CN219242565U - Hollow hypocycloid speed reduction integrated machine of industrial robot - Google Patents
Hollow hypocycloid speed reduction integrated machine of industrial robot Download PDFInfo
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- CN219242565U CN219242565U CN202220156532.4U CN202220156532U CN219242565U CN 219242565 U CN219242565 U CN 219242565U CN 202220156532 U CN202220156532 U CN 202220156532U CN 219242565 U CN219242565 U CN 219242565U
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Abstract
The utility model relates to the technical field of industrial robot joints, and provides an industrial robot hollow hypocycloid speed reduction all-in-one machine, which comprises a hypocycloid speed reduction part and a servo motor, wherein the hypocycloid speed reduction part comprises: round end cover, hypocycloid ring gear, planet carrier, cavity double eccentric axle, do not have outer lane roller bearing, cycloid gear, first spacer ring, bearing, the planet carrier includes main, vice disc, pin and round pin bush, and the cycloid gear adopts best positive equidistance-positive displacement to revise shape, and servo motor part includes: the servo motor, the planetary reduction component, the end cover and the output shaft are connected, the end cover is connected with the input side spigot of the hypocycloid gear ring, and the output shaft is connected with the hollow double eccentric shafts, so that the servo motor component and the hypocycloid reduction component are organically integrated. According to the utility model, the structure is greatly simplified, the heat dissipation space is increased by 30% -40% and is changed into oil lubrication, and the phase difference of the eccentric sections of the hollow double eccentric shafts is not equal to 180 degrees, so that the technical problems of poor return, heat generation and service life of the speed reducer are solved.
Description
Technical Field
The utility model relates to the technical field of industrial robot joints, in particular to a joint technology for organically integrating a servo motor and an RV-C simplified machine type, which is a hollow hypocycloid speed reduction integrated machine of an industrial robot.
Background
Currently, domestic robot manufacturers need to purchase RV-C speed reducers (hollow speed reducers), servo motors and grease respectively, then assemble the robot joints precisely, and inject enough grease designated by japan nano-blog company into the joints, which is not only inefficient, but also easy to bring in sundries to pollute the grease. In addition, it is difficult to ensure the coaxiality of the servo motor and the RV-C reducer + -0.005 mm, and the technical manual of the Japanese nanobo company indicates that vibration and noise occur due to poor mounting accuracy.
The technical manual of the japanese nano-bo company also indicates that the user must not change RV-C retarder grease without authorization during work. Thus, once the grease becomes dirty, the reducer heats up meaning that the robot will be forced to stop soon.
The RV-C speed reducer is characterized by adopting cycloidal gear shaping technology. The domestic cycloidal gear shaping has been studied for more than 30 years, but the technical problem of cycloidal gear shaping is not solved, and domestic manufacturers have world-first machine tools, but the problems of heating, short service life, poor reliability and the like of the imitated Japanese speed reducer still exist.
Disclosure of Invention
Problems to be solved by the utility model
The utility model aims to overcome the defects of the prior art and provides a hollow hypocycloid speed reduction integrated machine of an industrial robot.
Through theoretical research and practice for more than ten years, the inventor of the utility model provides a combined technical scheme of positive equidistant-positive displacement shaping-anti-backlash gear theory and RV-C simplified type, obtains great breakthrough of theory and manufacturing technology, and completes innovation of the hollow hypocycloid speed reduction all-in-one machine of the industrial robot.
The hollow hypocycloid speed reduction integrated machine for the industrial robot provided by the utility model effectively solves the technical problems of low assembly efficiency, poor installation precision, poor grease lubrication and heat dissipation performance, difficult grease replacement, poor return of a speed reducer, heat generation, short service life and the like of a joint of the robot in the prior art.
Means for solving the problems
The first aspect of the utility model relates to a hollow hypocycloid speed reduction integrated machine of an industrial robot,
comprises a hypocycloid speed reducing component and a servo motor,
the hypocycloidal reduction gear part includes:
the device comprises a round end cover, a hypocycloid gear ring, a planet carrier, a roller bearing without an outer ring, a first cycloid gear, a second cycloid gear, a first spacer ring, a first main bearing, a second main bearing, a first cone bearing, a second cone bearing, a hollow double eccentric shaft and a large gear,
the large gear is connected with the hollow double eccentric shafts, the round end cover is connected with the input side spigot of the hypocycloid gear ring, the servo motor is fastened on the round end cover, the output shaft of the servo motor is provided with a small gear meshed with the large gear,
the planet carrier consists of a main disc, an auxiliary disc, a pin and a pin sleeve,
one end of the pin is in interference fit with uniformly distributed holes on the main disc, the other end of the pin passes through pin holes uniformly distributed on the first cycloidal gear and the second cycloidal gear 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, pin sleeves are arranged outside the pins,
the diameter of the stud bore = the outer diameter of the pin sleeve +2e, e being the eccentricity of the hollow double eccentric shaft,
the two sides of the planet carrier are respectively supported at the inner holes at the two sides of the hypocycloid gear ring by a first main bearing and a second main bearing,
the two sides of the hollow double eccentric shaft are respectively supported at the central holes of the main disc and the auxiliary disc by a first cone bearing and a second cone bearing,
the outer rings of the first cone bearing and the second cone bearing are arranged in the middle of the inner rings of the first cone bearing and the second cone bearing back to back, the outer side of the inner ring of the first cone bearing is sequentially provided with a second spacer ring, a large gear and a first check ring, the outer side of the inner ring of the second cone bearing is sequentially provided with a circular ring adjusting piece and a second check ring,
the eccentric section of the hollow double eccentric shaft is in interference fit with the inner hole of the roller bearing without the outer ring, the outer circle of the roller bearing without the outer ring is matched with the centers Kong Guodu of the first cycloid gear and the second cycloid gear,
the central hole of the hollow double eccentric shafts is used for arranging a cable,
the first cycloidal gear and the second cycloidal gear adopt positive equidistant-positive displacement combined shape correction, so that radial clearance delta is formed between gear teeth of the first cycloidal gear and the second cycloidal gear and the hypocycloidal gear ring j And lateral clearance delta c 。
Preferably, the first cycloidal gear and the second cycloidal gear are modified by adopting an optimal positive equidistant-positive displacement combination, and the calculation formula of the modification is as follows:
equidistant shape correction quantity Deltar z ＝Δ j /(1-K), offset correction amount DeltaR z ＝KΔr z ,
In the method, in the process of the utility model,K＝(1-K 1 2 ) 0.5 coefficient of short amplitude K 1 ＝eZ b /R z ，Z b R is the number of turns of hypocycloid teeth z Is the radius of the center circle of the needle teeth.
According to the principle of the anti-backlash gear, the return difference can be reduced by changing the phase difference of the hollow double eccentric shafts, so that:
preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is not equal to 180 °.
Preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is 178.5-179.5 °.
Preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is 178.8-179.25 °.
Preferably, the phase difference of the two eccentric sections of the hollow double eccentric shaft is 179.0-179.2.
Preferably, the meshing parts in the hypocycloid speed reducing part are lubricated not by grease but by oil, and the hypocycloid gear ring or the end cover is provided with an oil filling hole, an oil drain hole and a ventilation cap.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the hollow hypocycloid speed reduction integrated machine of the industrial robot, the technical problems that the return difference in the existing speed reducer does not reach the standard, the heat is generated and the service life is short are effectively solved, and the single-stage hypocycloid and the servo motor are organically integrated, so that a brand new joint of the industrial robot is formed. When the revolution of the hypocycloid input by the servo motor is less than or equal to 1000rpm, the speed reducer does not vibrate. The hollow hypocycloid speed reduction integrated machine of the industrial robot greatly simplifies the structure, reduces the manufacturing difficulty of the hollow double eccentric shafts and the planet carrier, solves the problems of special cone bearings and needle bearings, increases the heat dissipation space by 30-40%, and can change grease lubrication into oil lubrication, thereby being capable of automatically changing oil to prolong the service life.
Drawings
Fig. 1 is a schematic structural view of a first embodiment of the present utility model.
Fig. 2 is an enlarged schematic view of a structural portion of the planet carrier of fig. 1.
Fig. 3 is a diagram of a structure of a planet carrier in an RV-C speed reducer according to the prior art.
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
Fig. 1 is a schematic view of an industrial robot hollow hypocycloidal speed reduction all-in-one machine according to a first embodiment of the present utility model. Fig. 2 is an enlarged schematic view of a structural portion of the planet carrier of fig. 1. As shown in fig. 1 and 2, the hypocycloid speed reducing component of the hollow hypocycloid speed reducing integrated machine for the industrial robot and a servo motor D, wherein the hypocycloid speed reducing component comprises: the inner cycloid gear comprises a round end cover 15, a hypocycloid gear ring 1, a planet carrier, a roller bearing 4 without an outer ring, a first cycloid gear 11, a second cycloid gear 18, a first spacer ring 12, a first main bearing 10, a second main bearing 13, a first conical bearing 3, a second conical bearing 5, a hollow double eccentric shaft 6 and a large gear 16 connected with the hollow double eccentric shaft 6, wherein the round end cover 15 is connected with an input side spigot of the hypocycloid gear ring 1, a servo motor D is fastened on the round end cover 15, and a small gear 17 on an output shaft of the servo motor is meshed with the large gear 16.
The planet carrier comprises a main disc 7, an auxiliary disc 2, a pin 9 and a pin sleeve 8, wherein: one end of the pin 9 is in interference fit with uniformly distributed holes on the main disc 7, the other end of the pin 9 passes through pin holes uniformly distributed on the first cycloid wheel 11 and the second cycloid wheel 18 to be in transition fit with corresponding holes of the auxiliary disc 16, a pin sleeve 8 is arranged outside the pin 9, the diameter of the pin hole = the outer diameter +2e of the pin sleeve 8 (e is the eccentric distance of the hollow double eccentric shaft 6), the pin 9 is an even number, such as 6 or 8 or 10 or 12, and the like, and two sides of the planet carrier are respectively supported by inner holes on two sides of the hypocycloid gear ring 1 by a first main bearing 10 and a second main bearing 13.
The two sides of the hollow double eccentric shaft 6 are respectively supported in the central holes of the main disc 7 and the auxiliary disc 2 by a first cone bearing 3 and a second cone bearing 5, the outer rings of the first cone bearing 3 and the second cone bearing 5 are arranged in the middle of the inner rings of the first cone bearing 3 and the second cone bearing 5 back to back, wherein: the outer side of the inner ring of the first cone bearing 3 is sequentially provided with a second spacer ring 14, a large gear 16 and a first check ring 21, and the outer side of the inner ring of the second cone bearing 5 is sequentially provided with a circular ring adjusting piece 19 and a second check ring 20.
The ring adjusting piece 19 adjusts the pretightening degree of the first cone bearing 3 and the second cone bearing 5 by different thicknesses, and aims to improve the torsional rigidity of the hollow double eccentric shaft 6, wherein the torsional rigidity is an important index of the robot speed reducer. The first check ring 21 and the second check ring 20 on the two sides of the hollow double eccentric shaft 6 can also prevent the auxiliary disc 16 from axially moving, the eccentric section of the hollow double eccentric shaft 6 is in interference fit with the inner hole of the roller bearing 4 without the outer ring, the outer circle of the roller bearing 4 without the outer ring is matched with the centers Kong Guodu of the first cycloid gear 11 and the second cycloid gear 18, and the matching between the two is as zero clearance as possible, so as to ensure that the return difference generated by the two is minimum.
The servo motor D is fastened on the round end cover 15, and a pinion 17 on the output shaft of the servo motor D is meshed with a large gear 16 for speed reduction, and the main purpose of the servo motor D is that the input revolution number of the hollow double eccentric shaft 6 connected with the large gear 17 is less than or equal to 1000rpm, so that the speed reducer cannot vibrate.
The central hole Q of the hollow double eccentric shafts is used for arranging a cable.
The first cycloidal gear 11 and the second cycloidal gear 18 are modified by adopting a combination of positive equidistant and positive displacement so that radial clearance delta is formed between the gear teeth of the first cycloidal gear 11 and the second cycloidal gear 18 and the hypocycloidal gear ring 1 j And lateral clearance delta c 。
In a preferred embodiment of the first embodiment, the best "positive equidistant-positive displacement" combination modification is preferably used, where the amount of modification is no longer empirically given by the designer, but is calculated by the following formula:
equidistant shape correction quantity Deltar z ＝Δ j /(1-K), offset correction amount DeltaR z ＝KΔr z ,
Wherein K= (1-K) 1 2 ) 0.5 Coefficient of short amplitude K 1 ＝eZ b /R z E is the eccentricity of the hollow double eccentric shaft 6, Z b R is the number of turns of hypocycloid teeth z Is the radius of the center circle of the needle teeth.
The optimal 'positive equidistant-positive displacement' combined shape correction can generate reasonable lateral clearance, so that the short heating life caused by interference friction during work is avoided. According to the principle of the anti-backlash gear, the return difference can be reduced by changing the phase difference of the hollow double eccentric shafts, so that:
in a preferred embodiment of the first embodiment, the phase difference of the two eccentric sections of the hollow double eccentric shaft 6 is preferably not equal to 180 °. More preferably, the phase difference between the two eccentric sections of the hollow double eccentric shaft 6 is 178.0 ° to 179.5 °. It is further preferable that the phase difference between the two eccentric sections of the hollow double eccentric shaft 6 is 178.5 ° to 179.25 °. Still more preferably, the phase difference between the two eccentric sections of the hollow double eccentric shaft 6 is 179.0 ° to 179.2 °. The phase difference of the two eccentric sections of the hollow double eccentric shaft 6 is taken as the value, so that the return difference of the speed reducer is less than or equal to 1', and the precision is improved. In particular, the effect of reducing the return difference is preferable when the phase difference is 179.0 ° to 179.2 °.
In a preferred embodiment of the first embodiment, the inner engagement member of the hypocycloid speed reducing member is preferably lubricated not by grease but by oil, and the hypocycloid ring gear 1 or the end cap 15 is provided with an oil filling hole, an oil drain hole and a vent cap, that is, the grease lubrication of the inner engagement member of the original RV-C speed reducer is changed to oil lubrication, and the vent cap is used for keeping the balance of the internal and external oil pressures of the casing when the oil temperature in the casing increases, so as to prevent oil leakage from the oil seal. The grease lubrication is changed into oil lubrication, and the robot has the beneficial technical effects that a robot user can replace dirty oil in the robot without disassembling the robot, and the service life of the speed reducer can be prolonged by cleaning the oil.
Compared with the prior art, the hollow hypocycloid speed reduction integrated machine for the industrial robot effectively solves the technical problems that the return difference in the prior speed reducer does not reach the standard, the heat is generated and the service life is short, and realizes that the single-stage hypocycloid and the servo motor are organically integrated, thereby forming a brand new joint of the industrial robot.
In particular, the following beneficial technical effects are obtained:
(1) Compared with the prior art in fig. 3, the hypocycloid speed reducing component of the utility model removes the sun gear, three planet gears and three hollow double eccentric shafts, and also removes six special tapered roller bearings and six special needle roller bearings on the hollow double eccentric shafts, the special tapered roller bearings and needle roller bearings have inferior domestic product quality as foreign, but the price is higher, and when the motor drives the sun gear and the planet gears to operate, the six tapered roller bearings and the six needle roller bearings generate heat and have larger noise. As the hypocycloid speed reducing component has the advantages that more than half parts in the existing hypocycloid speed reducing component are structurally simplified to form cycloid transmission, machining time is shortened, production efficiency is improved, manufacturing cost is further reduced, and meanwhile heating and noise are reduced. Technical manuals of the japanese nato company indicate that: "two-stage reduction mechanism: the vibration is small; the flywheel moment GD2 is small; the revolution speed of the RV gear is reduced, vibration is reduced, and inertia is reduced. That is, the hypocycloid input is less than or equal to 1000rpm, so that the vibration and flywheel moment are small.
(2) Domestic robot manufacturers purchase RV-C speed reducer, servo motor and lubricating grease respectively, and then assemble the robot joints precisely. The hollow hypocycloid speed reduction integrated machine for the industrial robot organically integrates motor driving and hypocycloid speed reduction, has high operation efficiency and can ensure that concentricity meets the requirement.
(3) When the existing RV-C speed reducer is installed, a user must automatically inject grease, the operation of adding lubricating grease into the cavity of the RV speed reducer is extremely complicated, dirt is easily carried into the cavity of the speed reducer, grease pollution is caused, and therefore the service life of the speed reducer is shortened. The hollow hypocycloid speed reducing integrated machine for the industrial robot has the advantages that the hollow hypocycloid speed reducing integrated machine for the industrial robot is formed by simplifying the structure of more than half parts in the existing hypocycloid speed reducing parts, so that an oil storage cavity in a shell is increased by 30% -40% compared with an existing RV-C speed reducer, and when grease is changed into oil for lubrication, the heat dissipation performance is good, the oil change of operators is convenient, and the oil price is much lower than that of grease.
(4) The hollow hypocycloid speed reduction integrated machine of the industrial robot is formed by simplifying the structure of more than half parts in the existing hypocycloid speed reduction parts, so that the hollow hypocycloid speed reduction integrated machine of the industrial robot is a single-stage cycloid wheel, and the manufacturing difficulty of key parts of a speed reducer is greatly reduced. The hollow double eccentric shafts must be processed on an expensive imported follow-up grinding machine, and the rigidity of the three small-diameter hollow double eccentric shafts is poor, so that the production efficiency is low and the cost is high. Imported follower grinders are expensive and slow to deliver. The hollow double eccentric shafting bearing steel GCr15 is required to be forged, tempered, quenched and tempered, semi-finish turning, milling of shaft end spline, integral quenching, double eccentric grinding, high phase difference precision of the hollow double eccentric shafts and high process difficulty. The planet carrier rigid disc component of the RV-C speed reducer is a core supporting component of the RV-C speed reducer, and is complex in structure and high in precision requirement. The hollow hypocycloid speed reducing integrated machine for the industrial robot has the advantages that the structure of half parts in the existing hypocycloid speed reducing parts is simplified to form a single-stage hypocycloid, so that the planet carrier is simple in structure, low in machining process difficulty, low in cost and convenient to assemble and disassemble. In particular, the outer circle of the special tapered roller bearing is matched with the uniform distribution holes of the planet carrier, the adjacent distance deviation of the uniform distribution holes is difficult to automatically compensate, the outer diameter of the special needle roller bearing is matched with the uniform distribution holes of the cycloid gear in a gapless way, the inner hole is matched with the outer circle of the eccentric section of the double eccentric shaft in a gapless way, and the adjacent distance deviation of the uniform distribution holes of the cycloid gear is difficult to compensate, so that the transmission precision is necessarily influenced.
Industrial applicability
According to the hollow hypocycloid speed reduction integrated machine of the industrial robot, the technical problems that the return difference in the existing speed reducer does not reach the standard, the heat is generated and the service life is short are effectively solved, and the single-stage hypocycloid and the servo motor are organically integrated, so that a brand new joint of the industrial robot is formed.
The hypocycloid speed reducer breaks through in the meshing principle, a pair of full-envelope cycloid gears are used as a gear mechanism of a conjugate curve, and a differential gear planetary gear transmission in different forms is adopted to realize speed reduction, so that the structure and the process are greatly simplified. The hypocycloidal drive is concave-convex meshed, and has small equivalent curvature radius, so that the bearing capacity is higher than that of RV-E type pin wheel-cycloidal gear drive. In addition, the hypocycloidal transmission has better lubrication performance than pin-cycloidal gear transmission.
The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.
Claims (7)
1. An industrial robot hollow hypocycloid speed reduction integrated machine is characterized in that,
comprises a hypocycloid speed reducing component and a servo motor (D),
the hypocycloidal reduction gear part includes:
a round end cover (15), a hypocycloidal gear ring (1), a planet carrier, a roller bearing without an outer ring (4), a first cycloidal gear (11), a second cycloidal gear (18), a first spacer ring (12), a first main bearing (10), a second main bearing (13), a first cone bearing (3), a second cone bearing (5), a hollow double eccentric shaft (6) and a large gear (16),
the large gear (16) is connected with the hollow double eccentric shaft (6), the round end cover (15) is connected with the input side spigot of the hypocycloid gear ring (1), the servo motor (D) is fastened on the round end cover (15), the output shaft of the servo motor (D) is provided with a small gear (17) meshed with the large gear (16),
the planet carrier consists of a main disc (7), an auxiliary disc (2), a pin (9) and a pin sleeve (8),
one end of the pin (9) is in interference fit with uniformly distributed holes on the main disc (7), the other end of the pin (9) passes through pin holes uniformly distributed on the first cycloidal gear (11) and the second cycloidal gear (18) 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 stud hole = the outer diameter +2e of the pin sleeve (8), e is the eccentricity of the hollow double eccentric shaft (6),
the two sides of the planet carrier are respectively supported at the inner holes at the two sides of the hypocycloid gear ring (1) by a first main bearing (10) and a second main bearing (13),
the two sides of the hollow double eccentric shafts (6) are respectively supported at the central holes of the main disc (7) and the auxiliary disc (2) by a first cone bearing (3) and a second cone bearing (5),
the outer ring of the first cone bearing (3) and the outer ring of the second cone bearing (5) are arranged between the first cone bearing (3) and the inner ring of the second cone bearing (5) back to back, the outer side of the inner ring of the first cone bearing (3) is sequentially provided with a second spacer ring (14), a large gear (16) and a first check ring (21), the outer side of the inner ring of the second cone bearing (5) is sequentially provided with a circular ring adjusting piece (19) and a second check ring (20),
the eccentric section of the hollow double eccentric shaft (6) is in interference fit with the inner hole of the roller bearing (4) without the outer ring, the outer circle of the roller bearing (4) without the outer ring is matched with the centers Kong Guodu of the first cycloidal gear (11) and the second cycloidal gear (18),
the central hole (Q) of the hollow double eccentric shaft (6) is used for arranging a cable,
the first cycloidal gear (11) and the second cycloidal gear (18) adopt positive equidistant-positive displacement combination shaping, so that radial clearance delta is formed between the gear teeth of the first cycloidal gear (11) and the second cycloidal gear (18) and the hypocycloidal gear ring (1) j And lateral clearance delta c 。
2. The industrial robot hollow hypocycloidal speed reduction all-in-one machine according to claim 1, wherein,
the first cycloidal gear (11) and the second cycloidal gear (18) adopt optimal positive equidistant-positive displacement combined shape correction, and the shape correction calculation formula is as follows:
equidistant shape correction quantity Deltar z ＝Δ j /(1-K), offset correction amount DeltaR z ＝KΔr z ,
Wherein K= (1-K) 1 2 ) 0.5 Coefficient of short amplitude K 1 ＝eZ b /R z ，Z b Is a hypocycloid gear ringNumber, R z Is the radius of the center circle of the needle teeth.
3. The industrial robot hollow hypocycloidal speed reduction all-in-one machine according to claim 1, wherein,
the phase difference of the two eccentric sections of the hollow double eccentric shaft (6) is not equal to 180 degrees.
4. The industrial robot hollow hypocycloidal speed reduction all-in-one machine according to claim 3, wherein,
the phase difference of the two eccentric sections of the hollow double eccentric shaft (6) is 178.5-179.5 degrees.
5. The industrial robot hollow hypocycloidal speed reduction all-in-one machine according to claim 4, wherein,
the phase difference of the two eccentric sections of the hollow double eccentric shaft (6) is 178.8-179.25 degrees.
6. The industrial robot hollow hypocycloidal speed reduction all-in-one machine according to claim 5, wherein,
the phase difference of the two eccentric sections of the hollow double eccentric shaft (6) is 179.0-179.2 degrees.
7. The industrial robot hollow hypocycloidal speed reduction all-in-one machine according to any one of claims 1 to 6, wherein,
the meshing parts in the hypocycloid speed reducing part are lubricated by oil instead of grease, and the hypocycloid gear ring (1) or the round end cover (15) is provided with an oil filling hole, an oil drain hole and a ventilation cap.
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| CN202220156532.4U CN219242565U (en) | 2022-01-20 | 2022-01-20 | Hollow hypocycloid speed reduction integrated machine of industrial robot |
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| CN202220156532.4U CN219242565U (en) | 2022-01-20 | 2022-01-20 | Hollow hypocycloid speed reduction integrated machine of industrial robot |
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