CN101290059A - Real time return difference-free transmission precision steel ball planetary reducer - Google Patents

Real time return difference-free transmission precision steel ball planetary reducer Download PDF

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Publication number
CN101290059A
CN101290059A CNA2008100547751A CN200810054775A CN101290059A CN 101290059 A CN101290059 A CN 101290059A CN A2008100547751 A CNA2008100547751 A CN A2008100547751A CN 200810054775 A CN200810054775 A CN 200810054775A CN 101290059 A CN101290059 A CN 101290059A
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CN
China
Prior art keywords
steel ball
planetary
planetary plate
return difference
reducer
Prior art date
Application number
CNA2008100547751A
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Chinese (zh)
Inventor
安子军
Original Assignee
燕山大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 燕山大学 filed Critical 燕山大学
Priority to CNA2008100547751A priority Critical patent/CN101290059A/en
Publication of CN101290059A publication Critical patent/CN101290059A/en

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Abstract

The invention discloses a precision steel ball planetary gear reducer transmitting constantly without return difference, which relates to a mechanical transmission reducer field. The reducer of the invention consists of an imputing eccentric shaft (1), a center plate (2) with the cycloid enclosed slots on the head face, the steel ball groups (3), a combined type planetary disc, an outputting disc (shaft) (8) with 2-4 circular grooves (or cycloid enclosed slots) on the head face, and a chassis (9). The combined type planetary disc consists of a first planetary disc (4) with the cycloid enclosed slots on the head face, a belleville spring (5), a second planetary disc (4') with 2-4 circular grooves (or cycloid enclosed slots) on the head face, and a hinge pin (6); wherein the belleville spring (5) is arranged between the first planetary disc 4 and the second planetary disc 4', and is connected by the hinge pin (6), only relative axial movement is allowed between the first planetary disc 4 and the second planetary disc 4', relative rotating is prohibited. The combined type planetary disc is arranged at the eccentric part of the imputing eccentric shaft (1). The invention solves the problem of reducer return difference caused by the emerging clearance because of abrasion of the zero-clearance steel ball gear pair, and the mesh rolling even block problem of the precise steel ball planetary reduction gear caused by thermal expansion of the zero-clearance steel ball gear pair, which realizes the constant automatically transmission of the reducer without return difference.

Description

There is not the return difference transmission precision steel ball planetary reducer constantly
Technical field
The present invention relates to a kind of mechanical transmission retarder field, particularly relate to a kind of return difference transmission precision steel ball planetary reducer that do not have constantly.
Background technique
Precision steel ball planetary reducer is a kind of novel precise gearing speed-reducer that is applicable to highi degree of accuracy such as robot.It has simple in structure, easily manufactured, velocity ratio big, be easy to microminiaturization and do not have advantage such as return difference transmission, thereby this retarder has a good application prospect in precision drive machineries such as robot servodrive, fine measuring instrument, astrovehicle micromotion mechanism, machining indexing mechanism and limousine wind wiper.
Present precision steel ball planetary reducer adopts spiral as the gap adjusting mechanism (see figure 5), rely on and manually regularly the back lash of steel ball engagement pair is adjusted, this adjustment is not carried out constantly, and this adjustment also requires operator to have rich practice experience, both expend certain hour and manpower, can not keep the optimum Working that precision steel ball planetary reducer is in does not all the time have the return difference transmission constantly again.Find at present the public technology document that can address these problems as yet.
The core of precision steel ball planetary reducer is a precision drive, the mechanism that is the engagement pair tight mesh does not have the return difference transmission, though existing steel ball engagement pair structure can guarantee that tight mesh and mechanism do not have the return difference transmission, but after the engagement pair wearing and tearing gap must appear, cause transmission return difference to occur, had a strong impact on transmission accuracy, obviously can reduce working life again.
On the other hand, precision steel ball planetary reducer is under the condition that runs up, the tight mesh pair will inevitably raise and the generation thermal distortion by Yin Wendu, this thermal distortion produces backing even stuck phenomenon when making engagement pair work, cause the distortion of retarder output movement, efficient to reduce even can not rotation work, damage retarder.
Japan is the advanced country of international precision drive machinery, but the similar steel ball reducer of its development is still controlled the return difference precision in " regularly artificial " adjusting gap by gap adjusting mechanism at present by rule of thumb, therefore, the manual tune amount is excessive, to bring the engagement pair wearing and tearing to strengthen, transmission efficiency reduces, even the stuck consequence of engagement pair; And the manual tune quantity not sufficient, then will there be the gap in engagement pair and the transmission return difference occur.Therefore, the most of transmission duration of work before " regularly artificial " regulated, obviously mechanism exists the transmission return difference.And raise and the generation thermal distortion for engagement pair surface Yin Wendu, producing backing even stuck phenomenon when causing engagement pair work, existing similar retarder can not solve and avoid.
Summary of the invention
In order to adjust existing problem and shortage in the steel ball engagement pair gap that solves above-mentioned existing precision steel ball planetary reducer, the invention provides a kind of return difference transmission precision steel ball planetary reducer that do not have constantly, this retarder not only can guarantee the tight mesh of steel ball engagement pair, and can also guarantee steel ball engagement pair automatic tight mesh constantly, thereby guarantee this retarder do not have the return difference transmission constantly.
The technical solution adopted for the present invention to solve the technical problems is: do not have the return difference transmission precision steel ball planetary reducer constantly and comprise not having return difference transmission one-level precision steel ball planetary reducer constantly and do not have two kinds of return difference transmission secondary precision steel ball planetary reducers constantly, wherein, there is not return difference transmission one-level precision steel ball planetary reducer constantly by eccentric input shaft 1, end face is processed with the spider 2 of cycloid enclosed slot, the first steel ball group 3, the combined type planetary plate, the second steel ball group 7, end face is processed with the output disc 8 and the frame 9 of 2~4 circular grooves, it is characterized in that: described combined type planetary plate is processed with first planetary plate 4 of cycloid enclosed slot by end face, butterfly spring 5, end face be processed with second planetary plate 4 of 2~4 circular grooves ' and bearing pin 6 form (see figure 3)s.Belleville spring 5 be contained in first planetary plate 4 and second planetary plate 4 ' between, first planetary plate 4 and second planetary plate 4 ' connect by 2~4 bearing pins 6, the combined type planetary plate is installed in the eccentric part of eccentric input shaft 1.First planetary plate 4 and second planetary plate 4 ' between can move to axial, but first planetary plate 4 and second planetary plate 4 ' between can not relatively rotate, the elastic force control that moves axially by belleville spring 5 that it is relative realizes, and guarantees that the steel ball of engagement pair is always 4 contacts; First planetary plate 4 and second planetary plate 4 ' between axially " separately move " (be between the engagement pair member axially near moving) and can eliminate the engagement pair gap and keep 4 contacts of engagement pair steel ball, and first planetary plate 4 and second planetary plate 4 ' between axially " near moving " (being axially separately moving between the engagement pair member) can compensate the axial clearance that the steel ball engagement pair needs because of the thermal expansion distortion, avoid the backing and the stuck phenomenon of engagement pair, this " separately moving " and " near moving " is constantly and carries out automatically, therefore the combined type planetary plate can be realized the tight mesh automatically constantly of steel ball engagement pair, thus realize this retarder do not have the return difference transmission constantly automatically.
Not having return difference transmission secondary precision steel ball planetary reducer constantly is with the structural difference of not having return difference transmission one-level precision steel ball planetary reducer constantly: do not have constantly second planetary plate 4 of the combined type planetary plate of return difference transmission secondary precision steel ball planetary reducer ' and the end face of output disc 8 all be processed with the cycloid enclosed slot, the structure of other parts is identical.Therefore, constituted and do not had return difference transmission secondary precision steel ball planetary reducer constantly.
In not having return difference transmission one-level precision steel ball planetary reducer constantly, the cycloid enclosed slot of the cycloid enclosed slot of first planetary plate 4, the first steel ball group 3 and spider 2 constitutes one group of gearing down engagement pair in the combined type planetary plate; And second planetary plate 4 ' 2~4 circular grooves of 2~4 circular grooves, the second steel ball group 7 and output disc 8 constitute the constant speed drive engaging sets, thereby realize the one-level planetary reduction gear transmission of this retarder.
In not having return difference transmission secondary precision steel ball planetary reducer constantly, the cycloid enclosed slot of the cycloid enclosed slot of first planetary plate 4, the first steel ball group 3 and spider 2 constitutes first order gearing down engagement pair in the combined type planetary plate; And second planetary plate 4 ' the cycloid enclosed slot of cycloid enclosed slot, the second steel ball group 7 and output disc 8 constitute second level gearing down engagement pair.
The invention has the beneficial effects as follows: steel ball engagement pair gap can be automatically adjusted in this invention constantly, and that realizes retarder does not have the return difference transmission constantly, and reliable operation has greatly improved the transmission precision and the reciprocating accuracy of precision mechanical transmission mechanism; Steel ball is almost pure rolling in the engagement pair, improved retarder transmission efficiency, prolonged working life; This retarder has removed traditional artificial spiral regulating mechanism of adjusting play regularly, can save the time in manual tune gap, has improved productivity.For there not being return difference transmission secondary precision steel ball planetary reducer constantly, also removed the constant speed output mechanism that traditional Gear Planet Transmission is used, its velocity ratio increases, and structural volume is little, is easy to the microminiaturization of retarder.
Description of drawings
Fig. 1 does not have return difference transmission one-level precision steel ball planetary reducer structure diagram constantly;
Fig. 2 does not have return difference transmission secondary precision steel ball planetary reducer structure diagram constantly;
Fig. 3 is the structure diagram that does not have return difference transmission one-level precision steel ball planetary reducer combined type planetary plate constantly;
Fig. 4 is the structure diagram that does not have return difference transmission secondary precision steel ball planetary reducer combined type planetary plate constantly;
Fig. 5 is the common precision steel ball planetary reducer structure diagram in artificial periodic adjustment gap.
In above-mentioned accompanying drawing, 1. eccentric input shaft, 2. spider, the 3. first steel ball group, 4. first planetary plate, 5. belleville spring, 4 '. second planetary plate, 6. bearing pin, the 7. second steel ball group, 8. output disc (axle), 9. frame, 10. clearance adjustment mechanism, 11. planetary plates.
Embodiment
Embodiment 1
Fig. 1 is the return difference transmission one-level precision steel ball planetary reducer that do not have constantly disclosed by the invention, the eccentric part of the eccentric input shaft 1 of described retarder is installed the combined type planetary plate, the left side of first planetary plate 4 of combined type planetary plate is processed with the cycloid enclosed slot, second planetary plate 4 of combined type planetary plate ' the right side be processed with four circular grooves, end face is processed with the spider 2 of cycloid enclosed slot by first planetary plate 4 engagements of the first steel ball group 3 with the combined type planetary plate; End face is processed with the output disc 8 of four circular grooves by the second planetary plate 4 ' engagement (see figure 3) of the second steel ball group 7 with the combined type planetary plate, belleville spring 5 be contained in first planetary plate 4 and second planetary plate 4 ' between and be in the pretension state; First planetary plate 4 and second planetary plate 4 ' connect by 3 bearing pins 6, bearing pin 6 can be designed to simple straight pin, be convenient to processing and install, and guarantee first planetary plate 4 and second planetary plate 4 ' between only allow to relatively move and do not allow to relatively rotate.In the center hole of spider 2 and output disc 8, in the center hole of frame 9, spider 2 is used Bolt Connection with frame 9 to output disc 8 to eccentric input shaft 1 by Bearing Installation by Bearing Installation.
The pretightening force of belleville spring 5 contacts by first planetary plate 4 and second planetary plate 4 ' make two groups of steel ball engagement pair all keep constantly at 4 of no sideshake, and the pretightening force of butterfly spring 5 can not have the requirement condition of sideshake and by theoretical analysis and calculation and test acquisition according to engagement pair.
The working principle of not having return difference transmission one-level precision steel ball planetary reducer constantly is: when eccentric input shaft 1 rotates, eccentric shaft part on it is made revolution motion by the box-like planetary plate of bearing driving group, cycloid enclosed slot on the left side of first planetary plate 4 promotes steel ball 3 motions, be subjected to cycloid enclosed slot constraint on spider 2 right sides, the steel ball 3 anti-combined type planetary plates that push away force its spinning motion, realize the retarded motion of retarder.Spin velocity after the deceleration from output disc (axle) 8 outputs, is finished the gearing down (see figure 1) of retarder by the constant speed drive engaging set of the circular groove formation of circular groove, the second steel ball group 7 and output disc 8 left sides on second planetary plate, 4 ' right side.
Embodiment 2
Fig. 2 is the return difference transmission secondary precision steel ball planetary reducer that do not have constantly disclosed by the invention, the eccentric part of the eccentric input shaft 1 of described retarder is installed the combined type planetary plate, the left side of first planetary plate 4 of combined type planetary plate is processed with the cycloid enclosed slot, second planetary plate 4 of combined type planetary plate ' the right side be processed with the cycloid enclosed slot, end face is processed with the spider 2 of cycloid enclosed slot by first planetary plate 4 engagements of the first steel ball group 3 with the combined type planetary plate; End face has the output disc 8 of cycloid enclosed slot by the second planetary plate 4 ' engagement (see figure 4) of the second steel ball group 7 with the combined type planetary plate, belleville spring 5 be contained in first planetary plate 4 and second planetary plate 4 ' between and be in the pretension state; First planetary plate 4 and second planetary plate 4 ' connect by 3 bearing pins 6, and guarantee first planetary plate 4 and second planetary plate 4 ' between only allow to relatively move and do not allow to relatively rotate.In the center hole of spider 2 and output disc 8, output disc 8 also is installed in frame 9 center holes by bearing eccentric input shaft 1 by Bearing Installation, and spider 2 is used Bolt Connection with frame 9.
The pretightening force of belleville spring 5 contacts by first planetary plate 4 and second planetary plate 4 ' make two groups of steel ball engagement pair all keep constantly at 4 of no sideshake, and the pretightening force of butterfly spring 5 can not have the requirement condition of sideshake and by theoretical analysis and calculation and test acquisition according to engagement pair.
The time do not have a return difference transmission secondary precision steel ball planetary reducer working principle be: when eccentric input shaft 1 rotates, eccentric shaft part on it is done revolution motion by the box-like planetary plate of bearing driving group, cycloid enclosed slot on the left side of first planetary plate 4 promotes steel ball 3 motions, be subjected to cycloid enclosed slot constraint on spider 2 right sides, the steel ball 3 anti-combined type planetary plates that push away force its spinning motion, realize the one-level retarded motion of retarder.When the combined type planetary plate is done planetary motion, and on the basis of one-level retarded motion, cycloid enclosed slot on second planetary plate, 4 ' right side promotes steel ball 7 motions, by cycloid enclosed slot on output disc (axle) 8 left sides, make output disc (axle) 8 do retarded motion again, realize the double reduction transmission (see figure 2) of retarder.
In not having return difference transmission precision steel ball planetary reducer working procedure constantly, when the steel ball engagement pair former thereby when producing the gap because of wearing and tearing etc., belleville spring 5 will automatically spring open, make first planetary plate 4 and second planetary plate 4 in the combined type planetary plate ' between produce the axial displacement that separates relatively, eliminate the gap that the steel ball engagement pair produces, make two groups of steel ball engagement pair keep the tight mesh of 4 contacts constantly, this tight mesh of 4 contacts constantly of engagement pair, that guarantees the forward and reverse rotation work of retarder does not have the return difference transmission constantly automatically.
Do not run up under the operating conditions there being the return difference transmission precision steel ball planetary reducer constantly, when each member generation thermal expansion of engagement pair distortion causes engagement pair backing even phenomenon such as stuck, this thermal expansion distortion must make first planetary plate 4 and second planetary plate 4 in the combined type planetary plate ' between produce approaching relatively axial displacement, this moment, belleville spring 5 was further compressed, thereby compensate the axial clearance that the steel ball engagement pair need increase because of thermal distortion automatically, make the steel ball engagement pair keep the no sideshake engagement of 4 contacts constantly automatically, and then realize not having constantly the return difference transmission.
Therefore, this precision steel ball planetary reducer can be regulated steel ball engagement pair gap constantly automatically under the effect of combined type planetary plate, and what make that it keeps forward and reverse motion does not have sideshake engagement constantly, thus realize this retarder do not have the return difference transmission constantly automatically.
Real time return difference-free transmission precision steel ball planetary reducer need not the manual adjustment operation, has transmission Accurately, the advantages such as transmission efficiency height and long service life; For the secondary precision steel ball planetary reducer, Also have gearratio big, structural volume is little to be easy to the advantage such as microminiaturization.

Claims (4)

1. one kind is not had the return difference transmission precision steel ball planetary reducer constantly, comprise eccentric input shaft (1), end face has the spider (2) of cycloid enclosed slot, the first steel ball group (3), the second steel ball group (7), end face has the output disc (8) and the frame (9) of 2~4 circular grooves, it is characterized in that: the combined type planetary plate is processed with first planetary plate (4) of cycloid enclosed slot by end face, butterfly spring (5), end face has second planetary plate (4 ') of 2~4 circular grooves and bearing pin (6) to form equally, belleville spring (5) be contained in first planetary plate 4 and second planetary plate 4 ' between, first planetary plate 4 and second planetary plate 4 ' connect by 2~4 bearing pins 6, the combined type planetary plate is installed in the eccentric part of eccentric input shaft (1).
2. according to claim 1 do not have the return difference transmission precision steel ball planetary reducer constantly, and it is characterized in that: the end face of described second planetary plate (4 ') has the cycloid enclosed slot, and the end face of output disc (8) is processed with the cycloid enclosed slot.
3. according to claim 1 do not have the return difference transmission precision steel ball planetary reducer constantly, it is characterized in that: the cycloid enclosed slot of the cycloid enclosed slot of first planetary plate (4), the first steel ball group (3) and spider (2) constitutes one-level gearing down engagement pair in the combined type planetary plate; The circular groove of the circular groove of second planetary plate (4 '), the second steel ball group (7) and output disc (8) constitutes the constant speed drive engaging set.
4. according to claim 1 and 2 do not have the return difference transmission precision steel ball planetary reducer constantly, it is characterized in that: the cycloid enclosed slot of the cycloid enclosed slot of first planetary plate (4), the first steel ball group (3) and spider (2) constitutes first order gearing down engagement pair in the combined type planetary plate; The cycloid enclosed slot of the cycloid enclosed slot of second planetary plate (4 '), the second steel ball group (7) and output disc (8) constitutes second level gearing down engagement pair in the combined type planetary plate.
CNA2008100547751A 2008-04-10 2008-04-10 Real time return difference-free transmission precision steel ball planetary reducer CN101290059A (en)

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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101956799A (en) * 2010-09-14 2011-01-26 江苏大学 Cycloidal steel ball type inertial mass accumulator
CN102767600A (en) * 2012-07-31 2012-11-07 广西玉林正方机械有限公司 Bs speed reducer
CN102959280A (en) * 2010-06-11 2013-03-06 西门子公司 Dynamo-electric machine comprising integrated ventilator
CN105697750A (en) * 2016-04-12 2016-06-22 燕山大学 Cycloid steel ball planetary reducer interval removing mechanism
CN106286718A (en) * 2016-09-14 2017-01-04 大连理工大学 A kind of combination type double helical tooth planetary actuating device of adjustable sideshake
CN106461051A (en) * 2014-06-24 2017-02-22 武藏精密工业株式会社 Differential device
WO2017152430A1 (en) * 2016-03-09 2017-09-14 江苏泰隆减速机股份有限公司 Two-stage serial cycloid ball reducer
CN108843752A (en) * 2018-08-16 2018-11-20 杨荣刚 Multiple rows of precision ball retarder
CN109654200A (en) * 2019-01-16 2019-04-19 燕山大学 A kind of plane steel ball reducer based on tapered roller bearing

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102959280A (en) * 2010-06-11 2013-03-06 西门子公司 Dynamo-electric machine comprising integrated ventilator
CN102959280B (en) * 2010-06-11 2016-01-13 西门子公司 There is the motor generator set of self ventilation device
CN101956799A (en) * 2010-09-14 2011-01-26 江苏大学 Cycloidal steel ball type inertial mass accumulator
CN101956799B (en) * 2010-09-14 2012-11-07 江苏大学 Cycloidal steel ball type inertial mass accumulator
CN102767600A (en) * 2012-07-31 2012-11-07 广西玉林正方机械有限公司 Bs speed reducer
CN106461051B (en) * 2014-06-24 2019-03-19 武藏精密工业株式会社 Differential gear
US10190666B2 (en) 2014-06-24 2019-01-29 Musashi Seimitsu Industry Co., Ltd. Differential device
CN106461051A (en) * 2014-06-24 2017-02-22 武藏精密工业株式会社 Differential device
WO2017152430A1 (en) * 2016-03-09 2017-09-14 江苏泰隆减速机股份有限公司 Two-stage serial cycloid ball reducer
CN105697750B (en) * 2016-04-12 2017-12-29 燕山大学 Cycloidal ball planet speed reducer clearance eliminating mechanism
CN105697750A (en) * 2016-04-12 2016-06-22 燕山大学 Cycloid steel ball planetary reducer interval removing mechanism
CN106286718A (en) * 2016-09-14 2017-01-04 大连理工大学 A kind of combination type double helical tooth planetary actuating device of adjustable sideshake
CN108843752A (en) * 2018-08-16 2018-11-20 杨荣刚 Multiple rows of precision ball retarder
CN109654200A (en) * 2019-01-16 2019-04-19 燕山大学 A kind of plane steel ball reducer based on tapered roller bearing

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Open date: 20081022