RD-20E robot reducer

RVIntroduction to gearbox:

RVTransmission is a newly emerging type of transmission that has developed on the basis of traditional needle pendulum planetary transmission. It not only overcomes the shortcomings of general needle pendulum transmission, but also has a series of advantages such as small size, light weight, large transmission ratio range, long service life, stable accuracy, high efficiency, and smooth transmission. It is increasingly receiving widespread attention both domestically and internationally.RVThe reducer is composed of a cycloidal pinwheel and a planetary carrier, and is widely used in industrial robots, machine tools, medical testing equipment, satellite receiving systems, and other fields due to its small size, strong impact resistance, high torque, high positioning accuracy, low vibration, and large reduction ratio. It has much higher fatigue strength, stiffness, and lifespan than the commonly used harmonic drive in robots, and its hysteresis accuracy is stable,

working principle

RV-EType reducer is2Gradual deceleration type.

第1Reduction section... spur gear reduction mechanism

The rotation of the input shaft is transmitted from the input gear to the spur gear, and is reduced according to the gear ratio. This is the first deceleration section.

第2Reduction section... differential gear reduction mechanism

The spur gear is connected to the crankshaft and becomes the input of the second reduction section. Install through rolling bearings on the eccentric part of the crankshaftRVGears. Additionally, on the inside of the casing, onlyRVThe needle teeth with an additional number of gears are arranged with equal tooth pitch.

If the fixed housing rotates the spur gear, thenRVGears also undergo eccentric motion due to the eccentric motion of the crankshaft.

If the crankshaft rotates once at this time, thenRVThe gear will rotate one tooth in the opposite direction to the crankshaft.

This rotation is output to the2The shaft of the deceleration section.

When fixing the shaft, the outer shell side becomes the output side.

RV-EThere are many ways to use type reducers. The rotation direction and speed are shown in the following figure.

Please choose the best practical method.

第1Deceleration section and the2The reduction ratio obtained by adding the deceleration partsiDepending on the usage method, the speed ratio value can be calculated according to the following formula.

Axis rotation situation

R :Speed ratio value

Z1:Input the number of teeth of the gear

Z2Number of teeth of spur gear

Z3：RVThe number of teeth on a gear

Z4: Number of needle teethiReduction ratio

RVIntroduction to the structure of the reducer:

RVThe transmission device of the reducer consists of a first stage involute cylindrical gear planetary reduction mechanism and a second stage cycloidal pinwheel planetary reduction mechanism, forming a closed differential gear system as shown in the figure2.2Provide a schematic diagram of its structure. Active Sun Wheel1Connected to the input shaft, if the involute center wheel1Clockwise rotation will drive three120Planetary gears arranged in degrees2While revolving around the center wheel axis, it also rotates counterclockwise with three crankshafts3With planetary gears2Connected and rotating at the same speed, with a phase difference between the two pieces180Cycloid gear of °4It is hinged on three crankshafts and meshes with a fixed needle wheel. While its axis revolves around the axis of the needle wheel, it also rotates in the opposite direction, i.e. clockwise. Output organization(Xing Xing Jia)6Driven by three pairs of crankshaft support bearings installed on it, the rotation vector on the cycloid wheel is1:1The speed ratio is transmitted.