CN106051069A - RV reducer for robot - Google Patents
RV reducer for robot Download PDFInfo
- Publication number
- CN106051069A CN106051069A CN201610667682.0A CN201610667682A CN106051069A CN 106051069 A CN106051069 A CN 106051069A CN 201610667682 A CN201610667682 A CN 201610667682A CN 106051069 A CN106051069 A CN 106051069A
- Authority
- CN
- China
- Prior art keywords
- robot
- decelerator
- roller bearing
- reducer
- crank axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses an RV reducer for a robot and relates to the field of industrial robot reducers. The reducer comprises a pin gear housing, roller pins, cycloidal gears, a crankshaft, planet carriers and rolling bearings. The RV reducer only adopts one crankshaft, and the crankshaft is hollow; no planet gears are adopted, and single reduction is realized; reinforcing shafts for connecting the cycloidal gears and the planet carriers have the small diameter, and a lot of the reinforcing shafts are adopted; and the two cycloidal gears with the phase difference being 180 degrees and the roller pins are meshed for reduction. The reducer has the beneficial effects as follows: the crankshaft is hollow, so that cross-wiring is facilitated; the RV reducer adopts one crankshaft and no planet gears and is simple in structure; the accuracy requirement for the planet carriers is reduced, and thus the planet carriers are convenient to machine; and the whole RV reducer is simple in structure, low in process difficulty, short in production cycle, low in machining cost and convenient to use.
Description
Technical field
The present invention relates to industrial robot decelerator field, particularly relate to a kind of robot RV decelerator.
Background technology
RV decelerator volume is little, lightweight, speed ratio is big, rigidity is high, and start steadily, accurate positioning, controllability strong, because of
This is widely used in industrial robot joint, for realizing motion and the precise delivery of instruction, completes accurate complicated work.
Existing RV reducer structure is complicated, including pin wheel housing, needle roller, Cycloidal Wheel, three crank axles, planet carriers, is arranged on
Two pairs of taper roll bearings between crank axle and planet carrier, the two pairs of cylindrical roller axles being arranged between crank axle and Cycloidal Wheel
The two diagonal angle contact ball bearings hold, being arranged between pin wheel housing and planet carrier, its requirement on machining accuracy is high, manufacturing process difficulty
Greatly, production cost is seriously restricted.And existing RV decelerator can not intert cable mostly from inside, it is the most convenient to use,
The needs of particular application can not be met.
Therefore, those skilled in the art is devoted to develop a kind of robot RV decelerator, it is achieved hollow can threading, and
And structure simplifies, requirement on machining accuracy is low.
Summary of the invention
In view of the defect of prior art, the technical problem to be solved is how to simplify existing RV decelerator,
Meet the requirement of hollow threading and rigidity.
For achieving the above object, the invention provides a kind of robot RV decelerator, including pin wheel housing, needle roller, cycloid
Wheel, crank axle, planet carrier and the first roller bearing, the second roller bearing, ball bearing and reinforced shaft, described first roller bearing
Being configured between described crank axle and described planet carrier, described second roller bearing is configured in described crank axle and described pendulum
Between line wheel, described ball bearing is configured between described pin wheel housing and described planet carrier, described Cycloidal Wheel and described needle roller phase
Engagement is slowed down mutually.
Further, crank axle described in only one of which.
Further, described crank axle is hollow.
Further, described first roller bearing is taper roll bearing.
Further, described second roller bearing is cylinder roller bearing and without inner ring and outer ring.
Further, described ball bearing is angular contact.
Further, the quantity of described reinforced shaft is 6-9.
Further, described Cycloidal Wheel is two panels and phase contrast is 180 °.
Further, the length of described needle roller is slightly less than the width sum of two described Cycloidal Wheel.
Further, the integral multiple that quantity is 2 of the described needle roller being meshed with described Cycloidal Wheel, and with described pin wheel housing
Interior teeth groove number is equal.
RV decelerator of the present invention has the advantage that
Crank axle uses hollow structure, can intert cable inside RV decelerator, saving space, and easy to use.
Connect reinforced shaft quantity (6-9) increase of Cycloidal Wheel and planet carrier, without the second Roller Shaft of the cylinder of inside and outside circle
Holding internal diameter to increase, the rigidity of RV decelerator increases.
Use single arbor, and there is no planetary gear, single-stage speed reducing, simple in construction；Meanwhile, the craft precision of planet carrier is wanted
Asking reduction, difficulty of processing reduces, and the production cycle shortens, and processing cost reduces.
Below with reference to accompanying drawing, the technique effect of design, concrete structure and the generation of the present invention is described further, with
It is fully understood from the purpose of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the sectional drawing being parallel to axis direction of a preferred embodiment of the present invention；
Fig. 2 is the sectional drawing being perpendicular to axis direction of a preferred embodiment of the present invention；
Wherein, 1 is pin wheel housing, and 2 is needle roller, and 3,7,11,13 is the first roller bearing, and 4 is reinforced shaft, and 5,14 is the second rolling
Sub-bearing, 6 is crank axle, and 8,12 is planet carrier, and 9 is Cycloidal Wheel, and 10 is ball bearing.
Detailed description of the invention
As depicted in figs. 1 and 2, a preferred embodiment of a kind of robot RV decelerator that the present invention provides, including
Pin wheel housing, needle roller, Cycloidal Wheel, crank axle, planet carrier and the first roller bearing, the second roller bearing, ball bearing and reinforced shaft,
Described first roller bearing is configured between described crank axle and described planet carrier, and described second roller bearing is configured in institute
Stating between crank axle and described Cycloidal Wheel, described ball bearing is configured between described pin wheel housing and described planet carrier, described pendulum
Line wheel engages each other with described needle roller and slows down.
During work, motor connects belt pulley, and input torque passes to crank axle 6 by belt pulley, or during work, motor
Rotating, input torque passes to front end by involute gear and adds the crank axle 6 of tooth, completes the first order outside RV decelerator and subtract
Speed；After entering RV decelerator inside, it is 180 ° that crank axle 6 transmits torque to two phase contrasts by the first roller bearing 7,13
Cycloidal Wheel 9；Cycloidal Wheel 9 engages with the needle roller 2 being fixed on pin wheel housing 1, completes the internal second level of RV decelerator and slows down.
One preferred embodiment of RV decelerator of the present invention has the advantage that
Crank axle uses hollow structure, can intert cable inside RV decelerator, saving space, and easy to use.
Connecting the reinforced shaft quantity increase of Cycloidal Wheel and planet carrier, the cylinder roller bearing internal diameter without inside and outside circle increases, RV
The rigidity of decelerator increases.
Use single arbor, and there is no planetary gear, single-stage speed reducing, simple in construction；Meanwhile, the craft precision of planet carrier is wanted
Asking reduction, difficulty of processing reduces, and the production cycle shortens, and processing cost reduces.
The preferred embodiment of the present invention described in detail above.Should be appreciated that the ordinary skill of this area is without wound
The property made work just can make many modifications and variations according to the design of the present invention.Therefore, all technical staff in the art
The most on the basis of existing technology by the available technology of logical analysis, reasoning, or a limited experiment
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a robot RV decelerator, it is characterised in that include pin wheel housing, needle roller, Cycloidal Wheel, crank axle, planet carrier with
And first roller bearing, the second roller bearing, ball bearing and reinforced shaft, described first roller bearing is configured in described crank axle
With between described planet carrier, described second roller bearing is configured between described crank axle and described Cycloidal Wheel, described ball axle
Holding and be configured between described pin wheel housing and described planet carrier, described Cycloidal Wheel engages each other with described needle roller slows down.
2. robot as claimed in claim 1 RV decelerator, it is characterised in that crank axle described in only one of which.
3. robot as claimed in claim 1 RV decelerator, it is characterised in that described crank axle is hollow.
4. robot as claimed in claim 1 RV decelerator, it is characterised in that described first roller bearing is taper roller
Bearing.
5. robot as claimed in claim 1 RV decelerator, it is characterised in that described second roller bearing is cylindrical roller
Bearing and without inner ring and outer ring.
6. robot as claimed in claim 1 RV decelerator, it is characterised in that described ball bearing is angular contact.
7. robot as claimed in claim 1 RV decelerator, it is characterised in that the quantity of described reinforced shaft is 6-9.
8. robot as claimed in claim 1 RV decelerator, it is characterised in that described Cycloidal Wheel is two panels and phase contrast is
180°。
9. robot as claimed in claim 8 RV decelerator, it is characterised in that the length of described needle roller is slightly less than two institutes
State the width sum of Cycloidal Wheel.
10. robot as claimed in claim 1 RV decelerator, it is characterised in that described in being meshed with described Cycloidal Wheel
The quantity of needle roller is the integral multiple of 2, and equal with the teeth groove number in described pin wheel housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667682.0A CN106051069A (en) | 2016-08-12 | 2016-08-12 | RV reducer for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667682.0A CN106051069A (en) | 2016-08-12 | 2016-08-12 | RV reducer for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106051069A true CN106051069A (en) | 2016-10-26 |
Family
ID=57481183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610667682.0A Pending CN106051069A (en) | 2016-08-12 | 2016-08-12 | RV reducer for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106051069A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112096793A (en) * | 2019-06-17 | 2020-12-18 | 安徽欢廷智能科技有限公司 | Miniature large-aperture hollow RV speed reducer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1914438A (en) * | 2004-01-30 | 2007-02-14 | 纳博特斯克株式会社 | Eccentric swing type planetary gear device |
| CN203130928U (en) * | 2012-12-17 | 2013-08-14 | 哈尔滨理工大学 | RV double-cycloidal-pin-wheel speed reducer |
| US20140018203A1 (en) * | 2012-07-13 | 2014-01-16 | Industrial Technology Research Institute | Two-stage differential cycloidal speed reducer with a high reduction ratio |
| CN104565217A (en) * | 2013-10-28 | 2015-04-29 | 北京配天技术有限公司 | Cycloidal pin wheel speed reducer and robot |
-
2016
- 2016-08-12 CN CN201610667682.0A patent/CN106051069A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1914438A (en) * | 2004-01-30 | 2007-02-14 | 纳博特斯克株式会社 | Eccentric swing type planetary gear device |
| US20140018203A1 (en) * | 2012-07-13 | 2014-01-16 | Industrial Technology Research Institute | Two-stage differential cycloidal speed reducer with a high reduction ratio |
| CN203130928U (en) * | 2012-12-17 | 2013-08-14 | 哈尔滨理工大学 | RV double-cycloidal-pin-wheel speed reducer |
| CN104565217A (en) * | 2013-10-28 | 2015-04-29 | 北京配天技术有限公司 | Cycloidal pin wheel speed reducer and robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112096793A (en) * | 2019-06-17 | 2020-12-18 | 安徽欢廷智能科技有限公司 | Miniature large-aperture hollow RV speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |