Double-support input structure RV speed reducer and industrial robot

Abstract

The utility model provides a double-support input structure RV speed reducer which comprises a pin wheel housing, a planet carrier arranged on the pin wheel housing, a planet gear arranged on the planet carrier, an eccentric shaft arranged inside the planet carrier, a center wheel shaft installed in the middle of the pin wheel housing, and a gear meshed with the planet gear at the tail end of the center wheel shaft. A needle bearing is arranged on the central axle close to the tail end, a flange is meshed with the other end of the central axle through a spline, and a deep groove ball bearing is arranged on the central axle close to the flange. The utility model further provides an industrial robot provided with the speed reducer, and the RV speed reducer of the double-support input structure solves the problem that an existing RV speed reducer is large in installation sequence and assembly difficulty.

Description

Technical Field

[0001] The utility model belongs to the technical field of cycloid pinwheel reducers, and in particular relates to an RV reducer with a double-support input structure, and also relates to an industrial robot equipped with the reducer. Background Art

[0002] With the development of intelligent manufacturing and the widespread application of industrial robots, the requirements for its core component, the RV reducer, are becoming increasingly higher. During the assembly process of the existing RV reducer, a pair of tapered roller bearings are used to support the center wheel shaft. After the center wheel shaft and tapered roller bearings, sleeves and part of the bearing retaining rings are integrated into one (external assembly is completed), they are installed from the left planetary carrier to the right planetary carrier. When installing the left retaining ring of the tapered roller bearing of the left planetary carrier, the assembly is difficult due to its center wheel shaft structure, bearing preload and installation sequence. Utility Model Content

[0003] The purpose of the utility model is to provide an RV reducer with a double-support input structure, which solves the problem of difficult assembly sequence of the existing RV reducer.

[0004] A second object of the present invention is to provide an industrial robot equipped with the above-mentioned double-support input structure RV reducer.

[0005] The technical solution adopted by the utility model is a double-support input structure RV reducer, including a pinion housing, a planetary carrier is provided on the pinion housing, planetary gears are provided on the planetary carrier, an eccentric shaft is provided inside the planetary carrier, the planetary gears are connected to the eccentric shaft through splines, a center wheel shaft A is installed in the middle of the pinion housing, the end of the center wheel shaft A is meshed with the planetary gear through a gear, a needle roller bearing is provided near the end of the center wheel shaft A, the other end of the center wheel shaft A is meshed with a flange through a spline, and a deep groove ball bearing is provided on the center wheel shaft A near the flange.

[0006] The utility model is also characterized in that:

[0007] Furthermore, the center wheel shaft A is assembled with the inner ring of the needle roller bearing and the deep groove ball bearing as an integral unit.

[0008] Furthermore, a boss is provided on the center wheel shaft A where the needle roller bearing and the deep groove ball bearing are installed to position the needle roller bearing and the deep groove ball bearing.

[0009] Furthermore, after the central wheel shaft A is integrated with the inner ring of the needle roller bearing and the deep groove ball bearing, the installation direction is changed.

[0010] Furthermore, the planet carrier is provided with a boss to axially position the outer ring of the needle roller bearing.

[0011] Furthermore, a bearing retaining ring A and a bearing retaining ring are assembled at the center hole of the planet carrier, and the integrated center wheel shaft A is axially positioned by the bearing retaining ring and the bearing retaining ring B.

[0012] Furthermore, a sleeve A is sleeved on the center wheel shaft A and between the deep groove ball bearing and the flange.

[0013] The second technical solution adopted by the present invention is that the industrial robot is equipped with the above-mentioned double-support input structure RV reducer.

[0014] The beneficial effects of the utility model are:

[0015] The double-support input structure RV reducer of the utility model changes the center wheel shaft structure, uses needle bearings and deep groove ball bearings instead of a pair of tapered roller bearings, and eliminates the sleeve between the two bearings. Since the bearings do not need to be pre-tightened during assembly of this structure, the assembly of the RV reducer is convenient.

[0016] The double-support input structure of the RV reducer of the utility model changes the center wheel shaft structure. The center wheel shaft is provided with a boss, which can axially position the bearing, eliminates the pipe sleeve between the two bearings, and reduces the assembly steps of the RV reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural diagram of the utility model's double-support input structure RV reducer;

[0018] Figure 2a This is a schematic diagram of the internal structure of the traditional RV reducer transmission structure;

[0019] Figure 2b It is a schematic diagram of the installation structure of the double-support input structure RV reducer of the utility model.

[0020] In the figure, 100, pinion housing; 110, planet carrier; 121, right cycloid gear; 122, left cycloid gear; 130, planetary gear; 140, eccentric shaft; 150, needle roller bearing; 160, deep groove ball bearing; 170, sleeve A; 180, center wheel shaft A; 190, flange; 201, bearing retaining ring A; 202, bearing retaining ring B;

[0021] 300, bearing retaining ring C; 330, bearing retaining ring D; 310, tapered roller bearing A; 320, tapered roller bearing B; 370, sleeve B; 340, sleeve C; 350, center wheel shaft B; 360, retaining ring; DETAILED DESCRIPTION

[0022] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0023] The utility model provides an RV reducer with a double-support input structure, including a pinion housing 100, a planetary carrier 110 provided on the pinion housing 100, a planetary gear 130 provided on the planetary carrier 110, an eccentric shaft 140 provided inside the planetary carrier 110, the planetary gear 130 being connected to the eccentric shaft 140 via a spline; the eccentric shaft 140 being connected to a right cycloid wheel 121 and a left cycloid wheel 122, and the right cycloid wheel 121 and the left cycloid wheel 122 being driven to perform eccentric motion by the eccentric shaft 140; the planetary carrier 110 is provided with a boss to axially limit the needle roller bearing;

[0024] The center hole of the planet carrier 110 is equipped with a bearing retaining ring A201 and a bearing retaining ring B202. The integrated center wheel shaft A180 is axially positioned by the bearing retaining ring A201 and the bearing retaining ring B202.

[0025] A center wheel shaft A180 is installed in the middle of the pinion housing 100. The end of the center wheel shaft A180 is meshed with the planetary gear 130 through a gear. A needle roller bearing 150 is provided near the end of the center wheel shaft A180. The other end of the center wheel shaft A180 is meshed with a flange 190 through a spline. A deep groove ball bearing 160 is provided on the center wheel shaft A180 near the flange. A pipe sleeve A170 is installed on the center wheel shaft A180 and between the deep groove ball bearing 160 and the flange. After the center wheel shaft A180 is integrated with the inner ring of the needle roller bearing 150 and the deep groove ball bearing 160, the installation direction changes.

[0026] The center wheel shaft A180 is integrated with the inner ring of the needle roller bearing 150 and the deep groove ball bearing 160 through interference fit; a boss is provided at the location where the needle roller bearing 150 and the deep groove ball bearing 160 are installed on the center wheel shaft A180 to axially position the needle roller bearing 150 and the deep groove ball bearing 160.

[0027] The utility model also provides an industrial robot equipped with the above-mentioned double-support input structure RV reducer.

[0028] The installation steps of the double-support input structure RV reducer of this utility model are as follows

[0029] (1) Install the bearing retaining ring A201, and then install the center wheel shaft A180, the inner ring of the needle roller bearing 150, and the deep groove ball bearing 160 as a whole (after the external assembly is completed), and then position the left end of the inner ring of the needle roller bearing 150 with the protrusion of the center wheel shaft, and position the left end of the deep groove ball bearing 160 with the protrusion of the center wheel shaft, and install from right to left;

[0030] (2) Install the rollers and outer ring of the needle roller bearing 150 and axially position it with the planet carrier 110;

[0031] (3) Install the bearing retaining ring B202 to axially position the deep groove ball bearing 160;

[0032] (4) Install the pipe sleeve A170, and connect the flange 190 and the center wheel shaft A180 through splines.

[0033] The power of the double-support input structure RV reducer of the present invention is transmitted to the center wheel shaft A180 through the flange 190, so that the center wheel shaft A180 rotates relative to the pinion housing 100. The center wheel shaft A180 is engaged with the planetary gear 130 through the gear. The planetary gear 130 is connected to the eccentric shaft 140 through the spline. The eccentric shaft 140 drives the cycloid wheel to perform eccentric motion, thereby realizing the transmission of the fixed pinion housing and the planetary carrier.

[0034] Example 1

[0035] This utility model provides a double-support input structure for RV reducer, please refer to Figure 1 As shown, it includes a pinion housing 100, a planetary carrier 110, an eccentric shaft 140, cycloidal gears 121 and 122, planetary gears 130, a needle roller bearing 150, a deep groove ball bearing 160, a sleeve A170, a center gear shaft A180, a flange 190, and bearing retaining rings A201 and B202. During the assembly process, the bearing retaining ring A201 is further installed. After the center gear shaft A180, the needle roller bearing 150, and the deep groove ball bearing 160 are further integrated into one body (external assembly is completed), the left end of the needle roller bearing 150 is positioned with the center gear shaft protrusion, and the left end of the deep groove ball bearing 160 is positioned with the center gear shaft protrusion. The assembly is carried out from right to left. The outer ring of the needle roller bearing is further installed to axially position the planetary carrier. The bearing retaining ring B 202 is further installed to axially position the deep groove ball bearing. The sleeve A170 is further installed, and the flange 190 is connected to the center gear shaft A180 via a spline. The power is transmitted to the center wheel shaft A180 through the flange, causing the center wheel shaft A180 to rotate relative to the pinion housing 100. The center wheel shaft A180 is engaged with the planetary gear 130 through the gear. The planetary gear 130 is connected to the eccentric shaft 140 through the spline. The eccentric shaft 140 drives the cycloid wheel to perform eccentric motion, thereby realizing the transmission of the fixed pinion housing and the planetary carrier.

[0036] Example 2

[0037] The utility model provides an RV reducer with a double-support input structure, including a pinion housing 100, a planetary carrier 110 is provided on the pinion housing 100, planetary gears 130 are provided on the planetary carrier 110, an eccentric shaft 140 is provided inside the planetary carrier 110, and the planetary gears 130 are connected to the eccentric shaft 140 through a spline; the eccentric shaft 140 is connected to the right cycloid wheel 121 and the left cycloid wheel 122, and the right cycloid wheel 121 and the left cycloid wheel 122 are driven to perform eccentric motion through the eccentric shaft 140.

[0038] The center hole of the planet carrier 110 is equipped with a bearing retaining ring A201 and a bearing retaining ring B202. The integrated center wheel shaft A180 is axially positioned by the bearing retaining ring A201 and the bearing retaining ring B202.

[0039] A central wheel shaft A180 is installed in the middle of the pinion housing 100. The end of the central wheel shaft A180 is meshed with the planetary gear 130 through a gear. A needle roller bearing 150 is provided near the end of the central wheel shaft A180. The other end of the central wheel shaft A180 is meshed with a flange 190 through a spline. A deep groove ball bearing 160 is provided on the central wheel shaft A180 near the flange. A pipe sleeve A170 is installed on the central wheel shaft A180 and between the deep groove ball bearing 160 and the flange.

[0040] The center wheel shaft A180 is integrated with the inner ring of the needle roller bearing 150 and the deep groove ball bearing 160; a boss is provided at the location where the needle roller bearing 150 and the deep groove ball bearing 160 are installed on the center wheel shaft A180 to position the needle roller bearing 150 and the deep groove ball bearing 160.

[0041] Example 3

[0042] The utility model provides an RV reducer with a double-support input structure, including a pinion housing 100, a planetary carrier 110 provided on the pinion housing 100, a planetary gear 130 provided on the planetary carrier 110, an eccentric shaft 140 provided inside the planetary carrier 110, the planetary gear 130 being connected to the eccentric shaft 140 via a spline; the eccentric shaft 140 being connected to a right cycloid wheel 121 and a left cycloid wheel 122, and the right cycloid wheel 121 and the left cycloid wheel 122 being driven to perform eccentric motion by the eccentric shaft 140; the planetary carrier 110 is provided with a boss for axially positioning the needle roller bearing;

[0043] A central wheel shaft A180 is installed in the middle of the pinion housing 100. The end of the central wheel shaft A180 is meshed with the planetary gear 130 through a gear. A needle roller bearing 150 is provided near the end of the central wheel shaft A180. The other end of the central wheel shaft A180 is meshed with a flange 190 through a spline. A deep groove ball bearing 160 is provided on the central wheel shaft A180 near the flange. A pipe sleeve A170 is installed on the central wheel shaft A180 and between the deep groove ball bearing 160 and the flange.

[0044] After the center wheel shaft A180, the inner ring of the needle roller bearing 150, and the deep groove ball bearing 160 are integrated into one body, the assembly direction is changed due to structural limitations.

[0045] Example 4

[0046] The utility model provides a novel double-support input structure RV reducer, including a pinion housing 100, a planetary carrier 110 is provided on the pinion housing 100, a planetary gear 130 is provided on the planetary carrier 110, an eccentric shaft 140 is provided inside the planetary carrier 110, the planetary gear 130 is connected to the eccentric shaft 140 through a spline; the eccentric shaft 140 is connected to the right cycloid wheel 121 and the left cycloid wheel 122, and the right cycloid wheel 121 and the left cycloid wheel 122 are driven by the eccentric shaft 140 to perform eccentric motion;

[0047] A central wheel shaft A180 is installed in the middle of the pinion housing 100. The end of the central wheel shaft A180 is meshed with the planetary gear 130 through a gear. A needle roller bearing 150 is provided near the end of the central wheel shaft A180. The other end of the central wheel shaft A180 is meshed with a flange 190 through a spline. A deep groove ball bearing 160 is provided on the central wheel shaft A180 near the flange. A pipe sleeve A170 is installed on the central wheel shaft A180 and between the deep groove ball bearing 160 and the flange.

[0048] The center wheel shaft A180 is integrated with the inner ring of the needle roller bearing 150 and the deep groove ball bearing 160; the planet carrier 110 is provided with a boss to axially position the outer ring of the needle roller bearing 150.

[0049] Example 5

[0050] The utility model provides an RV reducer with a double-support input structure, including a pinion housing 100, a planetary carrier 110 provided on the pinion housing 100, a planetary gear 130 provided on the planetary carrier 110, an eccentric shaft 140 provided inside the planetary carrier 110, the planetary gear 130 being connected to the eccentric shaft 140 via a spline; the eccentric shaft 140 being connected to a right cycloid wheel 121 and a left cycloid wheel 122, and the right cycloid wheel 121 and the left cycloid wheel 122 being driven to perform eccentric motion by the eccentric shaft 140; the planetary carrier 110 is provided with a boss to axially limit the needle roller bearing;

[0051] The center hole of the planet carrier 110 is equipped with a bearing retaining ring A201 and a bearing retaining ring B202. The integrated center wheel shaft A180 is axially positioned by the bearing retaining ring A201 and the bearing retaining ring B202.

[0052] A central wheel shaft A180 is installed in the middle of the pinion housing 100. The end of the central wheel shaft A180 is meshed with the planetary gear 130 through a gear. A needle roller bearing 150 is provided near the end of the central wheel shaft A180. The other end of the central wheel shaft A180 is meshed with a flange 190 through a spline. A deep groove ball bearing 160 is provided on the central wheel shaft A180 near the flange. A pipe sleeve A170 is installed on the central wheel shaft A180 and between the deep groove ball bearing 160 and the flange.

[0053] The center wheel shaft A180 is integrated with the inner ring of the needle roller bearing 150 and the deep groove ball bearing 160. The center wheel shaft is assembled by axial positioning of the whole through the bearing retaining ring A201.

[0054] Example 6

[0055] The utility model provides an RV reducer with a double-support input structure, including a pinion housing 100, a planetary carrier 110 provided on the pinion housing 100, a planetary gear 130 provided on the planetary carrier 110, an eccentric shaft 140 provided inside the planetary carrier 110, the planetary gear 130 being connected to the eccentric shaft 140 via a spline; the eccentric shaft 140 being connected to a right cycloid wheel 121 and a left cycloid wheel 122, and the right cycloid wheel 121 and the left cycloid wheel 122 being driven to perform eccentric motion by the eccentric shaft 140; the planetary carrier 110 is provided with a boss to axially limit the needle roller bearing;

[0056] The center hole of the planet carrier 110 is equipped with a bearing retaining ring A201 and a bearing retaining ring B202. The integrated center wheel shaft A180 is axially positioned by the bearing retaining ring A201 and the bearing retaining ring B202.

[0057] A central wheel shaft A180 is installed in the middle of the pinion housing 100. The end of the central wheel shaft A180 is meshed with the planetary gear 130 through a gear. A needle roller bearing 150 is provided near the end of the central wheel shaft A180. The other end of the central wheel shaft A180 is meshed with a flange 190 through a spline. A deep groove ball bearing 160 is provided on the central wheel shaft A180 near the flange. A pipe sleeve A170 is installed on the central wheel shaft A180 and between the deep groove ball bearing 160 and the flange.

[0058] After the center wheel shaft A180 is fixed relative to the pinion housing 100, further, the deep groove ball bearing 160 is fixed in position due to the bearing retaining ring A201 and the bearing retaining ring B202, and the sleeve A170 contacts the deep groove ball bearing 160. Further, the position of the sleeve A170 is fixed, and the sleeve A170 contacts the flange 190. Further, the flange 190 is axially positioned.

[0059] Comparative Example 1

[0060] Traditional RV reducer integrated transmission mode, such as Figure 2a As shown, during assembly, the center wheel shaft B350 and a pair of tapered roller bearings 310, 320, and the sleeve B370 are assembled into one piece (external assembly is completed), and then installed from left to right, and further installed are the left bearing retaining ring 300, the right bearing retaining ring 330, the sleeve C340 and the retaining ring 360. In order to facilitate assembly, as shown in FIG. Figure 2bAs shown, the bearing retaining ring A201 is further installed, and after the center wheel shaft A180, the needle roller bearing 150 and the deep groove ball bearing 160 are further assembled into one (external assembly is completed), the left end of the needle roller bearing 150 is positioned with the center wheel shaft protrusion, and the left end of the deep groove ball bearing 160 is positioned with the center wheel shaft protrusion, and the installation is carried out from right to left, and the bearing retaining ring B202, the pipe sleeve A170 and the flange 190 are further installed.

[0061] Compared with the prior art, the double-support input structure of the RV reducer of the present invention has the following features: (1) the center wheel shaft structure is changed; (2) needle roller bearings and deep groove ball bearings are used instead of a pair of tapered roller bearings; (3) the sleeve between the bearings in the original transmission mode is eliminated; and (4) the assembly steps are changed.

[0062] The double-support input structure of the RV-C reducer provided by the utility model has the following advantages:

[0063] 1. This mechanism changes the center wheel shaft structure. The center wheel shaft is provided with a boss to axially position the bearing, eliminating the sleeve between the two bearings and reducing the assembly steps of the RV reducer.

[0064] 2. This mechanism uses needle roller bearings and deep groove ball bearings instead of a pair of tapered roller bearings, so that the RV reducer does not need to be pre-tightened during the assembly process, making it easier to assemble.

Claims

1. Double support input structure RV reducer, characterized by: The invention comprises a pinion housing (100), wherein a planetary carrier (110) is provided on the pinion housing (100), a planetary gear (130) is provided on the planetary carrier (110), an eccentric shaft (140) is provided inside the planetary carrier (110), the planetary gear (130) is connected to the eccentric shaft (140) via a spline, a central wheel shaft A (180) is installed in the middle of the pinion housing (100), the end of the central wheel shaft A (180) is meshed with the planetary gear (130) via a gear, a needle roller bearing (150) is provided near the end of the central wheel shaft A (180), the other end of the central wheel shaft A (180) is meshed with a flange (190) via a spline, and a deep groove ball bearing (160) is provided on the central wheel shaft A (180) near the flange.

2. The double-support input structure RV reducer according to claim 1, characterized in that: The central wheel shaft A (180), the inner ring of the needle roller bearing (150), and the deep groove ball bearing (160) are assembled and installed as a whole.

3. The double-support input structure RV reducer according to claim 2, characterized in that: The central wheel shaft A (180) is provided with a boss at the location where the needle roller bearing (150) and the deep groove ball bearing (160) are mounted, so as to position the needle roller bearing (150) and the deep groove ball bearing (160).

4. The double-support input structure RV reducer according to claim 2, characterized in that: After the central wheel shaft A (180) is integrated with the inner ring of the needle roller bearing (150) and the deep groove ball bearing (160), the installation direction is changed.

5. The double-support input structure RV reducer according to claim 1, characterized in that: The planet carrier (110) is provided with a boss for axially positioning the outer ring of the needle roller bearing (150).

6. The double-support input structure RV reducer according to claim 2, characterized in that: A bearing retaining ring A (201) and a bearing retaining ring B (202) are assembled at the center hole of the planet carrier (110), and the integrated center wheel shaft A (180) is axially positioned by the bearing retaining ring A (201) and the bearing retaining ring B (202).

7. The double-support input structure RV reducer according to claim 1, characterized in that: A sleeve A (170) is sleeved on the central wheel shaft A (180) and between the deep groove ball bearing (160) and the flange.

8. An industrial robot, characterized in that An RV reducer with a double-support input structure as described in any one of claims 1 to 7 is installed.

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