CN102022479A - Eccentric cycloid type speed reducing mechanism - Google Patents
Eccentric cycloid type speed reducing mechanism Download PDFInfo
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- CN102022479A CN102022479A CN2009103069671A CN200910306967A CN102022479A CN 102022479 A CN102022479 A CN 102022479A CN 2009103069671 A CN2009103069671 A CN 2009103069671A CN 200910306967 A CN200910306967 A CN 200910306967A CN 102022479 A CN102022479 A CN 102022479A
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- eccentric
- gear
- bent axle
- type reducing
- gerotor type
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Abstract
The invention discloses an eccentric cycloid type speed reducing mechanism, which comprises a shell, at least one cycloidal gear and at least one crank shaft, wherein an internal tooth part is formed on the inner peripheral surface of the shell; the cycloidal gear is accommodated in the shell; an external tooth part meshed with the internal tooth part is formed on the outer peripheral surface of the cycloidal gear; the tooth number of the external tooth part is slightly smaller than that of the internal tooth part; each crank shaft is provided with at least one eccentric part; and each cycloidal gear is rotatablely arranged on one eccentric part and performs eccentric rotation along with the rotation of the crank shaft. The external tooth part comprises a plurality of external tooth discs which are arranged side by side in the axial direction; the external tooth discs arranged adjacently are mutually offset in the circumferential direction; and the internal tooth part comprises a plurality of internal tooth rings which are correspondingly meshed with the external tooth discs. The eccentric cycloid type speed reducing mechanism has the advantage of high meshing overlap ratio and is convenient to manufacture.
Description
Technical field
The present invention relates to a kind of reducing gear, relate in particular to a kind of eccentric gerotor type reducing gear.
Background technique
Eccentric gerotor type reducing gear generally comprises the internal gear that is formed at its frame, is located at bent axle with eccentric part in the frame and the cycloid wheel that is provided with external tooth that is sheathed on eccentric part.Cycloid wheel and crankshaft eccentric portion interlock, and by on one side and internal gear engagement revolution on one side will import rotational delay and obtain exporting and rotate.Above-mentioned eccentric gerotor type reducing gear transmission total number of teeth in engagement is more, error average effect is remarkable, have that velocity ratio is big, compact structure, bearing capacity is big and transmission efficiency is high advantage, be able to use comparatively widely at industrial fields such as precision optical machinery, robot, metallurgy, mines.
Yet, for reaching higher engagement contact ratio, obtain output stably, above-mentioned cycloid wheel forms the gear teeth of tight setting usually at its outer peripheral surface, when the more and eccentric gerotor type reducing gear of the gear teeth quantity overall dimensions of need setting was restricted, it is tiny that the gear teeth need be done, and the gear teeth also reduce in circumferencial direction spacing each other, even can overlap interference at the tooth root position, thereby the manufacture difficulty of the cycloid wheel and the gear teeth thereof strengthens.
Summary of the invention
In view of above content, be necessary to provide the eccentric gerotor type reducing gear that a kind of contact ratio of engagement is higher and be convenient to make.
A kind of eccentric gerotor type reducing gear, it comprises a housing that forms internal tooth portion at inner peripheral surface, at least one is contained in the cycloid wheel in the housing, the outer circumferential face of cycloid wheel forms the outer toothed portion with the engagement of internal tooth portion, the number of teeth of outer toothed portion is lacked than the number of teeth of internal tooth portion slightly, at least one bent axle, each bent axle is provided with at least one eccentric part, and each cycloid wheel is installed in rotationally on the eccentric part and with the rotation of bent axle and makes eccentric rotary.Outer toothed portion comprises a plurality of at the outer tooth disk that axially is arranged side by side, and the outer tooth disk of adjacent setting is setovered mutually at circumferencial direction, and this internal tooth portion comprises the ring gear of a plurality of corresponding engagements with outer tooth disk.
The cycloid wheel of above-mentioned eccentric gerotor type reducing gear comprises a plurality of outer tooth disks that axially are being arranged side by side, and the outer tooth disk of adjacent setting is setovered mutually at circumferencial direction, when thereby outer toothed portion and internal tooth portion are meshing with each other, when gear teeth of one of them outer tooth disk are nibbled out from internal tooth portion, and when the adjacent gear teeth are not engaging-in as yet on this outer tooth disk, the gear teeth of another outer tooth disk between above-mentioned adjacent two gear teeth can participate in engagement, thereby have improved contact ratio.In addition, each gear teeth of the outer tooth disk that axially is arranged side by side are in the spacing mutual noninterference of circumferencial direction, thereby the spacing between each outer tooth disk adjacent teeth can increase, and can be convenient to process the gear teeth on this cycloid wheel.
Description of drawings
Fig. 1 is the three-dimensional assembly diagram of the eccentric gerotor type reducing gear of embodiment of the present invention.
Fig. 2 is the three-dimensional exploded view of eccentric gerotor type reducing gear shown in Figure 1.
Fig. 3 is the schematic representation of the cycloid wheel that adopted of eccentric gerotor type reducing gear shown in Figure 1.
Fig. 4 is an eccentric gerotor type reducing gear shown in Figure 1 sectional view along the IV-IV direction.
Embodiment
Mode is described in further detail eccentric gerotor type reducing gear of the present invention below in conjunction with the accompanying drawings and the specific embodiments.
Figure 1 shows that the eccentric gerotor type reducing gear 100 of embodiment of the invention mode, it can be used as robot and travels with retarder, building machinery etc. or rotate and use retarder.
Please be simultaneously referring to Fig. 2, eccentric gerotor type reducing gear 100 comprises a housing 20, be arranged at the carriage assembly 30 in the housing 20, two cycloid wheel 40 and three crankshaft groups 50.
It is cylindric that housing 20 roughly is, and its inboard circumferential surface is formed with internal tooth portion 21.The gear teeth of internal tooth portion 21 can be pin gear or pin gear, and it comprises first ring gear 212 and is symmetricly set in two second ring gears 213,214 of first ring gear, 212 both sides.First, second ring gear 212,213,214 axially being arranged side by side at housing 20.In a circumferential direction, first ring gear 212 respectively with two second ring gears 213,214 identical predetermined angle of biasing mutually.Wherein, first ring gear 212 along the axial thickness of housing 20 greater than second ring gear 214 along the axial thickness of housing 20.
Carriage assembly 30 is arranged at the inboard of housing 20, and around the axis rotation consistent with housing 20 central shafts.Carriage assembly 30 comprises body 31, three axostylus axostyles 32, end casing 34, pedestal bearing 23,25 and carriage Sealings 35.Body 31 and end casing 34 are arranged at two opposite ends of housing 20 respectively.It is axial that pedestal bearing 23,25 is arranged at housing 20, is respectively applied for rotatable supporting body 31 and end casing 34.Sealing 35 is arranged between body 31 peripheries and housing 20 inner side surfaces.
Body 31 is in the form of annular discs, offers three bearing holes 312 on it.Three axostylus axostyles 32 are extended in parallel in housing 20 by the surface of body 31, and uniformly-spaced are provided with at circumferencial direction.The shape of cross section of axostylus axostyle 32 is non-circular, as roughly being trapezoidal or triangle.End casing 34 is in the form of annular discs, offers on it and three bearing holes 312, three bearing holes 324 one to one.Axostylus axostyle 32 is fixedlyed connected with end casing 34 away from an end of body 31.Also offer the mounting hole 341 corresponding with axostylus axostyle 32 positions on the end casing 34, threaded piece 343 wears this mounting hole 341 end casing 34 is fixedlyed connected with axostylus axostyle 32.Mounting hole 341 and bearing hole 324 are provided with at interval at circumferencial direction.
Please consult Fig. 3 and Fig. 4 simultaneously, form a host cavity 26 between the inner side surface of housing 20, body 31 and the end casing 34.Cycloid wheel 40 and crankshaft group 50 are arranged in the host cavity 26.
Two cycloid wheel 40 axially are arranged side by side along housing 20, and the outer peripheral surface of each cycloid wheel 40 is formed with outer toothed portion 41, and outer toothed portion 41 can be meshing with each other with the internal tooth portion 21 of housing 20.Outer toothed portion 41 is included in two outer tooth disks 412,413 that cycloid wheel 40 axially is arranged side by side.Each outer tooth disk 412,413 shape and external diameter are identical, and external diameter is slightly littler than the internal diameter of housing 20.First ring gear 212 of the gear ratio housing 20 of each outer tooth disk 412,413 or the quantity of second ring gear 214 are few several, for example lack one or two.Outer tooth disk 412,413 is at the circumferencial direction predetermined angle θ that setovers mutually, and first, second ring gear 212,214 of this default angle and housing 20 angles of biasing mutually is suitable, so that outer toothed portion 41 and internal tooth portion 21 satisfy meshing condition.Cycloid wheel 40 also offers the mounting hole 422 and the axis hole 423 that axially run through and wears for axostylus axostyle 32 and crankshaft group 50 respectively.Mounting hole 422 and axis hole 423 are provided with at interval at circumferencial direction.Mounting hole 422 is three with axis hole 423, and mounting hole 422 is and the corresponding non-circular hole of axostylus axostyle 32 sectional shapes that axis hole 423 is a circular hole.
Specifically in the present embodiment, each outer tooth disk 412,413 comprises n the gear teeth, and each ring gear 212,213,214 comprises n+1 the gear teeth.Be the 180/n degree in circumferentially default angle of eccentricity θ value between the outer tooth disk 412,413, the angle of eccentricity that is two gear teeth 412a, 413a of first, second outer tooth disk 412,413 adjacent settings is half pairing central angle of the gear teeth, and the angle of eccentricity of two gear teeth of adjacent setting on first outer tooth disk 212 and second outer tooth disk 213,214 (figure is mark not) is the 180/n+1 degree.
Each crankshaft group 50 comprises a bent axle 51, two 512,513 and outer driven gears 514 of crankshaft bearing.Crankshaft bearing 512 is located at bent axle 51 1 ends, and embed in the bearing hole 312 that correspondence is offered on the body 31 that is opened in carriage assembly 30, crankshaft bearing 513 is located at bent axle 51 the other ends, and be embedded in the bearing hole 324 that end casing 34 correspondences offer, like this bent axle 51 can rotate freely by crankshaft bearing 512,513 supportings.Each bent axle 51 is driven by an outer driven gear 514, and outer driven gear 514 is fixedly sleeved in bent axle 51 adjacent body 31 and the end of stretching out from bearing hole 312, and is used to realize that with the outer driving gear engagement of input shaft the first order slows down.
Bent axle 51 is provided with two eccentric part 52a, 52b along its axial arrangement.Eccentric part 52a, 52b form with respect to the axle center of bent axle 51 respectively cylindric with identical offset off-centre.Each eccentric part 52a, 52b outer peripheral surface are provided with bearing 53.Specifically in the present embodiment, three crankshaft groups 50 uniformly-spaced are provided with at circumferencial direction.The outer driven gear 514 that is arranged at bent axle 51 around the outer driving gear of input shaft the time with should mesh by outer driving gear.Eccentric part 52a, the 52b phase difference on the crankshaft rotating direction is 180 degree.
Three bent axle 51 correspondences wear three axis holes 423 that are provided with on the cycloid wheel 40, and are last and by bearing 53 rotational support around eccentric part 52a, 52b setting thereby each cycloid wheel 40 is installed in eccentric part 52a, a 52b.As a kind of preferred version, two outer tooth disks 412 being located at two cycloid wheel 40 adjoining sides of eccentric part 52a, 52b have identical phase place, promptly two cycloid wheel 40 are shown greatly and are the setting of minute surface symmetrical manner, thereby two outer tooth disks 412 are meshed with first ring gear 212 of housing 20 simultaneously, outer tooth disk 413,414 is meshed with second ring gear 213,214 respectively, so can simplify the structure of internal tooth portion 21 on the housing 20.
The course of action of the eccentric gerotor type reducing gear 100 of the embodiment of the invention below is described.
Drive unit drives the input shaft rotation, and the outer driving gear of being located at input shaft drives outer driven gear 514 rotations of being located at bent axle 51, and the realization first order is slowed down.The rotation of driven gear 514 makes bent axle 51 rotate together, thereby the eccentric part 52a, the 52b that are arranged at bent axle 51 rotate thereupon.The rotation of eccentric part 52a, 52b and then drive sheathed cycloid wheel 40 on it and do swing relatively.Fixing when housing 20, when promptly internal tooth portion 21 fixedly installed, the outer toothed portion 41 of cycloid wheel 40 revolved round the sun and swing on one side with internal gear 21 engagements, and its revolution motion is by end casing 34 or body 31 outputs, to realize second level deceleration.
When internal tooth portion 21 meshes with outer toothed portion 41, because of two outer tooth disks 412,413 of each cycloid wheel 40 are setovered mutually at circumferencial direction, when gear teeth of outer tooth disk 412 are nibbled out from first ring gear 212, and when the adjacent gear teeth are not engaging-in as yet on this outer tooth disk 412, outer tooth disk 413 can be meshed with second ring gear 214 at the gear teeth of upwards being located in week between above-mentioned two adjacent teeth, thereby improved the contact ratio of engagement, made that the motion of cycloid wheel 40 is more steady, can obtain more stable output.Because of the spacing mutual noninterference of the gear teeth between the outer tooth disk 412,413 that axially is arranged side by side at circumferencial direction, thereby the spacing between each outer tooth disk 412,413 adjacent teeth can increase, thereby is easy to process on cycloid wheel 40 each gear teeth.In addition, when the number of teeth of outer toothed portion 41 more after a little while, can significantly increase contact ratio at each outer tooth disk 412,413 of circumferencial direction biasing, avoid the number of teeth problem that contact ratio is not high more after a little while, output stability is not good.
In addition, eccentric part 52a, the 52b phase difference on bent axle 51 sense of rotation that is provided with because of bent axle 51 is 180 degree, when the part gear teeth of a cycloid wheel 40 participate in engagement, another cycloid wheel 40 also participates in engagement at the gear teeth of phase phase difference 180 degree positions, thereby impact force and dynamically balanced amount of unbalance during two cycloid wheel 40 engagements are cancelled, thereby can further improve the stationarity of eccentric gerotor type reducing gear 100 transmissions.
Be appreciated that bent axle 51 also can only be provided with one, its axle center is consistent with the input shaft axle center, and at this moment, eccentric gerotor type reducing gear 100 only relies on the outer toothed portion 41 of cycloid wheel 40 and the engagement realization one-level speed change of the internal tooth portion 21 of housing 20.In the present embodiment, housing 20 is fixedly installed, the revolution motion of cycloid wheel 40 is as output, certainly, also cycloid wheel 40 can be fixed in the motion of revolution direction, and with housing 20 as exporting.The quantity of cycloid wheel 40 also is not limited to two, also can only be provided with one, perhaps is provided with more than three or three, correspondingly, the eccentric part of equal number need be set on each bent axle 51.
In addition, those skilled in the art also can do other variation in spirit of the present invention, and certainly, the variation that these are done according to spirit of the present invention all should be included in the present invention's scope required for protection.
Claims (7)
1. eccentric gerotor type reducing gear, it comprises a housing that forms internal tooth portion at inner peripheral surface, at least one is contained in the cycloid wheel in this housing, the outer circumferential face of this cycloid wheel forms the outer toothed portion with this internal tooth portion engagement, the number of teeth of outer toothed portion is lacked than the number of teeth of internal tooth portion slightly, at least one bent axle, each bent axle is provided with at least one eccentric part, each cycloid wheel is installed in rotationally on the eccentric part and with the rotation of bent axle and makes eccentric rotary, it is characterized in that: this outer toothed portion comprises a plurality of outer tooth disks that axially are being arranged side by side, the outer tooth disk of adjacent setting is setovered mutually at circumferencial direction, and this internal tooth portion comprises the ring gear of a plurality of corresponding engagements with outer tooth disk.
2. eccentric gerotor type reducing gear as claimed in claim 1 is characterized in that: the quantity of these a plurality of outer tooth disks is two, and each fluted disc has n the gear teeth, and the angle that these two outer tooth disks are setovered mutually at circumferencial direction is the 180/n degree.
3. eccentric gerotor type reducing gear as claimed in claim 1, it is characterized in that: the eccentric part of each bent axle is two and along the bent axle axial arrangement, the phase difference of these two eccentric parts on the crankshaft rotating direction is 180 degree, cycloid wheel is two, is sheathed on rotationally respectively on the eccentric part of each bent axle.
4. eccentric gerotor type reducing gear as claimed in claim 3 is characterized in that: two outer tooth disk phase places that the adjoining side of these two cycloid wheel is provided with are identical.
5. eccentric gerotor type reducing gear as claimed in claim 3, it is characterized in that: this off-centre gerotor type reducing gear also comprises the input shaft by the housing rotational support, this input shaft has the outer driving gear coaxial with internal tooth portion, one end of each bent axle is provided with outer driven gear, this outer driven gear and this outer driving gear engagement.
6. eccentric gerotor type reducing gear as claimed in claim 5 is characterized in that: the quantity of bent axle is three, and uniformly-spaced is provided with at circumferencial direction, and this outer driven gear is around being somebody's turn to do outer driving gear and meshing with this outer driving gear.
7. eccentric gerotor type reducing gear as claimed in claim 6, it is characterized in that: each ring gear comprises first ring gear and is arranged at second ring gear of these first ring gear both sides respectively that two outer tooth disks of this first ring gear while with these two adjacent settings mesh.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910306967 CN102022479B (en) | 2009-09-14 | 2009-09-14 | Eccentric cycloid type speed reducing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910306967 CN102022479B (en) | 2009-09-14 | 2009-09-14 | Eccentric cycloid type speed reducing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102022479A true CN102022479A (en) | 2011-04-20 |
| CN102022479B CN102022479B (en) | 2013-06-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910306967 Expired - Fee Related CN102022479B (en) | 2009-09-14 | 2009-09-14 | Eccentric cycloid type speed reducing mechanism |
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| Country | Link |
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| CN (1) | CN102022479B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103807364A (en) * | 2012-11-09 | 2014-05-21 | 鸿富锦精密工业（深圳）有限公司 | Speed reducer |
| CN104633013A (en) * | 2015-02-06 | 2015-05-20 | 江苏泰来减速机有限公司 | Novel high precision speed reducer for robot |
| CN104964000A (en) * | 2015-06-24 | 2015-10-07 | 常州市芯微电子有限公司 | Small-tooth-difference high-precision cycloid gear speed reducer |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002147546A (en) * | 2000-11-14 | 2002-05-22 | Sumitomo Heavy Ind Ltd | Series of speed increasing/reducing gear |
| WO2004090377A1 (en) * | 2003-04-09 | 2004-10-21 | Lykhovyd Yuriy M | Quasyplanetary gear system |
| CN1609473A (en) * | 2003-12-22 | 2005-04-27 | 北京百博通机械设备有限公司 | Internal-tricycle speed reducer |
| DE102004048196A1 (en) * | 2004-09-30 | 2006-04-06 | Robert Bosch Gmbh | Eccentric gear, in particular with cycloid gearing |
| CN101117997A (en) * | 2007-09-07 | 2008-02-06 | 北京瑞德信通用机械设备制造有限公司 | Internal tricyclic decelerator |
-
2009
- 2009-09-14 CN CN 200910306967 patent/CN102022479B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002147546A (en) * | 2000-11-14 | 2002-05-22 | Sumitomo Heavy Ind Ltd | Series of speed increasing/reducing gear |
| WO2004090377A1 (en) * | 2003-04-09 | 2004-10-21 | Lykhovyd Yuriy M | Quasyplanetary gear system |
| CN1609473A (en) * | 2003-12-22 | 2005-04-27 | 北京百博通机械设备有限公司 | Internal-tricycle speed reducer |
| DE102004048196A1 (en) * | 2004-09-30 | 2006-04-06 | Robert Bosch Gmbh | Eccentric gear, in particular with cycloid gearing |
| CN101117997A (en) * | 2007-09-07 | 2008-02-06 | 北京瑞德信通用机械设备制造有限公司 | Internal tricyclic decelerator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103807364A (en) * | 2012-11-09 | 2014-05-21 | 鸿富锦精密工业（深圳）有限公司 | Speed reducer |
| CN103807364B (en) * | 2012-11-09 | 2016-09-14 | 鸿富锦精密工业（深圳）有限公司 | Deceleration device |
| CN104633013A (en) * | 2015-02-06 | 2015-05-20 | 江苏泰来减速机有限公司 | Novel high precision speed reducer for robot |
| CN104964000A (en) * | 2015-06-24 | 2015-10-07 | 常州市芯微电子有限公司 | Small-tooth-difference high-precision cycloid gear speed reducer |
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| Publication number | Publication date |
|---|---|
| CN102022479B (en) | 2013-06-05 |
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