CN216842923U

CN216842923U - Industrial robot small tooth difference speed reduction all-in-one machine

Info

Publication number: CN216842923U
Application number: CN202220154587.1U
Authority: CN
Inventors: 吴声震; 刘谷华; 顾辽兵; 贾旭
Original assignee: Suzhou Huazhen Industry RV Reducer Co Ltd
Current assignee: Suzhou Huazhen Industry RV Reducer Co Ltd
Priority date: 2022-01-20
Filing date: 2022-01-20
Publication date: 2022-06-28
Anticipated expiration: 2032-01-20

Abstract

The utility model relates to an industrial robot joint technical field provides an industrial robot few tooth difference speed reduction all-in-one, and industrial robot few tooth difference speed reduction all-in-one includes few tooth difference speed reduction part and servo motor part, and few tooth difference speed reduction part includes: planet carrier, ring gear, two eccentric shafts, no outer lane roller bearing, planet wheel, space ring, bearing, the planet carrier includes main, vice disc, pin and guide pin, and the servo motor part includes: the servo motor, the planetary speed reducing component, the end cover and the output shaft are connected to the spigot at the input side of the inner gear ring, and the output shaft is connected with the double eccentric shafts, so that the servo motor component and the small-tooth-difference speed reducing component are organically integrated. According to the utility model discloses, simplified the structure greatly, the heat dissipation space increases 30% -40% and changes the oil lubrication into, and two eccentric shaft eccentric section phase differences are not equal to 180 etc. therefore solved the reduction gear return difference, generate heat, the difficult technical problem of life-span.

Description

Industrial robot small tooth difference speed reduction all-in-one machine

Technical Field

The utility model relates to an industrial robot joint technical field, specifically speaking relates to the joint technique that organically combines together servo planet all-in-one and few tooth difference reduction gear two is an industrial robot few tooth difference reduction all-in-one.

Background

Currently, domestic robot manufacturers need to purchase small tooth difference reducers, servo motors and lubricating grease of Sejin in Korea respectively, then precisely assemble the small tooth difference reducers, the servo motors and the lubricating grease into robot joints, and enough amount of specific lubricating grease is injected into the joints, so that the operation is not only inefficient, but also the lubricating grease is easily polluted by impurities. In addition, the coaxiality of the servo motor and the Sejin small-tooth-difference speed reducer is required to be within +/-0.005 mm, and vibration and noise can occur due to poor mounting precision.

When the robot works, a user cannot replace the lubricating grease for the Sejin small-tooth-difference speed reducer. Therefore, once the grease becomes dirty, the reducer is heated, meaning that the robot will soon be forced to stop.

SUMMERY OF THE UTILITY MODEL

Problem to be solved by utility model

The utility model aims at overcoming prior art's defect, providing a few tooth difference of industrial robot speed reduction all-in-one, effectively solve return difference in the current reduction gear, generate heat, the short-lived technological problem.

Means for solving the problems

The utility model relates to an industrial robot small tooth difference speed reduction integrated machine in the first aspect,

comprises a speed reducing component with small tooth difference and a servo motor component,

the small tooth difference speed reduction part comprises:

a planet carrier, an inner gear ring, a double eccentric shaft, an outer ring-free roller bearing, a first planet wheel, a second planet wheel, a space ring, a first main bearing, a second main bearing, a first tapered roller bearing and a second tapered roller bearing,

the planet carrier consists of a main disc, an auxiliary disc, a pin and a pin sleeve,

one end of a pin is in interference fit with the uniformly distributed holes on the main disc, the other end of the pin passes through pin holes uniformly distributed on the first planet wheel and the second planet wheel to be in transition fit with corresponding holes of the auxiliary disc, the number of the pins is 6 or 8 or 10 or 12, a pin sleeve is arranged outside the pin,

the diameter of the pin hole is equal to the outer diameter of the pin sleeve +2e, e is the eccentricity of the double eccentric shafts,

the two sides of the planet carrier are respectively supported at the inner holes of the two sides of the inner gear ring by a first main bearing and a second main bearing,

two sides of the double eccentric shaft are respectively supported at the central holes of the main disc and the auxiliary disc by a first tapered roller bearing and a second tapered roller bearing,

the outer rings of the first tapered roller bearing and the second tapered roller bearing are arranged between the inner rings of the first tapered roller bearing and the second tapered roller bearing back to back, the outer side of the inner ring of the first tapered roller bearing is provided with an elastic retainer ring for a first shaft, the outer side of the inner ring of the second tapered roller bearing is sequentially provided with a circular ring adjusting sheet and an elastic retainer ring for a second shaft,

the eccentric section of the double eccentric shaft is in interference fit with the inner hole of the non-outer-ring roller bearing, the excircle of the non-outer-ring roller bearing is in transition fit with the central hole of the first planet wheel,

the servo motor part includes:

a servo motor, a planetary speed reduction part, an end cover and an output shaft,

the end cover is connected with the input side spigot of the inner gear ring, and the output shaft and the double eccentric shafts are connected into a whole through keys, so that the servo motor part and the small-tooth-difference speed reduction part are integrated.

Preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is not equal to 180 °.

Preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is 178.5-179.5 °.

Preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is 178.8-179.25 °.

Preferably, the phase difference of the two eccentric sections of the dual eccentric shaft is 179.0-179.2 °.

Preferably, the meshing parts in the inner gear ring are lubricated by oil instead of grease, and an oil filling hole, an oil drain hole and a ventilation cap are arranged on the inner gear ring or the end cover.

Effect of the utility model

According to the utility model relates to an industrial robot few tooth difference speed reduction all-in-one has effectively solved the return difference in the current reduction gear not up to standard, has generated heat, the short-lived technological problem, has realized organically combining the two of few tooth difference and servo planet all-in-one into one to constitute industrial robot's a brand-new joint. When the revolution number with less tooth difference input by the servo planet all-in-one machine is less than or equal to 1000rpm, the reducer does not vibrate. The utility model discloses a structure has been simplified greatly to the few tooth difference of industrial robot speed reduction all-in-one, has reduced two eccentric shafts and planet carrier and has made the degree of difficulty, has solved special taper bearing, the bearing degree of difficulty, and the heat dissipation space increases 30% -40% therefore can change the grease lubrication to the oil lubrication, therefore can change oil by oneself with increase of service life.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.

Fig. 2 is an outline view of a precision planetary reducer in the prior art.

Fig. 3 is a schematic view of an RV reducer assembly in the prior art.

Fig. 4 is an enlarged schematic view of a structural portion of the carrier in fig. 1.

Fig. 5 is a structure diagram of a carrier in a conventional RV reducer.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Fig. 1 is a schematic diagram of an industrial robot small tooth difference speed reduction all-in-one machine according to a first embodiment of the present invention. Fig. 4 is an enlarged schematic view of a structural portion of the carrier in fig. 1. As shown in fig. 1 and 4, the industrial robot small tooth difference speed reduction all-in-one machine comprises a small tooth difference speed reduction part and a servo motor part D. The small tooth difference speed reduction part comprises: the planet carrier, the ring gear 1, the double eccentric shaft 6, the outer ring-free roller bearing 4, the first planet wheel 11, the first planet wheel 16, the space ring 12, the first main bearing 10, the second main bearing 13, the first tapered roller bearing 3 and the second tapered roller bearing 5. The planet carrier is composed of a main disc 7, an auxiliary disc 2, a pin 9 and a pin sleeve 8. One end of a pin 9 is in interference fit with the uniformly distributed holes on the main disc 7, and the other end of the pin 9 passes through pin holes uniformly distributed on the planet wheel 11 to be in transition fit with corresponding holes of the auxiliary disc 2. Both sides of the carrier are supported at both side bores of the ring gear 1 by a first main bearing 10 and a second main bearing 13, respectively. The two sides of the double eccentric shaft 6 are supported at the central holes of the main disc 7 and the auxiliary disc 2 by a first tapered roller bearing 3 and a second tapered roller bearing 5 respectively. The outer rings of the first tapered roller bearing 3 and the second tapered roller bearing 5 are arranged between the inner rings of the first tapered roller bearing 3 and the second tapered roller bearing 5 in a back-to-back mode, the outer side of the inner ring of the first tapered roller bearing 3 is provided with a first shaft elastic check ring 19, the outer side of the inner ring of the second tapered roller bearing 5 is sequentially provided with a ring adjusting sheet 17 and a second shaft elastic check ring 18, and the ring adjusting sheet 17 adjusts the pre-tightening degree of the first tapered roller bearing 3 and the second tapered roller bearing 5 by different thicknesses, so that the torsional rigidity of the dual-eccentric shaft 6 is improved, and the torsional rigidity is an important index of the robot speed reducer. The circlips 19 for the first shaft and the circlips 18 for the second shaft on both sides of the double eccentric shaft 6 can also prevent the auxiliary disk 2 from moving in the axial direction. The eccentric section of the double eccentric shaft 6 is in interference fit with the inner hole of the outer-ring-free roller bearing 4, the excircle of the outer-ring-free roller bearing 4 is in transition fit with the central hole of the first planet wheel 11, and the fit between the excircle of the outer-ring-free roller bearing and the central hole of the first planet wheel 11 is zero in clearance as much as possible, so that the minimum return difference is ensured.

The number of pins 9 in the planet carrier should be even, such as 6 or 8 or 10 or 12. The diameter of the pin hole is equal to the outer diameter +2e of the pin sleeve 8 (e is the eccentricity of the dual eccentric shaft 6).

The servo motor section D includes: servo motor and planetary reduction unit, end cover 15 and output shaft 14. The end cover 15 is connected with an input side spigot of the inner gear ring 1, the output shaft 14 and the double eccentric shaft 6 are connected into a whole through keys, so that the servo motor part D and the small-tooth-difference speed reduction part are connected into a whole, namely, the motor drive and the small-tooth-difference speed reduction are organically integrated into a whole, under the condition that the all-in-one machine is connected with the robot, the power of the motor is subjected to planetary speed reduction through the planetary speed reduction part and then is conveyed to a central shaft of at least the tooth-difference speed reduction part, and the power of the motor is subjected to small-tooth-difference speed reduction and then is transmitted to an input part of the robot body connected with the end face of the main disc 7 to work.

In a preferred embodiment of the first embodiment, the phase difference of the two eccentric sections of the double eccentric shaft 6 is preferably not equal to 180 °. More preferably, the phase difference between the two eccentric sections of the dual eccentric shaft 6 is 178.0 ° to 179.5 °. More preferably, the phase difference between the two eccentric sections of the dual eccentric shaft 6 is 178.5 ° to 179.25 °. More preferably, the phase difference between the two eccentric sections of the dual eccentric shaft 6 is 179.0 ° to 179.2 °. The phase difference of the two eccentric sections of the double eccentric shaft 6 is taken as the value, so that the return difference of the speed reducer is not more than 1', and the precision is improved. Particularly, when the phase difference is 179.0 ° to 179.2 °, the effect of reducing the return difference is the best.

In a preferred embodiment of the first embodiment, it is preferable that the lubrication of the internal gear of the small tooth difference speed reduction part is performed by oil lubrication instead of grease lubrication, and the internal gear ring 1 or the end cover 15 is provided with an oil filling hole, an oil drain hole and a vent cap, that is, the grease lubrication of the internal gear of the small tooth difference speed reduction part is changed to oil lubrication, and when the oil temperature in the machine body rises, the vent cap is used for keeping the internal and external oil pressures of the machine shell balanced to prevent oil leakage from the oil seal. Change grease lubrication into oil lubrication, its beneficial technical effect is, the robot user need not to tear the machine open can change the built-in dirty oil, clean oil can prolong reduction gear life.

Compared with the prior art, the industrial robot small-tooth-difference speed reduction all-in-one machine adopting the first embodiment effectively solves the technical problems that return difference in the existing speed reducer does not reach the standard, generates heat and is short in service life, and accordingly a brand-new joint of the industrial robot is formed.

Specifically, compared to the small tooth difference speed reducer of Sejin corporation in korea, the following advantageous technical effects are obtained:

(1) compared with the prior art in fig. 2, fig. 3 and fig. 5, the utility model discloses a few tooth difference speed reduction part has removed sun gear, three planet wheels, has still removed six special tapered roller bearings and six special needle roller bearings on the double eccentric shaft, special tapered roller bearing and needle roller bearing, and domestic product quality is not as foreign, and the price is on the high side, and when motor drive sun gear, planet wheel were operated in addition, six tapered roller bearings and six needle roller bearings generated heat, the noise is great. The structure of the half parts in the existing speed reducing component with small tooth difference is simplified, so the machining working hour is shortened, the productivity is improved, the manufacturing cost is reduced, and the heat generation and the noise are reduced. The technical manual of nabo corporation in japan indicates that: "two-stage reduction gears: the vibration is small; the flywheel moment GD2 is small; the revolution speed becomes slow, and the vibration and inertia are reduced. That is, as long as the small tooth difference input is less than or equal to 1000rpm, the small vibration and the small flywheel moment can be ensured.

(2) Domestic robot manufacturers purchase small tooth difference reducers, servo motors and lubricating grease of Sejin in Korea respectively and then precisely assemble the small tooth difference reducers, the servo motors and the lubricating grease into robot joints. This kind of operation is inefficiency not only, and is difficult to guarantee servo motor and few tooth difference reduction gear concentricity 0.005mm, the utility model discloses an industrial robot few tooth difference speed reduction all-in-one organically combines together motor drive and few tooth difference speed reduction, and the operating efficiency height just can guarantee that the concentricity meets the requirements.

(3) When the existing small-tooth-difference speed reducer of the Korean Sejin company is installed, a user needs to inject grease by himself, the operation of adding lubricating grease into the cavity of the small-tooth-difference speed reducer is extremely complicated, dirt is easily brought into the cavity of the speed reducer, grease pollution is caused, and the service life of the speed reducer is shortened. The utility model discloses a few tooth of industrial robot is poor to slow down all-in-one owing to carry out the structure with the part that half a lot in the poor speed reduction part of few tooth that has now and simplify, but consequently the oil storage chamber increases 30% -40% than the poor speed reducer of few tooth that has now in the casing, and when changing the grease lubrication to oil lubrication, heat dispersion is good, the operative employee trades oil conveniently, and oil is much lower than the grease price moreover.

(4) The utility model discloses an industrial robot few tooth difference speed reduction all-in-one owing to carry out the structure with half a lot of part in the few tooth difference speed reduction part of present Korean Sejin company and simplify, has still reduced the manufacturing degree of difficulty of the key spare of reduction gear on a very big way. The double eccentric shafts are required to be processed on an expensive inlet follow-up grinding machine, and the three small-diameter double eccentric shafts have poor rigidity, so that the production efficiency is low and the cost is high. Import follow-up grinders are expensive and slow to deliver. The double eccentric shaft system bearing steel GCr15 needs to be forged and beaten → tempered → semi-finish turning → milling shaft end spline → integral quenching → grinding double eccentric, the phase difference precision of the double eccentric shaft is high, and the process difficulty is large. The planet carrier rigid disk component of the small tooth difference speed reducer is a core supporting component, and has a complex structure and high precision requirement. The utility model discloses a few tooth of industrial robot is poor to slow down all-in-one owing to carry out the structure with the part that half is many in the poor speed reduction part of current few tooth and simplify, therefore planet carrier simple structure, the machining process degree of difficulty are little, with low costs and install and remove the convenience. Especially, special tapered roller bearing excircle and planet carrier equipartition hole cooperation, its equipartition hole is adjacent apart from the deviation and is difficult to automatic compensation, special bearing external diameter and planet wheel equipartition hole zero clearance fit, hole and two eccentric shaft eccentric section excircles zero clearance fit, the adjacent apart from the deviation of planet wheel equipartition hole is difficult to compensate, therefore must influence the transmission precision, and the utility model discloses a small elastic deformation ability automatic compensation planet wheel column pinhole of pin in the planet carrier of industrial robot few tooth difference speed reduction all-in-one machine is adjacent apart from the deviation.

Industrial applicability

According to the utility model relates to a few tooth difference of industrial robot speed reduction all-in-one has effectively solved the return difference in the current reduction gear not up to standard, generate heat, the short-lived technological problem, has realized organically combining into an organic whole with the two of the servo planet all-in-one with the few tooth of unit level to constitute industrial robot's a brand-new joint.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An industrial robot small tooth difference speed reduction all-in-one machine is characterized in that,

comprises a speed reducing component with small tooth difference and a servo motor component (D),

the small tooth difference speed reduction part comprises:

a planet carrier, an inner gear ring (1), a double eccentric shaft (6), an outer ring-free roller bearing (4), a first planet wheel (11), a second planet wheel (16), a spacer ring (12), a first main bearing (10), a second main bearing (13), a first tapered roller bearing (3) and a second tapered roller bearing (5),

the planet carrier consists of a main disc (7), an auxiliary disc (2), a pin (9) and a pin sleeve (8),

one end of a pin (9) is in interference fit with the uniformly distributed holes on the main disc (7), the other end of the pin (9) passes through pin holes uniformly distributed on the first planet wheel (11) and the second planet wheel (16) to be in transition fit with corresponding holes of the auxiliary disc (2), the number of the pins (9) is 6 or 8 or 10 or 12, a pin sleeve (8) is arranged outside the pin (9),

the diameter of the pin hole is equal to the outer diameter +2e of the pin sleeve (8), e is the eccentricity of the double eccentric shafts (6),

two sides of the planet carrier are respectively supported at the inner holes of two sides of the inner gear ring (1) by a first main bearing (10) and a second main bearing (13),

two sides of the double eccentric shaft (6) are respectively supported at the central holes of the main disc (7) and the auxiliary disc (2) by a first tapered roller bearing (3) and a second tapered roller bearing (5),

the outer rings of the first tapered roller bearing (3) and the second tapered roller bearing (5) are arranged between the inner rings of the first tapered roller bearing (3) and the second tapered roller bearing (5) in a back-to-back manner, the outer side of the inner ring of the first tapered roller bearing (3) is provided with a first shaft elastic retainer ring (19), the outer side of the inner ring of the second tapered roller bearing (5) is sequentially provided with a circular ring adjusting sheet (17) and a second shaft elastic retainer ring (18),

the eccentric section of the double eccentric shaft (6) is in interference fit with the inner hole of the non-outer-ring roller bearing (4), the excircle of the non-outer-ring roller bearing (4) is in transition fit with the central hole of the first planet wheel (11),

the servo motor unit (D) includes:

a servo motor, a planetary speed reduction component, an end cover (15) and an output shaft (14),

the end cover (15) is connected with an input side spigot of the inner gear ring (1), and the output shaft (14) and the double eccentric shaft (6) are connected into a whole through keys, so that the servo motor part (D) and the small-tooth-difference speed reduction part are integrated.

2. The industrial robot small tooth difference speed reducing all-in-one machine is characterized in that,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is not equal to 180 degrees.

3. The industrial robot small tooth difference speed reducing all-in-one machine is characterized in that,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is 178.5-179.5 degrees.

4. The industrial robot small tooth difference speed reducing all-in-one machine as claimed in claim 3,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is 178.8-179.25 degrees.

5. The industrial robot small tooth difference speed reducing all-in-one machine is characterized in that,

the phase difference of the two eccentric sections of the double eccentric shaft (6) is 179.0-179.2 degrees.

6. The industrial robot small tooth difference speed reducing all-in-one machine as claimed in any one of claims 1 to 5,

the meshing parts in the inner gear ring are lubricated by oil instead of grease, and an oil filling hole, an oil drain hole and a ventilation cap are arranged on the inner gear ring (1) or the end cover (15).