CN206522408U - A kind of industrial robot joint reductor - Google Patents
A kind of industrial robot joint reductor Download PDFInfo
- Publication number
- CN206522408U CN206522408U CN201720210007.5U CN201720210007U CN206522408U CN 206522408 U CN206522408 U CN 206522408U CN 201720210007 U CN201720210007 U CN 201720210007U CN 206522408 U CN206522408 U CN 206522408U
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- China
- Prior art keywords
- disk
- lower frame
- eccentric shaft
- input shaft
- overhead
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Abstract
The utility model is related to a kind of industrial robot joint reductor, including output panel, overhead disk, lower frame disk, eccentric shaft, Cycloidal Wheel, input shaft and needle roller, and output panel, overhead disk, lower frame disk are disc-shape, and overhead disk is fixedly connected with lower frame disk；The center rotatable connection input shaft of overhead disk and lower frame disk, overhead disk and lower frame disk are also rotatably connected 3 eccentric shafts, and eccentric shaft is evenly arranged in the outside of input shaft and parallel with input shaft, and input shaft and eccentric shaft are rotatably connected by input shaft gear；Rotatable connection output panel on the outside of overhead disk and lower frame disk, Cycloidal Wheel is arranged in the outside of eccentric shaft, and is rotatably connected with eccentric shaft；Needle roller is provided between output panel and Cycloidal Wheel, output panel and Cycloidal Wheel are rotatably connected by needle roller.The utility model solves the problem of input gear and planetary gear decentraction, reduces the overall stationarity of reductor noise, increase Cycloidal Wheel operating rigidity and reductor, and is applied to the occasion that dimensions is small, moment of torsion is big.
Description
Technical field
The utility model is related to a kind of reductor, more particularly to a kind of industrial robot joint reductor.
Background technology
Present industrial robot joint reductor is all the structure type of two eccentric shafts, and this structural disadvantages has following several
Point：First, the planetary gear on two structure eccentric shafts does not have certralizing ability to input gear, easy when installing input shaft gear
Side set phenomenon is caused, input shaft gear is caused bias, reductor is damaged；Second, input shaft gear is during high-speed rotation
With planetary gear total number of teeth in engagement on two eccentric shafts is less easily causes the problem of reductor noise is excessive；3rd, industrial machine
The important stressed member of device person joint deceleration is Cycloidal Wheel, and support and balance of two eccentric shaft structures to the stress of Cycloidal Wheel are omited
Difference, thus cause Cycloidal Wheel operation process discontinuity, cause the vibrations during deceleration transmission.
Although in the market has the structure type of three eccentric shafts, but because the prior art eccentric shaft uses hollow knot
Structure, this structure is needed in axle central punch, the deformation that and certainly will so influence axle to be heat-treated, unfavorable to follow-up finishing,
And the small eccentric shaft of diameter cannot be punched at all, so it is only used for larger dimensions and the not high occasion of moment of torsion, it is right
Dimensions it is small and need the occasion of transmitting large torque not to be applicable.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of Novel industrial robot joint reductor, can be right
Certralizing ability is played in input, is easily installed, degradation travelling gear drive noise, improves Cycloidal Wheel stressing conditions, solves reductor
Vibrations in transmission process, and suitable for dimensions it is small and need the occasion of transmitting large torque.
The technical scheme that the utility model solves above-mentioned technical problem is as follows：A kind of industrial robot joint reductor, its
It is characterised by, including output panel, overhead disk, lower frame disk, eccentric shaft, Cycloidal Wheel, input shaft and needle roller, it is the output panel, overhead
Disk, lower frame disk are disc-shape, and the overhead disk is coaxially disposed and is fixedly connected with lower frame disk；The overhead disk and lower frame disk
Center axially penetrate through be rotatably connected to the input shaft, rotation that the overhead disk and lower frame disk are also axially penetrated through connection
There are three eccentric shafts, the eccentric shaft is evenly arranged in the outside of the input shaft and parallel with the input shaft, described
Input shaft and the eccentric shaft connect linkage by pinion rotation；It is rotatably connected on the outside of the overhead disk and the lower frame disk
The output panel, the Cycloidal Wheel is arranged in the inner side of the output panel, and the Cycloidal Wheel is provided with through hole, and the eccentric shaft is logical
Hole site extends vertically through the Cycloidal Wheel and rotated with the Cycloidal Wheel and is connected；Set between the output panel and the Cycloidal Wheel
There is the needle roller, the output panel and the Cycloidal Wheel rotate connection linkage by the needle roller.
On the basis of above-mentioned technical proposal, the utility model can also do following improvement.
Further, the gear includes input shaft gear and planetary gear, and the input shaft gear is arranged on the input
One end of axle, the planetary gear is arranged on eccentric shaft one end corresponding with input shaft gear and connected with spline, described
Input shaft gear and planetary gear engagement.
Beneficial effect using above-mentioned further scheme is that power is delivered to planetary gear by input shaft gear, and spline connects
It is connected to transmission moment of torsion big, is easily worked, is convenient for changing the advantage of installation.
Further, the eccentric shaft is the solid shafting through Overheating Treatment and small-sized, the eccentric shaft left and right ends
Size equipped with the taper roll bearing that running accuracy is P4, and the taper roll bearing is designed very by calculating analysis
Small, the eccentric shaft and the Cycloidal Wheel are rotated by needle bearing.
Beneficial effect using above-mentioned further scheme is that the solid shafting intensity through Overheating Treatment is high, taper roll bearing
For supporting eccentric shaft, and bearing size is by calculating the very small of analysis design, small with the wheelbase between two bearings
Feature.
Further, two sections of gearratio of cycloid axle formation are provided with the middle of the eccentric shaft, wherein the axis of one section of gearratio of cycloid axle formation is higher than institute
The axis of eccentric shaft is stated, the axis of another section of gearratio of cycloid axle formation is less than the axis of the eccentric shaft；The Cycloidal Wheel is provided with 2 side by side
Individual, two sections of gearratio of cycloid axle formation are located in the through hole of 2 Cycloidal Wheels respectively.
It is that Cycloidal Wheel is used in pairs using the beneficial effect of above-mentioned further scheme, swings simultaneously, to same direction more
Good transmission moment of torsion.
Further, the needle roller quantity on the inside of the output panel only than the Cycloidal Wheel the number of teeth more than one, with same
Deng tooth pitch arrangement.
Beneficial effect using above-mentioned further scheme is that Cycloidal Wheel also carries out eccentric fortune due to the eccentric motion of eccentric shaft
Dynamic, if now eccentric shaft turns one week, Cycloidal Wheel will rotate a tooth along the direction opposite with eccentric shaft, this rotation
It is output to the axle of the second reduction part.
Further, three bearings are uniformly opened up respectively on the overhead disk circumference corresponding with inside the lower frame disk
The bearing hole site on hole, the overhead disk and the lower frame disk is corresponded to respectively, and respectively by three screwed circles
Taper pin correspondence is positioned, and the overhead disk and the lower frame disk are connected tight by each taper bolt provided with 2 screws, the screw
Gu；3 taper bolt positions are into uneven distribution.
Beneficial effect using above-mentioned further scheme is, it is ensured that three on three holes and lower frame disk on overhead disk
The position in hole is coaxially disposed, and ensures that the position after initial position and being dismounted for multiple times is always consistent；Screwed circular cone
The characteristics of pin has dismounting, easy for installation, repeated removal positioning precision is high；Taper bolt and interior angle screw together constitute elevating rack disk
Be coaxially disposed.
Further, the overhead disk is fixed.
Beneficial effect using above-mentioned further scheme is to fix overhead disk, then output panel is outlet side.
The beneficial effects of the utility model are：First, it can solve the problem that input gear and planet tooth that two eccentric shafts are caused
The problem of taking turns decentraction；Second, improve input shaft gear high-speed rotation in planetary gear total number of teeth in engagement it is less the problem of,
So as to reduce reductor noise；3rd, it is possible to increase support and balance of two eccentric shaft structure Cycloidal Wheels under stressing conditions,
Increase Cycloidal Wheel operating rigidity and the overall stationarity of reductor；4th, turned round greatly suitable for small being transmitted with needs of dimensions
The occasion of square.
Brief description of the drawings
Fig. 1 is the utility model sectional view；
Fig. 2 is the utility model structural representation；
Fig. 3 is another embodiment schematic diagram of the utility model.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, output panel, 2, angular contact bearing, 3, outside framework oil seal, 4, overhead disk, 5, planetary gear, 6, circlip for shaft,
7th, eccentric shaft, 8, input shaft gear, 9, Cycloidal Wheel, 10, taper roll bearing, 11, needle bearing, 12, circlip for hole,
13rd, flat shim, 14, lower frame disk, 15, needle roller, 16, screw, 17, taper bolt, 18, input shaft, 19, deep groove ball bearing, 20, input
Duplicate gear.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit scope of the present utility model.
As shown in figure 1, a kind of industrial robot joint reductor, it is characterised in that including output panel 1, overhead disk 4, low
Frame disk 14, eccentric shaft 7, Cycloidal Wheel 9, input shaft 18 and needle roller 15, the output panel 1, overhead disk 4, lower frame disk 14 are disk
Shape, the overhead disk 4 is coaxially disposed and is fixedly connected with lower frame disk 14；The center axle of the overhead disk 4 and lower frame disk 14
To through be rotatably connected to the input shaft 18, what the overhead disk 4 and lower frame disk 14 were also axially penetrated through is rotatably connected to three
Eccentric shaft 7 described in root, the eccentric shaft 7 is evenly arranged in the outside of the input shaft 18 and parallel with the input shaft 18, institute
State input shaft 18 and the eccentric shaft 7 connects linkage by pinion rotation；The overhead disk 4 and the outside of the lower frame disk 14 turn
Dynamic to be connected with the output panel 1, the Cycloidal Wheel 9 is arranged in the inner side of the output panel 1, and the Cycloidal Wheel 9 is provided with through hole, institute
Eccentric shaft 7 is stated to extend vertically through the Cycloidal Wheel 9 in lead to the hole site and be connected with the Cycloidal Wheel 9 rotation；The output panel 1 and institute
State and the needle roller 15 is provided between Cycloidal Wheel 9, the output panel 1 and the Cycloidal Wheel 9 pass through the needle roller 15 and rotate connection
Linkage.
The gear includes input shaft gear 8 and planetary gear 5, and the input shaft gear 8 is arranged on the input shaft 18
One end, the planetary gear 5 is arranged on the eccentric shaft 7 and the corresponding one end of input shaft gear 8 and connected with spline, described
Input shaft gear 8 and the planetary gear 5 are engaged.
The eccentric shaft 7 is the solid shafting through Overheating Treatment and small-sized, and the left and right ends of eccentric shaft 7 are equipped with rotation
Turn the taper roll bearing that precision is P4, and the size of the taper roll bearing analyzes very small, the institute designed by calculating
State eccentric shaft 7 and the Cycloidal Wheel 9 is rotated by needle bearing 11.
Two sections of gearratio of cycloid axle formation are provided with the middle of the eccentric shaft 7, wherein the axis of one section of gearratio of cycloid axle formation is higher than the bias
The axis of axle 7, the axis of another section of gearratio of cycloid axle formation is less than the axis of the eccentric shaft 7；The Cycloidal Wheel 9 is provided with 2, institute side by side
Two sections of gearratio of cycloid axle formation are stated respectively to be located in the through hole of 2 Cycloidal Wheels 9.
The inner side of the output panel 1 the quantity of the needle roller 15 only than the Cycloidal Wheel 9 the number of teeth more than one, with equal
Tooth pitch is arranged.
Three bearing holes, institute are uniformly opened up respectively on the overhead disk 4 circumference corresponding with the inside of lower frame disk 14
The bearing hole site stated on overhead disk 4 and the lower frame disk 14 is corresponded to respectively, and respectively by three screwed circular cones
The correspondence of pin 17 is positioned, and each taper bolt 17 is provided with 2 screws 16, and the screw 16 is by the overhead disk 4 and the lower frame
The connection fastening of disk 14；3 positions of taper bolt 17 are into uneven distribution.
The overhead disk 4 is fixed.
Embodiment 1：
The part included on one eccentric shaft 7 has planetary gear 5, circlip for shaft 6, taper roll bearing 10, needle roller
Bearing 11, flat shim 13.One end of eccentric shaft 7 installed on overhead disk 4 taper roll bearing 10 by supporting, and the other end is by peace
Taper roll bearing 10 on lower frame disk 14 is supported；Circlip for hole 12 and flat shim 13 are to prevent taper roller stress
Moved axially under situation；Circlip for shaft 6 is fixed planetary gear 5, it is occurred without axial float in engagement process, is protected
The repeatability of input gear and the planetary gear position of engagement is demonstrate,proved；Angular contact bearing 2 is support output panel 1 or the operating of overhead disk
4, it is characterized in bearing big radial load and bearing, it is ensured that output par, c high-precision rotary；Output panel 1 and overhead disk 4
Between be provided with outside framework oil seal 3, play sealing function；Input shaft gear 8 is engaged with the planetary gear 5 on eccentric shaft 7, realizes
Primary speed-down；And in the eccentric part of eccentric shaft 7, Cycloidal Wheel 9 is installed by needle bearing 11.In addition, the institute in the inner side of output panel 1
State the quantity of needle roller 15 only than the Cycloidal Wheel 9 the number of teeth more than one, arranged with equal tooth pitch.Then Cycloidal Wheel 9 is due to eccentric shaft 7
Eccentric motion also carry out eccentric motion.If now eccentric shaft 7 is rotated one week, Cycloidal Wheel 9 will be along opposite with eccentric shaft
Direction rotate a tooth.This rotates the axle for being output to the second reduction part.Overhead disk 4 is fixed, output panel 1 is output
Side.
As shown in Fig. 2 overhead disk 4 and lower frame disk 14 are fixed up with screw 16 and taper bolt 17,16 connections of screw
Effect, taper bolt 17, which is positioned, can ensure the bearing hole of overhead disk 4 and lower frame disk 14 on the same axis.
Embodiment 2：
Taper roll bearing 10 is replaced with deep groove ball bearing 19, input shaft gear 8 is replaced with input duplicate gear 20, its
He is consistent with embodiment 1.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (7)
1. a kind of industrial robot joint reductor, it is characterised in that including output panel (1), overhead disk (4), lower frame disk (14),
Eccentric shaft (7), Cycloidal Wheel (9), input shaft (18) and needle roller (15), the output panel (1), overhead disk (4), lower frame disk (14)
It is disc-shape, the overhead disk (4) is coaxially disposed and is fixedly connected with lower frame disk (14)；The overhead disk (4) and lower frame
What the center of disk (14) was axially penetrated through is rotatably connected to the input shaft (18), and the overhead disk (4) and lower frame disk (14) are also
What is axially penetrated through is rotatably connected to three eccentric shafts (7), and the eccentric shaft (7) is evenly arranged in the input shaft (18)
Outside is simultaneously parallel with the input shaft (18), and the input shaft (18) and the eccentric shaft (7) connect in parallel by pinion rotation
It is dynamic；The output panel (1), Cycloidal Wheel (9) arrangement are rotatably connected on the outside of the overhead disk (4) and the lower frame disk (14)
Inner side in the output panel (1), the Cycloidal Wheel (9) is provided with through hole, and the eccentric shaft (7) extends vertically through institute in lead to the hole site
State Cycloidal Wheel (9) and rotated with the Cycloidal Wheel (9) and is connected；Set between the output panel (1) and the Cycloidal Wheel (9)
Needle roller (15) is stated, the output panel (1) and the Cycloidal Wheel (9) rotate connection linkage by the needle roller (15).
2. a kind of industrial robot joint reductor according to claim 1, it is characterised in that the gear includes input shaft
Gear (8) and planetary gear (5), the input shaft gear (8) are arranged on one end of the input shaft (18), the planetary gear
(5) it is arranged on the eccentric shaft (7) one end corresponding with input shaft gear (8) and is connected with spline, the input shaft gear (8)
With the planetary gear (5) engagement.
3. a kind of industrial robot joint reductor according to claim 1, it is characterised in that the eccentric shaft (7) be through
The solid shafting of Overheating Treatment and small-sized, eccentric shaft (7) left and right ends are equipped with the taper roller that running accuracy is P4
Bearing, and the size of the taper roll bearing analyzes very small, the eccentric shaft (7) and the cycloid that design by calculating
(9) are taken turns to rotate by needle bearing (11).
4. a kind of industrial robot joint reductor according to claim 1, it is characterised in that in the middle of the eccentric shaft (7)
Two sections of gearratio of cycloid axle formation are provided with, wherein the axis of one section of gearratio of cycloid axle formation is higher than the axis of the eccentric shaft (7), another section of eccentric shaft
The axis of section is less than the axis of the eccentric shaft (7)；The Cycloidal Wheel (9) is provided with 2, two sections of gearratio of cycloid axle formation difference side by side
In the through hole of 2 Cycloidal Wheels (9).
5. a kind of industrial robot joint reductor according to claim 1, it is characterised in that in the output panel (1)
The number of teeth of the needle roller (15) quantity of side only than the Cycloidal Wheel (9) is more one, is arranged with equal tooth pitch.
6. a kind of industrial robot joint reductor according to claim 1, it is characterised in that the overhead disk (4) and institute
State and uniformly open up three bearing holes, the overhead disk (4) and the lower frame respectively on the internal corresponding circumference of lower frame disk (14)
The bearing hole site on disk (14) is corresponded to respectively, and is positioned respectively by three screwed taper bolt (17) correspondences, often
The individual taper bolt (17) connects the overhead disk (4) and the lower frame disk (14) provided with 2 screws (16), the screw (16)
Connect fastening；3 taper bolts (17) position is into uneven distribution.
7. according to a kind of any one of claim 1-6 industrial robot joint reductors, it is characterised in that the overhead disk
(4) it is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720210007.5U CN206522408U (en) | 2017-03-06 | 2017-03-06 | A kind of industrial robot joint reductor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720210007.5U CN206522408U (en) | 2017-03-06 | 2017-03-06 | A kind of industrial robot joint reductor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206522408U true CN206522408U (en) | 2017-09-26 |
Family
ID=59902265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720210007.5U Expired - Fee Related CN206522408U (en) | 2017-03-06 | 2017-03-06 | A kind of industrial robot joint reductor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206522408U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107555315A (en) * | 2017-11-01 | 2018-01-09 | 洪文星 | Travel mechanism for driving |
| CN109058393A (en) * | 2018-10-31 | 2018-12-21 | 南京高速齿轮制造有限公司 | Eccentrically arranged type mechanical reduction gear |
| CN112833143A (en) * | 2021-01-11 | 2021-05-25 | 珠海格力电器股份有限公司 | Reduction gear and robot |
-
2017
- 2017-03-06 CN CN201720210007.5U patent/CN206522408U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107555315A (en) * | 2017-11-01 | 2018-01-09 | 洪文星 | Travel mechanism for driving |
| CN109058393A (en) * | 2018-10-31 | 2018-12-21 | 南京高速齿轮制造有限公司 | Eccentrically arranged type mechanical reduction gear |
| CN112833143A (en) * | 2021-01-11 | 2021-05-25 | 珠海格力电器股份有限公司 | Reduction gear and robot |
| CN112833143B (en) * | 2021-01-11 | 2022-05-31 | 珠海格力电器股份有限公司 | Reduction gear and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170926 Termination date: 20200306 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |