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RV传动机构自1986年日本开发并投放市场以来,作为机器人用传动装置是刚性最高的低振动传动装置,因而得到广泛使用。一、RV机构的传动原理及其构成 1.RV传动是由直齿轮传动部分和偏心差动式传动部分组合而成的二级减速传动。如图1所示。输入齿轮z_1将电机的回转运动传递给三个均布的直齿轮z_2,并按齿数比进行减速,实现第一级减速传动。齿轮z_2通过曲轴H,使RV齿轮z_c作偏心运动。
Since it was developed and put on the market in Japan in 1986, the RV gearbox has been widely used as a low-vibration actuator with the highest stiffness as a robot gearbox. First, the principle and composition of the RV drive mechanism 1.RV drive by the spur gear transmission part and eccentric differential transmission part of the combination of two deceleration gear. As shown in Figure 1. The input gear z_1 transmits the rotary motion of the motor to three evenly distributed spur gears z_2 and decelerates according to the gear ratio to realize the first-stage reduction drive. Gear z_2 through the crankshaft H, RV gear z_c for eccentric movement.