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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 type cycloidal enveloping precision reducer which can be used in robot joints is presented. The structural innovation of the enclosed cycloidal enveloping precision reducer is introduced. Based on the cycloidal envelope theory, the cycloidal quadric envelope gear and the cycloid gear profile equations of tooth profile were given. The prototype was prototyped and Its transmission accuracy, transmission efficiency and other technical indicators for testing. The experimental results show that the reducer has high transmission accuracy and transmission efficiency, large carrying capacity, and can be widely used in robot joints.