Double-support input structure integrated RV-C speed reducer and industrial robot

Abstract

The utility model provides an integrated RV-C speed reducer with a double-support input structure. The integrated RV-C speed reducer comprises a pin wheel housing, a planet carrier, an eccentric shaft, a left cycloidal gear, a right cycloidal gear and a planetary gear. The planetary gear is meshed with the pinion A, the pinion A is arranged on the periphery of the pipe sleeve A, the pinion A and the pipe sleeve A are integrated, the pipe sleeve A penetrates through the flange A and is connected with the gear A. Power is transmitted to the pipe sleeve A through the gear A, so that the pipe sleeve A rotates, the planetary gear is driven to rotate, and the planetary gear is connected with the eccentric shaft through a spline. And the left cycloidal gear and the right cycloidal gear are driven by the eccentric shaft to do eccentric motion, so that the transmission of the fixed pin wheel housing and the planet carrier or the transmission of the fixed planet carrier and the pin wheel housing is realized. The utility model further provides an industrial robot provided with the speed reducer, and the speed reducer solves the problems that an existing RV-C speed reducer is single in transmission mode, and the size of a speed reducer all-in-one machine is too large due to the transmission mode.

Description

Technical Field

[0001] The utility model belongs to the technical field of cycloid pinwheel reducers, and in particular relates to an integrated RV-C 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 use of industrial robots, the requirements for RV reducers, their core component, are becoming increasingly stringent. High precision and miniaturization are the development trends of the new generation of RV reducers. In the RV-C all-in-one reducer, the motor gear shaft passes through a reserved motor gear shaft hole in the flange and meshes with the large gear, which in turn drives the pinion gear to mesh with the planetary gears, enabling the RV-C reducer to operate. However, this transmission method, because the motor gear shaft passes through the reserved motor gear shaft hole in the flange to mesh with the large gear, results in a single transmission mode and a relatively large size for the all-in-one RV reducer. Utility Model Content

[0003] The purpose of the utility model is to provide an integrated RV-C reducer with a double-support input structure, which solves the problem that the existing RV-C reducer has a single transmission form and the transmission mode causes the reducer integrated machine to be larger in size.

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

[0005] The technical solution adopted by the present invention is an integrated RV-C reducer with a double-support input structure, including a pinion housing, a planetary carrier, an eccentric shaft, a left cycloid wheel and a right cycloid wheel, and planetary gears; the planetary gears are meshed with the pinion A, and the pinion A is arranged on the outer periphery of the pipe sleeve A and the two are integrated into one. The pipe sleeve A passes through the flange A, and the pipe sleeve A is connected to the gear A. The power is transmitted to the pipe sleeve A through the gear A, so that the pipe sleeve A rotates, and then drives the planetary gears to rotate. The planetary gears are connected to the eccentric shaft through a spline, and the left cycloid wheel and the right cycloid wheel are driven to perform eccentric motion through the eccentric shaft, thereby realizing the transmission of the fixed pinion housing and the planetary carrier, or the transmission of the fixed planetary carrier and the pinion housing.

[0006] The technical solution of the present utility model is also characterized in that:

[0007] Furthermore, the pinion A is integrated with the sleeve A to serve as the input shaft of the reducer.

[0008] Furthermore, the gear A is connected to the pipe sleeve A by bolts.

[0009] Furthermore, a pair of deep groove ball bearings are provided on the outer periphery of the sleeve A, namely deep groove ball bearing I and deep groove ball bearing II. By changing the installation positions of the two deep groove ball bearings, the installation span of the two bearings is increased.

[0010] Furthermore, the sleeve A contacts the deep groove ball bearing II, thereby positioning the sleeve A.

[0011] Furthermore, a double-lip skeleton oil seal is installed on the pipe sleeve A, the pipe sleeve A and the double-lip skeleton oil seal are interference-connected, and the pipe sleeve A can rotate relative to the double-lip skeleton oil seal.

[0012] Furthermore, gear A can be replaced with a pulley or a flange to achieve diversified power transmission.

[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 integrated RV-C reducer.

[0014] The beneficial effects of the present invention are:

[0015] The utility model changes the double gear structure, integrates the small gears in the double gears and the pipe sleeve into a whole, and uses the reducer input shaft as the input shaft. The input shaft can be connected to the pulley, gear or flange by bolts, thereby realizing diversified power transmission; the input shaft uses a pair of deep groove ball bearings for axial positioning and support. By changing the bearing installation position and increasing the installation span of the two bearings, the rigidity of the input shaft is effectively enhanced, vibration is reduced, and the overall dimensions of the RV-C reducer integrated machine are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the utility model's integrated RV-C reducer with double-support input structure;

[0017] Figure 2a This is a schematic diagram of the internal structure of the traditional RV-C reducer transmission structure;

[0018] Figure 2b It is a structural diagram of the double-support input structure of the utility model.

[0019] In the figure, 100, pinion gear housing, 110, planetary carrier, 121, left cycloid wheel, 122, right cycloid wheel, 130, planetary gear, 140, eccentric shaft, 151, deep groove ball bearing I, 152, deep groove ball bearing II, 200, flange A, 210, sleeve A, 211, bolt, 212, pinion A, 220, double lip skeleton oil seal, 230, gear A; 300, sleeve B, 310, pinion B, 320, flange B, 330, large gear, 340, motor gear shaft, 351 deep groove ball bearing III, 352, deep groove ball bearing IV, 360, duplex gear. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0021] This utility model provides a new sealing structure for RV-C reducer integrated machine, please refer to Figure 1 As shown, the system includes a pinion housing 100, a planetary carrier 110, an eccentric shaft 140, cycloidal gears 121 and 122, planetary gears 130, deep groove ball bearings 151 and 152, a flange A200, a sleeve A210, bolts 211, a pinion A212, a double-lip skeleton oil seal 220, and a gear A230. The motor transmits power to gear A230, which is connected to sleeve A210 via bolts 211, thereby driving sleeve A210 to rotate. Gear A230 can be a pulley or a flange. The dimensions of gear A230, pulley, and flange can vary depending on the application scenario. The sleeve A210 and the pinion A212 are integrated into one, the pinion A212 and the planetary gear 130 are meshed with each other, the planetary gear 130 is connected to the eccentric shaft 140 through a spline, and the eccentric shaft 140 drives the cycloid wheels 121 and 122 to perform eccentric motion, thereby realizing the transmission of the fixed pinion housing 100 and the planetary carrier 110, or the transmission of the fixed planetary carrier 110 and the pinion housing 100.

[0022] Example 1

[0023] The integrated RV-C reducer with a double-support input structure includes a pinion housing 100, a planetary carrier 110, an eccentric shaft 140, a left cycloid wheel 121 and a right cycloid wheel 122, planetary gears 130, a flange A200, a sleeve A210, bolts 211, a pinion A212, a double-lip skeleton oil seal 220 and a gear A230. The pinion A212 and the sleeve A210 are integrated into one, and the sleeve A210 and the gear A230 are connected by a bolt 211. The power is transmitted to the sleeve A210 through the gear A230, thereby rotating the sleeve A210. The pinion A212 on the sleeve A210 is engaged with the planetary gear 130. The planetary gear 130 is connected to the eccentric shaft 140 through a spline. The eccentric shaft 140 drives the left cycloid wheel 121 and the right cycloid wheel 122 to perform eccentric motion, thereby realizing the transmission of the fixed pinion gear case and the planetary carrier, or the transmission of the fixed planetary carrier and the pinion gear case.

[0024] Example 2

[0025] The RV-C reducer with a double-support input structure includes a pinion housing 100, a planetary carrier 110, an eccentric shaft 140, a left cycloid wheel 121, a right cycloid wheel 122, and a planetary gear 130; the planetary gear 130 is meshed with the pinion A212, the pinion A212 is arranged on the outer periphery of the sleeve A210 and the two are integrated into one, serving as the input shaft of the reducer, the sleeve A210 passes through the flange A200, and the sleeve A210 is connected to the gear A230. The power is transmitted to the sleeve A210 through the gear A230, thereby causing the sleeve A210 to rotate, thereby driving the planetary gear 130 to rotate. The planetary gear 130 is connected to the eccentric shaft 140 through a spline, and drives the left cycloid wheel 121 and the right cycloid wheel 122 to perform eccentric motion through the eccentric shaft 140, thereby realizing the transmission of the fixed pinion housing and the planetary carrier, or the transmission of the fixed planetary carrier and the pinion housing.

[0026] Example 3

[0027] The RV-C reducer with a double-support input structure includes a pinion housing 100, a planetary carrier 110, an eccentric shaft 140, a left cycloid wheel 121, a right cycloid wheel 122, and a planetary gear 130; the planetary gear 130 is meshed with the pinion A212, the pinion A212 is arranged on the outer periphery of the sleeve A210 and the two are integrated into one, serving as the input shaft of the reducer, the sleeve A210 passes through the flange A200, and the sleeve A210 and the gear A230 are connected by a bolt 211. The power is transmitted to the sleeve A210 through the gear A230, thereby causing the sleeve A210 to rotate, thereby driving the planetary gear 130 to rotate, and the planetary gear 130 is connected to the eccentric shaft 140 through a spline, and drives the left cycloid wheel 121 and the right cycloid wheel 122 to perform eccentric motion through the eccentric shaft 140, thereby realizing the transmission of the fixed pinion housing and the planetary carrier, or the transmission of the fixed planetary carrier and the pinion housing.

[0028] A pair of deep groove ball bearings are provided on the outer periphery of the sleeve A210, namely deep groove ball bearing I151 and deep groove ball bearing II152. By changing the installation positions of the two deep groove ball bearings, the installation span of the two bearings is increased.

[0029] Example 4

[0030] The RV-C reducer with a double-support input structure includes a pinion housing 100, a planetary carrier 110, an eccentric shaft 140, a left cycloid wheel 121, a right cycloid wheel 122, and a planetary gear 130; the planetary gear 130 is meshed with the pinion A212, the pinion A212 is arranged on the outer periphery of the sleeve A210 and the two are integrated into one, serving as the input shaft of the reducer, the sleeve A210 passes through the flange A200, and the sleeve A210 and the gear A230 are connected by a bolt 211. The power is transmitted to the sleeve A210 through the gear A230, thereby causing the sleeve A210 to rotate, thereby driving the planetary gear 130 to rotate, and the planetary gear 130 is connected to the eccentric shaft 140 through a spline, and drives the left cycloid wheel 121 and the right cycloid wheel 122 to perform eccentric motion through the eccentric shaft 140, thereby realizing the transmission of the fixed pinion housing and the planetary carrier, or the transmission of the fixed planetary carrier and the pinion housing.

[0031] A pair of deep groove ball bearings are provided on the outer periphery of the sleeve A210, namely deep groove ball bearing I151 and deep groove ball bearing II152. By changing the installation positions of the two deep groove ball bearings, the installation span of the two bearings is increased.

[0032] The sleeve A210 contacts the deep groove ball bearing II 152, thereby positioning the sleeve A210.

[0033] A double-lip skeleton oil seal 220 is installed on the pipe sleeve A210. The pipe sleeve A210 and the double-lip skeleton oil seal 220 are interference-connected, and the pipe sleeve A210 can rotate relative to the double-lip skeleton oil seal 220.

[0034] Example 5

[0035] The RV-C reducer with a double-support input structure includes a pinion housing 100, a planetary carrier 110, an eccentric shaft 140, a left cycloid wheel 121, a right cycloid wheel 122, and a planetary gear 130; the planetary gear 130 is meshed with the pinion A212, the pinion A212 is arranged on the outer periphery of the sleeve A210 and the two are integrated into one, serving as the input shaft of the reducer, the sleeve A210 passes through the flange A200, and the sleeve A210 is connected to the pulley by a bolt 211. The power is transmitted to the sleeve A210 through the pulley, thereby rotating the sleeve A210, and then driving the planetary gear 130 to rotate. The planetary gear 130 is connected to the eccentric shaft 140 through a spline, and drives the left cycloid wheel 121 and the right cycloid wheel 122 to perform eccentric motion through the eccentric shaft 140, thereby realizing the transmission of the fixed pinion housing and the planetary carrier, or the transmission of the fixed planetary carrier and the pinion housing.

[0036] A pair of deep groove ball bearings are provided on the outer periphery of the sleeve A210, namely deep groove ball bearing I151 and deep groove ball bearing II152. By changing the installation positions of the two deep groove ball bearings, the installation span of the two bearings is increased.

[0037] The tube sleeve A210 is in contact with the deep groove ball bearing II 152, thereby positioning the tube sleeve A210.

[0038] The double-lip skeleton oil seal 220 is mounted on the tube sleeve A210, the tube sleeve A210 is in interference connection with the double-lip skeleton oil seal 220, and the tube sleeve A210 can rotate relative to the double-lip skeleton oil seal 220.

[0039] Example 6

[0040] The double-support input structure integrated RV-C reducer includes a pin gear shell 100, a planet carrier 110, an eccentric shaft 140, a left cycloid wheel 121 and a right cycloid wheel 122, and a planet gear 130. The planet gear 130 is in meshing connection with a pinion A212, the pinion A212 is arranged on the outer periphery of a tube sleeve A210 and integrated with the tube sleeve A210 as an input shaft of the reducer. The tube sleeve A210 penetrates through a flange A200, and the tube sleeve A210 is connected with the flange through bolts 211. Power is transmitted to the tube sleeve A210 through the flange, so as to rotate the tube sleeve A210, and further drive the planet gear 130 to rotate. The planet gear 130 is connected with the eccentric shaft 140 through a spline, and drives the left cycloid wheel 121 and the right cycloid wheel 122 to do eccentric motion through the eccentric shaft 140, so as to realize transmission of fixing the pin gear shell and the planet carrier, or transmission of fixing the planet carrier and the pin gear shell.

[0041] A pair of deep groove ball bearings are arranged on the outer periphery of the tube sleeve A210, which are respectively a deep groove ball bearing I 151 and a deep groove ball bearing II 152. The installation positions of the two deep groove ball bearings are changed, and the installation span of the two bearings is increased.

[0042] The tube sleeve A210 is in contact with the deep groove ball bearing II 152, thereby positioning the tube sleeve A210.

[0043] Example 7

[0044] The double-support input structure integrated RV-C reducer includes a pin gear shell 100, a planet carrier 110, an eccentric shaft 140, a left cycloid wheel 121 and a right cycloid wheel 122, and a planet gear 130. The planet gear 130 is in meshing connection with a pinion A212, the pinion A212 is arranged on the outer periphery of a tube sleeve A210 and integrated with the tube sleeve A210 as an input shaft of the reducer. The tube sleeve A210 penetrates through a flange A200, and the tube sleeve A210 is connected with the flange through bolts 211. Power is transmitted to the tube sleeve A210 through the flange, so as to rotate the tube sleeve A210, and further drive the planet gear 130 to rotate. The planet gear 130 is connected with the eccentric shaft 140 through a spline, and drives the left cycloid wheel 121 and the right cycloid wheel 122 to do eccentric motion through the eccentric shaft 140, so as to realize transmission of fixing the pin gear shell and the planet carrier, or transmission of fixing the planet carrier and the pin gear shell.

[0045] A pair of deep groove ball bearings are provided on the outer periphery of the sleeve A210, namely deep groove ball bearing I151 and deep groove ball bearing II152. By changing the installation positions of the two deep groove ball bearings, the installation span of the two bearings is increased.

[0046] The sleeve A210 contacts the deep groove ball bearing II 152, thereby positioning the sleeve A210.

[0047] A double-lip skeleton oil seal 220 is installed on the pipe sleeve A210. The pipe sleeve A210 and the double-lip skeleton oil seal 220 are interference-connected, and the pipe sleeve A210 can rotate relative to the double-lip skeleton oil seal 220.

[0048] The RV-C reducer of the present utility model is compared with the prior art as follows:

[0049] Traditional RV-C reducer integrated transmission mode, such as Figure 2a As shown, the motor gear shaft 340 is engaged with the large gear 330 and passes through the motor gear shaft hole reserved in the flange B320. The large gear 330 and the small gear B310 are fixed by pins. The small gear B310 is engaged with the planetary gear, thereby driving the RV-C reducer to operate.

[0050] The RV-C reducer of this utility model is designed to realize the diversification of power transmission and reduce the overall size of the RV-C reducer integrated machine. Figure 2b As shown, the sleeve A210 and the pinion A212 on the sleeve are integrated into one body, the sleeve A210 is connected to the gear A230 by a bolt 211, and the power is transmitted to the sleeve A210 through the gear A230, so that the sleeve A210 rotates, thereby driving the pinion A212 to engage with the planetary gear, and the gear A230 can be replaced with a pulley or a flange, so that the RV-C reducer can operate.

[0051] The RV-C reducer of the present invention changes the rotation of the pinion B310 relative to the sleeve B300, and integrates the pinion A212 and the sleeve A210 into one body; in order to reduce the overall dimensions, the large gear 330 in the double gear 360 is eliminated; the structure of the flange is changed, and the motor gear shaft hole on the flange is eliminated; the bearing installation position in the original transmission mode is changed, and the installation span of the two bearings is increased.

[0052] Compared with the existing technology, the new integrated sealing structure of the RV-C reducer provided by the utility model has the following advantages:

[0053] 1. The small gears in the double gears and the sleeve are integrated into a whole as the input shaft of the reducer. The input shaft can be connected to the pulley, gear or flange by bolts, thereby realizing diversified power transmission;

[0054] 2. By changing the installation position of the deep groove ball bearings and increasing the installation span between the two bearings, the rigidity of the input shaft is effectively enhanced, vibration is reduced, and the overall dimensions of the RV-C reducer are reduced.

[0055] The utility model provides an integrated double-support input structure for an RV-C reducer all-in-one. This structure eliminates the motor gear shaft hole reserved in the flange, and the small and medium gears of the double gears are integrated with the pipe sleeve into a whole as the reducer input shaft. The motor transmits power to the pulley, gear or flange connected to the input shaft by screws, thereby realizing diversified power transmission; the input shaft uses a pair of deep groove ball bearings for axial positioning and support. By changing the bearing installation position and increasing the installation span of the two bearings, the rigidity of the input shaft is effectively enhanced, vibration is reduced, and the overall dimensions of the RV-C reducer all-in-one are reduced.

Claims

1. A double-support input structure integrated RV-C reducer, comprising a pinion housing (100), a planetary carrier (110), an eccentric shaft (140), a left cycloid wheel (121), a right cycloid wheel (122), and a planetary gear (130); characterized in that: The planetary gear (130) is meshed with a pinion A (212). The pinion A (212) is arranged on the outer periphery of a sleeve A (210). The sleeve A (210) passes through a flange A (200). The sleeve A (210) is connected to a gear A (230). Power is transmitted to the sleeve A (210) via the gear A (230), thereby rotating the sleeve A (210), thereby driving the planetary gear (130) to rotate. The planetary gear (130) is connected to an eccentric shaft (140) via a spline, and drives the left cycloid wheel (121) and the right cycloid wheel (122) to perform eccentric motion via the eccentric shaft (140), thereby realizing transmission of a fixed pinion gear housing and a planetary carrier, or transmission of a fixed planetary carrier and a pinion gear housing.

2. The double-support input structure integrated RV-C reducer according to claim 1 is characterized in that: The pinion A (212) and the sleeve A (210) are integrated into one body and serve as the input shaft of the reducer.

3. The double-support input structure integrated RV-C reducer according to claim 1, characterized in that: The gear A (230) is connected to the pipe sleeve A (210) via bolts (211).

4. The double-support input structure integrated RV-C reducer according to claim 1, characterized in that: A pair of deep groove ball bearings are provided on the outer periphery of the sleeve A (210), namely deep groove ball bearing I (151) and deep groove ball bearing II (152). By changing the installation positions of the two deep groove ball bearings, the installation span of the two bearings is increased.

5. The double-support input structure integrated RV-C reducer according to claim 1, characterized in that: The sleeve A (210) contacts the deep groove ball bearing II (152), thereby positioning the sleeve A (210).

6. The double-support input structure integrated RV-C reducer according to claim 1, characterized in that: A double-lip skeleton oil seal (220) is mounted on the sleeve A (210), the sleeve A (210) and the double-lip skeleton oil seal (220) are interference-connected, and the sleeve A (210) is rotatable relative to the double-lip skeleton oil seal (220).

7. The double-support input structure integrated RV-C reducer according to claim 1, characterized in that: The gear A (230) can be replaced with a pulley or a flange to achieve diversification of power transmission.

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

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