Three-piece type single-stage cycloid reducer of industrial robot

Abstract

The invention relates to the technical field of reducers of industrial robots, in particular to a three-piece type single-stage cycloid reducer of an industrial robot, which is characterized in that (a) the speed is reduced in a single stage mode; (b) an output shaft adopts a large-diameter disk and a rigid cage structure is respectively supported at both ends; (c) an input shaft (3) is sequentially provided with an elastic collar (4), a disk spring (5), an eccentric bearing a, a partition ring (15), an eccentric bearing b, a disk spring (14) and an elastic collar (12), wherein the input shaft is connected with the two single eccentric bearings a and b by multiple threads in the same spiral direction. In an initial state, gear teeth of a cycloid gear A are tightly supported to a needle gear pin (16) at the upper half area of a needle gear shell (10) along a clockwise direction, and gear teeth of a cycloid gear B is tightly supported to the needle gear pin (16) at the lower half area of the needle gear shell (10) along an anticlockwise direction; and (d) the two single eccentric bearings a and b are formed by tightly assembling a standard roller bearing without an outer ring and aninner eccentric sleeve. The invention has the beneficial effects that: (1) after a meshing surface is worn, the return difference can be automatically compensated; (2) the process difficulty is low, and a high-precision machine tool is not needed; (3) the manufacturing cost is estimated as 25-35 percent of the manufacturing cost of an FA reducer; and (4) a load balance ring can increase the rigidity and the bending strength of a pillar pin.

Description

【Technical field】 [0001] The invention relates to the technical field of industrial robot reducers, in particular to a three-piece single-stage cycloid reducer for industrial robots. 【Background technique】 [0002] Japan's Sumitomo FA single-stage reducer is a newly developed cycloid drive, which has been studied by Dalian Jiaotong University researchers for many years. The phase angle of the triple eccentric bearing of the FA reducer is equal to 120°, with a semi-buried tooth structure. Its advantages are: (1) Small size and light weight; (2) Because there is no pin gear sleeve, the maximum reduction ratio can reach 119 ("Strength Calculation of Cycloid Wheel of Three-piece Cycloid Drive Reducer" Mechanical Design 2007.10) ; (3) The weak link of the arm bearing is improved; (4) The force between the pin teeth and the pin is balanced, and the transmission is stable; (5) The theoretical bearing capacity is increased by 50%; (6) The semi-buried tooth structure has high rigidi...

AI Technical Summary

Problems solved by technology

[0003] The main problems of the FA robot reducer are: the manufacturing accuracy is very high, and the hysteresis cannot be automatically compensated after the meshing surface is worn.

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