle roller (12) is inserted into the end surface openings of the rear cycloid wheel (13) and the front cycloid wheel (14); the needle roller (15) is located inside the inner wall tooth groove of the needle housing (1); and the needle roller (15) is located between the rear cycloid wheel (13), the front cycloid wheel (14) and the needle housing (1).

3. The large torque cycloid reducer for heavy-duty intelligent equipment according to claim 1, characterized in that: The number of teeth of the planetary gear (7) is 108, the module is 1.25, the pressure angle is 20°, and the tooth width is 17 mm.

4. The large torque cycloid reducer for heavy-duty intelligent equipment according to claim 1, characterized in that: The input gear shaft (6) has 21 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 24 mm.

5. The large torque cycloid reducer for heavy-duty intelligent equipment according to claim 1, characterized in that: The eccentricity of the eccentric shaft (8) is 2.2 mm.

6. The large torque cycloid reducer for heavy-duty intelligent equipment according to claim 1, characterized in that: The number of teeth of the rear cycloid wheel (13) and the front cycloid wheel (14) is 51, the outer diameter of the needle tooth sleeve is Φ10 mm, the eccentricity is 2.2 mm, the diameter of the needle wheel center circle is Φ289.15 mm, and the tooth width is 29 mm.

7. The large torque cycloid reducer for heavy-duty intelligent equipment according to claim 1, characterized in that: The outer diameter of the needle roller (15) is Φ10 mm and the length is 59.2 mm.

8. The large torque cycloid reducer for heavy-duty intelligent equipment according to claim 1, characterized in that: The needle housing (1) has 52 teeth, a center circle diameter of Φ289.15 mm, and a needle tooth diameter of Φ10 mm.

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