一种可用于机器人关节的封闭型摆线包络精密减速器  

A Closed Enveloping Cycloid Precision Reducer Used in the Robot Joint

作　　者：李朝阳[1] 陈兵奎[1] 李轩[1] 梁栋[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《机械传动》2014年第10期71-73,97,共4页Journal of Mechanical Transmission

基　　金：国家科技支撑计划项目(2013BAF01B04);国家自然科学基金(51205425)

摘　　要：提出了一种可用于机器人关节的封闭型摆线包络精密减速器,介绍了封闭型摆线包络精密减速器的结构创新。提出了摆线一次、二次包络啮合副,基于摆线包络理论,给出了摆线二次包络内齿轮、摆线轮修形齿廓的齿廓方程;试制了物理样机,并对其传动精度、传动效率等技术指标进行测试。实验结果表明,该减速器具有较高的传动精度和传动效率、承载能力大,可在机器人关节上广泛应用。A closed cycloid enveloping precision reducer used in the robot joint is proposed. The innovative structure design for the reducer is introduced. Based on the cycloid enveloping theory,the application of the single and double enveloping meshing pairs in the design process is proposed. Then the tooth profile equations of double enveloping internal gear and the modifed cycloid gear are given respectively. The performance test including the transmission precision and efficiency are carried out after the prototype of the reducer is trial- produced. The test results show that this mechanism has the advantages of high transmission precision,high transmission efficiency and large load capacity,which can be widely used in robot joint.

关 键 词：摆线包络 结构设计 啮合副 传动精度 传动效率 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH132.46[自动化与计算机技术—控制科学与工程]