Robot anti-backlash double-cycloid hollow speed reducer
阅读说明：本技术 机器人消隙双摆线中空减速器 (Robot anti-backlash double-cycloid hollow speed reducer ) 是由 吴声震 于 2018-08-08 设计创作，主要内容包括：本发明涉及机器人减速器技术领域,一种机器人消隙双摆线中空减速器,其特征在于：包括圆壳体及一级与二级减速部件,一级减速部件包括伺服电机、主动轮、双联齿轮及行星轮,保证偏心轴转速≤950rpm,二级减速部件包括2～3只均布的偏心轴、第一、第二摆线轮、内摆线齿圈及左、右刚性盘,摆线轮与内摆线齿圈间的径隙Δj＝0.5δ+0.005～0.02(mm),偏心轴的两偏心段相位差等于179.81°～179.934°、二摆线轮上两组共六圆孔设在同一圆周上间隔均布,第一轴承为龙氏耐磨合金滑动轴承,第三轴承10为薄壁密封四点接触球轴承或交叉滚子轴承。有益效果：承载能力可提高50％；具有良好的润滑状态；具有良好的动态性能；正、转时,能实现回差≤1～3弧分。(The invention relates to the technical field of robot reducers, in particular to a robot anti-backlash double-cycloid hollow reducer which is characterized in that: the speed reducer comprises a circular shell, a primary speed reducing part and a secondary speed reducing part, wherein the primary speed reducing part comprises a servo motor, a driving wheel, a duplicate gear and a planet gear, the rotating speed of an eccentric shaft is guaranteed to be less than or equal to 950rpm, the secondary speed reducing part comprises 2-3 eccentric shafts, a first cycloid gear, a second cycloid gear, a hypocycloid gear ring, a left rigid disc and a right rigid disc which are uniformly distributed, a radial gap delta j between the cycloid gear and the hypocycloid gear ring is 0.5 delta + 0.005-0.02 (mm), the phase difference of two eccentric sections of the eccentric shafts is equal to 179.81-179.934 degrees, two groups of six circular holes on the hypocycloid gears are uniformly distributed on the same circumference at intervals, the first bearing is a Longshi wear-resistant alloy sliding bearing, and the third. Has the advantages that: the bearing capacity can be improved by 50%; has good lubrication state; the dynamic performance is good; when the rotor rotates forwards and backwards, the return difference can be less than or equal to 1-3 arc minutes.)
1. The utility model provides a two cycloid cavity reducers of robot gap elimination which characterized in that:
including circle casing (1) and arrange one-level speed reduction part and the second grade speed reduction part in the casing in, wherein:
(I) the primary speed reducing part comprises a driving wheel (9) on a servo motor (7), a duplicate gear (10) and a planet wheel (8), the duplicate gear (10) comprises a driven wheel and a sun wheel, the driven wheel is meshed with the driving wheel (9), the sun wheel is meshed with the planet wheel (8), the planet wheel (8) is connected to the shaft extension end of an eccentric shaft (3) of the secondary speed reducing part, and the rotating speed of the eccentric shaft (3) after primary speed reduction is not more than 950 rpm; the inner hole of the duplicate gear (10) is provided with a through pipe;
(II) the secondary speed reduction part comprises 2-3 eccentric shafts (3), a first cycloid gear (A, B), a second cycloid gear (A, B), a hypocycloid gear ring, a left rigid disk and a right rigid disk (2, 5), the eccentric shaft (3) comprises two eccentric sections, a third bearing used for supporting the cycloid wheel is arranged on the eccentric section, the two sides of the eccentric section are respectively supported in the peripheral holes of the left and the right rigid discs by the fourth bearing, the left and right rigid discs are respectively supported in the inner holes at the two sides of the circular shell (1) by a first bearing (4), three cylindrical flanges are uniformly distributed on the left rigid disk (2), penetrate through a first group of three circular holes with equal diameters on the two cycloidal gears and are tightly matched with the spigot at the inner side of the right rigid disk (5) to form a rigid body, a second group of three circular holes with equal diameters are formed on the two cycloidal gears and are used for mounting a third bearing, and two groups of six circular holes are uniformly distributed on the same circumference at intervals; the center hole of the right rigid disk (5) supports one side of the duplicate gear (10) by a second bearing (6);
(III) the radial clearance Δ j (mm) between the first and second cycloidal gears (A, B) and the hypocycloidal ring gear should be equal to half the amount of thermal expansion δ (mm) of the cycloidal gear plus the amount of compensation, namely: Δ j is 0.5 δ +0.005 to 0.02 (mm).
2. The robot anti-backlash double-cycloid hollow speed reducer according to claim 1, characterized in that: the phase difference of two eccentric sections of the eccentric shaft (3) is equal to 179.81-179.938 degrees, so that the phase difference formed between the first and second cycloid gears (A, B) supported by the third bearing is equal to 179.81-179.938 degrees, at the moment, the gear teeth of the first cycloid gear (A) are close to the clockwise (or anticlockwise) side of the inner teeth of the upper half area of the hypocycloid gear ring, the gear teeth of the second cycloid gear (B) are close to the anticlockwise (or clockwise) side of the inner teeth of the lower half area of the hypocycloid gear ring, and according to the principle of backlash eliminating gears, the return difference is less than or equal to 1-3' when the gear rotates forwards and reversely.
3. The robot anti-backlash double-cycloid hollow speed reducer according to claim 2, characterized in that: the phase difference of the two eccentric sections of the eccentric shaft (3) is equal to 179.82-179.936 degrees, so that the phase difference between the first cycloidal gear (A, B) and the second cycloidal gear (A, B) supported by the third bearing is also equal to 179.82-179.936 degrees, and the return difference is equal to or less than 1-3 degrees when the eccentric shaft rotates forwards and backwards according to the anti-backlash gear principle.
4. The robot anti-backlash double-cycloid hollow speed reducer of claim 3, characterized in that: the phase difference of the two eccentric sections of the eccentric shaft (3) is equal to 179.83-179.934 degrees. Therefore, the phase difference between the first and second cycloidal gears (A, B) supported by the third bearing is equal to 179.83-179.934 degrees, and the return difference is less than or equal to 1-3 degrees when the third bearing rotates forwards and backwards according to the principle of the anti-backlash gear.
5. The robot anti-backlash double-cycloid hollow speed reducer of claim 2, 3 or 4, characterized in that: the first bearing (4) is a thin-wall sealing four-point contact ball bearing.
6. The robot anti-backlash double-cycloid hollow speed reducer of claim 2, 3 or 4, characterized in that: the first bearing (4) is a thin-wall sealed crossed roller bearing.
7. The robot anti-backlash double-cycloid hollow speed reducer of claim 5 or 6, characterized in that: the third bearing is a Longmen alloy sliding bearing.
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robot speed reducers, in particular to a robot backlash eliminating double-cycloid hollow speed reducer based on a backlash eliminating gear principle, good manufacturability and a return difference smaller than or equal to 1-3 arc minutes.
[ background of the invention ]
Professor Zhuxiaoling recorded & lthandbook of Gear drive design & gt says: "radial error of pin gear pin in RV reducer, circumferential position error of pin gear pin hole and … … etc. have the biggest influence on return difference. "(page 839)
[ summary of the invention ]
The invention relates to an innovation made according to the principle of 'anti-backlash gears', in particular to a robot anti-backlash double-cycloid hollow speed reducer.
The anti-backlash gear has high static and dynamic precision characteristics, and when the anti-backlash gear is applied to carriers such as satellites and missiles, the return difference is approximately equal to 0 and is much smaller than the arc component of the
[ technical solution ] the specific technical solution adopted to solve the above problems is as follows:
the utility model provides a two cycloid cavity reducers of robot gap elimination, includes round shell and one-level speed reduction part and second grade speed reduction part, wherein:
the primary speed reduction part comprises a servo motor, a driving wheel, a duplicate gear and a planet wheel, the duplicate gear comprises a driven wheel and a sun wheel, the driven wheel is meshed with the driving wheel, the sun wheel is meshed with the planet wheel, the planet wheel is connected to the shaft extension end of an eccentric shaft of the secondary speed reduction part, the rotating speed of the eccentric shaft after primary speed reduction is not more than 950rpm, so that transmission is more stable, and an inner hole of the duplicate gear is provided with a through pipe;
the two-stage speed reduction part comprises 2-3 eccentric shafts, a first cycloid wheel, a second cycloid wheel, a hypocycloid gear ring, a left rigid disc and a right rigid disc which are uniformly distributed, wherein the eccentric shafts comprise two eccentric sections, third bearings used for supporting the cycloid wheels are arranged on the eccentric sections, two sides of the eccentric sections are respectively supported in peripheral holes of the left rigid disc and the right rigid disc by fourth bearings, the left rigid disc and the right rigid disc are respectively supported in inner holes on two sides of a circular shell by the first bearings, three cylindrical flanges are uniformly distributed on the left rigid disc, the three cylindrical flanges penetrate through a first group of circular holes with equal diameter on the two cycloid wheels and are tightly matched with a spigot on the inner side of the right rigid disc to form a rigid body, a second group of circular holes with equal diameter are additionally arranged on the two cycloid wheels and are used for mounting the third bearings, the six circular holes are arranged on the same circumference and are uniformly distributed at;
the radial clearance delta j between the first and second cycloid gears and the hypocycloid gear ring is equal to half of the thermal expansion amount delta of the cycloid gear plus compensation amount, and the radial clearance is determined according to the expansion amount, so that the cycloid gear does not generate heat and is not blocked during operation, and the cycloid gear has good dynamic performance.
The phase difference of two eccentric sections of the eccentric shaft is 179.81-179.938 degrees, so that the phase difference formed between the two cycloidal gears supported by the third bearing is 179.81-179.938 degrees, at the moment, the gear teeth of the first cycloidal gear are close to the clockwise (or anticlockwise) side of the inner teeth of the upper half area of the hypocycloid gear, the gear teeth of the second cycloidal gear are close to the anticlockwise (or clockwise) side of the inner teeth of the lower half area of the hypocycloid gear, and the return difference is less than or equal to 1-3' when the eccentric shaft rotates forwards and backwards according to the principle of the backlash eliminating gear.
The phase difference of the two eccentric sections of the eccentric shaft is equal to 179.82-179.936 degrees, so that the phase difference between the first cycloidal gear and the second cycloidal gear supported by the third bearing is equal to 179.82-179.936 degrees, and the return difference is less than or equal to 1-3 arc minutes during positive rotation and reverse rotation.
The phase difference of the two eccentric sections of the eccentric shaft is equal to 179.83-179.934 degrees. Therefore, the phase difference between the first cycloid wheel and the second cycloid wheel supported by the third bearing is equal to 179.83-179.934 degrees, and the return difference is less than or equal to 1-3 arc minutes when the third bearing rotates forwards and backwards.
The first bearing is a thin-wall sealing four-point contact ball bearing, has large bearing capacity and can bear radial and axial loads at the same time.
The first bearing is a thin-wall sealed crossed roller bearing, has large bearing capacity and can bear radial and axial loads at the same time.
The first bearing is a Longshi alloy sliding bearing, and the Longshi alloy sliding bearing has self-lubricating performance and is suitable for medium-low speed heavy-load occasions.
[ PROBLEMS ] the present invention
(1) The hypocycloid gear ring replaces the pin with the largest influence on return difference, high manufacturing difficulty and large quantity, so that the structure is simplified;
(2) the hypocycloid gear ring is in pure rolling engagement with the epicycloid gear, and meanwhile, due to concave-convex engagement, the equivalent radius is small and is similar to surface contact, so that the contact strength is high, and the bearing capacity can be improved by about 50%;
(3) a good lubricating state is formed near the meshing node, so that the transmission efficiency is improved;
(4) the radial clearance is based on the expansion amount of the cycloid wheel, and heat cannot be generated during operation, so that the cycloid wheel has good dynamic performance;
(5) the domestic machine tool has the advantages of conventional manufacturing precision and lowest cost; the return difference between the forward rotation and the reverse rotation is less than or equal to 1-3 arc minutes.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
[ detailed description ] embodiments
The utility model provides a two cycloid cavity reducers of robot gap elimination which characterized in that: including
the primary speed reducing part comprises a driving wheel 9, a
the secondary speed reducing component comprises 2-3 eccentric shafts 3 which are uniformly distributed, a first cycloid wheel A, B, a second cycloid wheel A, B, a hypocycloid gear ring, a left rigid disk 2 and a right rigid disk 5, the eccentric shaft 3 comprises two eccentric sections, the eccentric section is provided with a third bearing for supporting the cycloid wheel, the two sides of the eccentric section are respectively supported in the peripheral holes of the left and the right rigid discs by the fourth bearing, the left and the right rigid discs are respectively supported in the inner holes at the two sides of the
the radial clearance Δ j (mm) between the first and second cycloidal gears A, B and the hypocycloidal ring gear should be equal to half the amount of thermal expansion δ (mm) of the cycloidal gear plus an amount of compensation, namely: Δ j is 0.5 δ + 0.005-0.02 (mm), and the northern university of industry paper "RV reducer thermal-structural coupling analysis" indicates that: "domestic research on RV reduction gear heat-structure coupling is less, but reduction gear uses grease lubrication, and the heat dissipation condition is not good, and various conditions are closely related to heat in operation. The influence of temperature on the volume of the part is considered so as to avoid the blocking due to the over-temperature expansion. The cycloidal gear is the main source of heat. "
The radial clearance is determined according to the expansion amount, and the heat is not blocked during operation, so that the dynamic performance is good, and the service life is long.
The robot anti-backlash double-cycloid hollow speed reducer is characterized in that: the phase difference of the two eccentric sections of the eccentric shaft 3 is equal to 179.81-179.938 degrees, so that the phase difference formed between the first cycloid gear A, B and the second cycloid gear A, B supported by the third bearing is also equal to 179.81-179.938 degrees, at the moment, the gear teeth of the first cycloid gear A are tightly close to the clockwise (or anticlockwise) side of the inner teeth of the upper half area of the hypocycloid gear ring, the gear teeth of the second cycloid gear B are tightly close to the anticlockwise (or clockwise) side of the inner teeth of the lower half area of the hypocycloid gear ring, and according to the principle of a backlash eliminating gear, the return difference is less than or equal to 1-3 arc minutes during positive rotation.
The robot anti-backlash double-cycloid hollow speed reducer is characterized in that: the phase difference of the two eccentric sections of the eccentric shaft 3 is equal to 179.82-179.936 degrees, so that the phase difference between the first cycloidal gear A, B and the second cycloidal gear A, B supported by the third bearing is equal to 179.82-179.936 degrees, and according to the anti-backlash gear principle, the return difference is less than or equal to 1-3 arc minutes during forward rotation and reverse rotation.
The robot anti-backlash double-cycloid hollow speed reducer is characterized in that: the phase difference of the two eccentric sections of the eccentric shaft 3 is equal to 179.83-179.934 degrees. Therefore, the phase difference between the first cycloidal gear A, B and the second cycloidal gear A, B supported by the third bearing is equal to 179.83-179.934 degrees, and according to the principle of the anti-backlash gear, the return difference is less than or equal to 1-3 arc minutes during positive rotation and reverse rotation.
The robot anti-backlash double-cycloid hollow speed reducer is characterized in that: the first bearing 4 is a thin-wall sealing four-point contact ball bearing: the device can bear radial load, bidirectional thrust load and overturning moment, and can simplify the structure of a host; the adjustment of the play is very convenient.
The robot anti-backlash double-cycloid hollow speed reducer is characterized in that: the first bearing 4 is a thin-wall sealed crossed roller bearing, the load capacity of the bearing is 5-15 times that of a ball bearing, preload is applied, and rigidity and rotation precision can be effectively improved.
Why is a sealed bearing used? Because:
the bearing early failure is not fatigue failure caused by materials, but is caused by that lubricating grease is gradually deteriorated after pollutants enter the bearing and indentation is generated on a rolling contact surface. "(" sealing technology of sealing deep groove ball bearing "bearing 2009.05)
When the structure is compact, a radial ball bearing with two-side sealing is preferably used. The radial ball bearing equipped with the two-sided sealing ring is filled with enough lubricating grease for the whole service life of the bearing. "(Esman rolling bearing design and application Manual 221 page)
"poor lubrication is the main cause of early bearing failure" (Liu Yang Jiu "handbook for rolling bearing application" page 891)
The robot anti-backlash double-cycloid hollow speed reducer is characterized in that: the third bearing is a Longshi alloy sliding bearing, a Longshi alloy (LONG-S metal) is an advanced technology introduced in China, is widely applied to machine tools, steel rolling, mines, cranes, ships and the like, and replaces various antifriction alloy castings such as bronze, brass, babbitt metal and the like. Its advantage is: the casting performance is good, the casting is compact, the friction factor is small, and the surface roughness can reach 1.6; 40% lighter than copper and 40% lower cost; the service life of the material is 2-3 times that of tin bronze, the material has self-lubricating performance and a damping function, and the material is suitable for medium-low speed heavy-load occasions. The sliding bearing has simple process and convenient replacement.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.