阅读说明：本技术 行星摆线减速器、机器人 (Planetary cycloidal speed reducer and robot ) 是由 钟成堡 田毅飞 李少彬 程中甫 刘成 孙豹 于 2021-09-14 设计创作，主要内容包括：本发明提供一种行星摆线减速器、机器人,其中的行星摆线减速器,包括刚性盘与行星架,所述刚性盘与所述行星架之间具有定位销,还包括定位销轴向施力结构,所述定位销轴向施力结构包括固定件以及处于所述固定件与所述定位销的尾部的弹性件,所述弹性件能够沿所述定位销的轴向施加推力于所述定位销上。根据本发明,利用所述弹性件所述定位销施加轴向力,起到对所述定位销的同步自动预紧功能,有效防止所述定位销的松动、脱落,保证所述定位销的位置可靠性进而保证所述定位销与与之对应的销孔的接触面积、提高定位精度。(The invention provides a planetary cycloid speed reducer and a robot, wherein the planetary cycloid speed reducer comprises a rigid disc and a planet carrier, a positioning pin is arranged between the rigid disc and the planet carrier, and the planetary cycloid speed reducer further comprises a positioning pin axial force application structure, the positioning pin axial force application structure comprises a fixed piece and an elastic piece located at the tail parts of the fixed piece and the positioning pin, and the elastic piece can apply thrust on the positioning pin along the axial direction of the positioning pin. According to the invention, the positioning pin exerts axial force by using the elastic piece, so that the synchronous automatic pre-tightening function of the positioning pin is realized, the loosening and falling of the positioning pin are effectively prevented, the position reliability of the positioning pin is ensured, the contact area between the positioning pin and a pin hole corresponding to the positioning pin is further ensured, and the positioning precision is improved.)

1. The utility model provides a planet cycloid reduction gear, includes rigid disc (1) and planet carrier (2), rigid disc (1) with locating pin (3) have between planet carrier (2), its characterized in that still includes locating pin axial application of force structure, locating pin axial application of force structure includes mounting (41) and is in mounting (41) with elastic component (42) of the afterbody of locating pin (3), elastic component (42) can be followed the axial of locating pin (3) is exerted thrust in on locating pin (3).

2. A planetary cycloidal reducer according to claim 1, in which the rigid disk (1) has a first socket (11), the planet carrier (2) has a second socket (21), the positioning pin (3) is inserted into the first socket (11) and the second socket (21), the first socket (11) has a first counter bore (12) at the hole far from the second socket (21), and the fixing member (41) is screwed into the first counter bore (12).

3. A planetary cycloidal reducer according to claim 2, in which the first receptacle (11) has a second counterbore (13) close to the orifice of the second receptacle (21), the planet carrier (2) has a connecting column (22), the second receptacle (21) is formed on the connecting column (22), and the free end of the connecting column (22) is inserted in the second counterbore (13).

4. A planetary cycloidal reducer according to claim 3, in which the free end of the connecting post (22) has a diameter D, the diameter of the second counter bore (13) is D, the difference between D and D being comprised between-0.005 mm and 0.018 mm.

5. A planetary cycloidal reducer according to claim 2, in which said first sockets (11) on said rigid disc (1) are at least two, said second sockets (21) on said planet carrier (2) are at least two, at least two of said first sockets (11) correspond to at least two of said second sockets (21) one by one, and said positioning pins (3) are at least two, at least two of said positioning pins (3) are inserted into at least two of said first sockets (11) and said second sockets (21) one by one.

6. A planetary cycloidal reducer according to claim 1, in which the locating pin (3) is a conical pin.

7. A planetary cycloidal reducer according to claim 1 in which the elastic member (42) is a spring.

8. A planetary cycloidal reducer according to claim 1, in which the fixed element (41) is an end cap.

9. A robot comprising a planetary cycloidal reducer according to any one of claims 1 to 8.

Technical Field

The invention belongs to the technical field of reducer manufacturing, and particularly relates to a planetary cycloid reducer and a robot.

Background

The planetary cycloidal reducer (also called RV reducer) is mainly a novel cycloidal pin gear planetary transmission formed by primary planetary gear transmission and secondary cycloidal pin gear transmission, the RV reducer is mainly applied to the joint part of an industrial robot, and the planetary cycloidal reducer provides the requirements of high transmission precision, small return difference, high rigidity, strong shock resistance, compact structure, high transmission efficiency and the like for the RV reducer. These requirements all place high demands on the machining accuracy and mounting accuracy of the parts. And the coaxiality of the upper bearing hole and the lower bearing hole of the planet carrier assembly can directly influence the transmission precision and the service life of the RV reducer.

In the known planetary cycloid speed reducer, a planet carrier assembly is positioned through pins, but the contact area between the pins and pin holes is insufficient during the assembly of the whole speed reducer, so that the positioning precision is poor, grease easily enters the pin holes in the running process of the speed reducer, and the vibration of the whole speed reducer causes the loosening and even falling of the pins, so that the planet carrier assembly moves relatively, the coaxiality of bearing holes of the planet carrier assembly is poor, the accelerated wear of parts in the speed reducer is caused, and the service life of the parts is shortened.

Disclosure of Invention

Therefore, the invention provides a planetary cycloid speed reducer and a robot, which can overcome the defects that in the related technology, a positioning pin between a rigid disc and a planet carrier is easy to loosen or even fall off, so that a planet carrier assembly moves relatively, and the service life of the speed reducer is reduced.

In order to solve the above problems, the present invention provides a planetary cycloidal reducer, which includes a rigid disk and a planet carrier, wherein a positioning pin is arranged between the rigid disk and the planet carrier, and further includes a positioning pin axial force application structure, the positioning pin axial force application structure includes a fixed element and an elastic element located at the tail of the fixed element and the positioning pin, and the elastic element can apply a thrust force on the positioning pin along the axial direction of the positioning pin.

In some embodiments, the rigid disk has a first socket, the planet carrier has a second socket, the positioning pin is inserted into the first socket and the second socket, the first socket has a first counter bore at a position far away from the hole of the second socket, and the fixing member is screwed into the first counter bore.

In some embodiments, the first receptacle has a second counterbore near the orifice of the second receptacle, and the planet carrier has a connecting column on which the second receptacle is formed, and the free end of the connecting column is inserted into the second counterbore.

In some embodiments, the diameter of the free end of the connecting column is D, the diameter of the second counter bore is D, and the difference between D and D is-0.005 mm-0.018 mm.

In some embodiments, the number of the first insertion holes on the rigid disk is at least two, the number of the second insertion holes on the planet carrier is at least two, at least two of the first insertion holes and at least two of the second insertion holes are respectively in one-to-one correspondence, and the number of the positioning pins is at least two, and at least two of the positioning pins are respectively inserted into at least two of the first insertion holes and the second insertion holes in one-to-one correspondence.

In some embodiments, the locating pin is a conical pin.

In some embodiments, the resilient member is a spring.

In some embodiments, the fastener is an end cap.

The invention also provides a robot which comprises the planetary cycloid speed reducer.

According to the planetary cycloid speed reducer and the robot, the elastic piece is used for applying axial force to the positioning pin, so that the synchronous automatic pre-tightening function of the positioning pin is achieved, the positioning pin is effectively prevented from loosening and falling off, the position reliability of the positioning pin is guaranteed, the contact area of the positioning pin and a pin hole corresponding to the positioning pin is further guaranteed, and the positioning precision is improved.

Drawings

Fig. 1 is a schematic view of an internal structure of a planetary cycloid speed reducer according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a schematic view of the internal structure of the rigid disk of FIG. 1;

fig. 4 is a schematic view of an internal structure of a planetary cycloid speed reducer in the related art.

The reference numerals are represented as:

1. a rigid disk; 11. a first jack; 12. a first counterbore; 13. a second counterbore; 2. a planet carrier; 21. a second jack; 22. connecting columns; 3. positioning pins; 41. a fixing member; 42. an elastic member; 100. a pin gear housing; 101. a cycloid wheel; 102. a rocker arm bearing; 103. a gasket; 104. a planetary gear; 105. a main bearing; 106. a seal ring; 107. a spacer ring; 108. a clamp spring; 109. an eccentric shaft; 110. and supporting the bearing.

Detailed Description

With reference to fig. 1 to 4, according to an embodiment of the present invention, there is provided a planetary cycloidal reducer, including a rigid disk 1 and a planet carrier 2, a positioning pin 3 is disposed between the rigid disk 1 and the planet carrier 2, and further including a positioning pin axial force application structure, where the positioning pin axial force application structure includes a fixed member 41 and an elastic member 42 disposed at a tail portion of the fixed member 41 and the positioning pin 3, the fixed member 41 is capable of positioning one end of the elastic member 42, the other end of the elastic member 42 abuts against the tail portion of the positioning pin 3, and the elastic member 42 is capable of applying a thrust force to the positioning pin 3 along an axial direction of the positioning pin 3. In the technical scheme, the elastic piece 42 is utilized to apply axial force to the positioning pin 3, so that the synchronous automatic pre-tightening function of the positioning pin 3 is achieved, the positioning pin 3 is effectively prevented from loosening and falling off, the position reliability of the positioning pin 3 is ensured, the contact area between the positioning pin 3 and a pin hole corresponding to the positioning pin 3 is further ensured, and the positioning precision is improved.

In some embodiments, the rigid disk 1 has a first insertion hole 11, the planet carrier 2 has a second insertion hole 21, the positioning pin 3 is inserted into the first insertion hole 11 and the second insertion hole 21, the first insertion hole 11 has a first counter bore 12 at a position away from the opening of the second insertion hole 21, and the fixing member 41 is screwed into the first counter bore 12, that is, the fixing member 41 is engaged with a second thread on the inner wall of the first counter bore 12 through the first thread, so as to facilitate assembly positioning of the elastic member 42 and the positioning pin 3. The fixing member 41 is an end cover, so that the opening of the first counterbore 12 can be sealed, and the looseness of the positioning pin 3 caused by grease and the like entering the first insertion hole 11 and the second insertion hole 21 is avoided. The elastic member 42 may be a spring, which has a strong corrosion resistance and a high pre-tightening force.

In some embodiments, the positioning pin 3 is a conical pin, and it can be understood that a small head (i.e. a head) of the conical pin faces one side of the planet carrier 2, and a large head (i.e. a tail) of the conical pin faces one side of the rigid disk 1, so that the assembly between the rigid disk 1 and the planet carrier 2 is smoother and the positioning is more accurate by using the self-centering property of the conical pin.

In some embodiments, the first insertion hole 11 has a second counter bore 13 near the orifice of the second insertion hole 21, the planet carrier 2 has a connection column 22, the second insertion hole 21 is configured on the connection column 22, the free end of the connection column 22 is inserted into the second counter bore 13, in the actual assembly process, the rigid disc 1 and the planet carrier 2 are further fixed by corresponding screws so as to form a whole, and in this technical scheme, through the insertion and matching of the connection column 22 and the second counter bore 13, the sealing performance of the first insertion hole 11 and the second insertion hole 21 can be improved, grease inside the speed reducer is prevented from entering the first insertion hole 11 and the second insertion hole 21 through a gap between the matching surfaces of the rigid disc 1 and the planet carrier 2, so that the positioning pin 3 is loosened, and meanwhile, the connection rigidity of the rigid disc 1 and the planet carrier 2 is improved, effectively avoid both to produce the increase that relative movement brought both cooperation gaps, guarantee the axiality of the dead eye on the reduction gear, improve the life of reduction gear.

In some embodiments, the diameter of the free end of the connecting column 22 is D, the diameter of the second counterbore 13 is D, and the difference between D and D is between-0.005 mm and 0.018mm to ensure that the two achieve effective sealing after being assembled.

In some embodiments, as shown in fig. 3, at least two first insertion holes 11 are formed in the rigid disk 1, at least two second insertion holes 21 are formed in the planet carrier 2, at least two first insertion holes 11 correspond to at least two second insertion holes 21 one by one, and at least two positioning pins 3 are inserted into at least two first insertion holes 11 and at least two second insertion holes 21 one by one, so as to form a circumferential positioning between the rigid disk 1 and the planet carrier 2.

According to an embodiment of the invention, there is also provided a robot including the planetary cycloidal reducer described above.

It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.