CN103867671B - Precession steel ball reducer in parallel - Google Patents
Precession steel ball reducer in parallel Download PDFInfo
- Publication number
- CN103867671B CN103867671B CN201410054261.1A CN201410054261A CN103867671B CN 103867671 B CN103867671 B CN 103867671B CN 201410054261 A CN201410054261 A CN 201410054261A CN 103867671 B CN103867671 B CN 103867671B
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- Prior art keywords
- steel ball
- shock wave
- wave device
- centre
- processed
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
- F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention discloses a kind of precession steel ball reducer in parallel, relates to a kind of machine driving decelerator field, and described decelerator is made up of power shaft, link, contiguous block, steel ball group, planetary plate, centre wheel, shock wave device I, shock wave device II, output shaft etc. Power shaft eccentric segment drives planetary plate to do planetary motion by rotary arm bearing, and under the acting in conjunction of power shaft and planetary plate, link does planetary motion. Link is connected with combination shock wave device by contiguous block, and combination shock wave device is evenly distributed in steel ball group, and steel ball group engages with centre wheel, and centre wheel is connected with output shaft by screw. Centre wheel can produce a compound motion under the precession effect of combination shock wave device, makes the permanent rotational speed of centre wheel, and output shaft is exported this constant rotational speed. The present invention is simple in structure, and gearratio is large, and transmission efficiency is high, can eliminate Meshing Pair wearing clearance and realize precision drive, is applicable in the precision drive such as robot, Aero-Space, high-grade car.
Description
Technical field
The present invention relates to a kind of machine driving decelerator, particularly relate to a kind of movable teeth reducer.
Background technology
Machine driving is the important component part of various machineries in mechanical industry, and its drive mechanism performance is straightConnect impact and determined mechanical production efficiency, service behaviour and product quality. Along with industrial technology andProduce direction fast development, particularly robot, manipulator, spacecraft, essence to high, precision and frontierThe more and more extensive use of the precision optical machineries such as close measurement indexing mechanism and precision finishing machine, has just requiredMechanical transmission mechanism with its adaptation and superperformance.
In mechanical field, traditional kind of drive adopts gear drive; Its engaging tooth adopts again conventionallyThe form of fixed teeth, this kind of mode is necessary for engagement and retains certain gap. Due to the existence in gap,Can not meet in prior art for high bearing capacity, without return difference, high reliability, large speed ratio, corpusculumLong-pending mechanically operated requirement. In order to eliminate gap, make up conventional gear-driven deficiency, present stage adoptsBy a kind of engaging tooth kind of drive of activity, this kind of mode can realize zero clearance transmission.
The patent No. is that the Chinese patent of ZL200520109460.4 discloses a kind of nutation tooth drive dressPut, this device utilizes steel ball for mediator, by be contained in nutation wheel on power shaft respectively with fixed diskBetween, the rolling engagement of oscillating tooth between planetary plate on output shaft, realize the engaged transmission of constant speed ratio.This transmission device proposed a kind of use spherical oscillating tooth replace cone tooth transmission, by between oscillating tooth and grooveRolling friction engages to transmit the design concept of motion and power, but this device uses two groups of steel balls, steelBall is many, complex structure and compact not, and nutation wheel processed complex, transmission efficiency is low.
Summary of the invention
In order to address the above problem, the invention provides a kind of precession steel ball reducer in parallel, this deceleratorSimple in structure, transmission efficiency is high, can eliminate Meshing Pair wearing clearance and realize precision drive, is applicable toIn the precision drive such as robot, Aero-Space, high-grade car.
The technical solution adopted in the present invention is: a kind of precession steel ball reducer in parallel, comprises by bearing 4The power shaft 2 that supports and be connected by end cap 6 and body 22, and be installed in small end cover 17 by axleHold 20 supports and be fixed on the output shaft 18 of body 22 by large end cap 16, described power shaft 2 biasSection is connected with link 7 by bearing 5, and described link 7 is connected with planetary plate 27 and passes through bearing pinBe connected with described contiguous block 24, described contiguous block 24 is connected with described shock wave device II 23 by bearing pin,Two bearing pin geometric center lines vertically meet at a bit, in described planetary plate 27 both ends of the surface, are processed with identical cycloidGroove, left side connects by steel ball 28 with the described end cap 6 that is processed with corresponding cycloid groove, right sideConnect described spider 26 and institute by steel ball 28 with the spider 26 that is processed with corresponding cycloid grooveState body 22 and connect, described shock wave device II 23 connects and composes combination by screw 15 with shock wave device I14Shock wave device, described combination shock wave device is by the ladder on the steel ball group 13 and the centre wheel 12 that distribute thereonThe contact of shape groove, described steel ball group 13 centre ofs sphere distribute the round heart on described output shaft 18 centre of gyration lines,Described centre wheel 12 is connected with described body 22 by bearing 11 and passes through screw 21 and described outputAxle 18 connects.
As preferably, described link 7 and described planetary plate 27 are by spline joint, described link7 are processed with external splines, and described planetary plate 27 is processed with internal spline.
As preferably, described centre wheel 12 inner surfaces are sphere, described steel ball group 13 centre ofs sphere circle that distributesThe center of circle is the centre of sphere simultaneously, and described steel ball group 13 is distributed on sphere.
As preferably, described spider 26 is provided with lozenges and described body 22 forms wedge shape space,In described wedge shape space, place steel ball 9 and contact with described body 22 with described spider 26, described machineOn body 22, be processed with screwed hole, mounting screw 8 in described screwed hole, rotates described screw 8 and promotes instituteState steel ball 9 and move, described steel ball 9 promotes described spider 26 axially-movables, keeps described steel ball 28Contact with described cycloid groove.
Advantage of the present invention with beneficial effect is: compared with small Tooth Number Difference Planetary Transmission decelerator, not etc.Speed output mechanism; Simple in structure, gearratio is large, and the parts that participate in transmission are few; All steel balls are all joinedWith engage, bearing capacity is strong; Gap adjusting mechanism is installed, and deceleration Meshing Pair can realize zero-clearance and passMoving; Balance weight is installed on power shaft and can realizes dynamic balancing, the stability of a system is good.
Brief description of the drawings
Fig. 1 is structure diagram of the present invention.
In figure: 1-balance weight, 2-power shaft, 3-sealing ring, 4-bearing, 5-bearing, 6-end cap,7-link, 8-screw, 9-steel ball, 10-bearing pin, 11-bearing, 12-centre wheel, 13-steel ball group,14-shock wave device I, 15-screw, the large end cap of 16-, 17-small end cover, 18-output shaft, 19-sealing ring,20-bearing, 21-screw, 22-body, 23-shock wave device II, 24-contiguous block, 25-needle bearing,26-spider, 27-planetary plate, 28-steel ball.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
Referring to Fig. 1, the present invention's precession steel ball reducer in parallel comprise power shaft 2, bearing 5, end cap 6,Link 7, screw 8, steel ball 9, bearing pin 10, bearing 11, centre wheel 12, steel ball group 13, sharpRipple device I 14, screw 15, output shaft 18, screw 21, body 22, shock wave device II 23, contiguous block24, needle bearing 25, spider 26, planetary plate 27, steel ball 28. On end cap 6 and spider 26Be processed with identical cycloid groove, in planetary plate 27 both ends of the surface, be processed with identical cycloid groove. On link 7, addWork has external splines, and planetary plate 27 is processed with internal spline, and link 7 passes through axle with power shaft 2 eccentric segmentsHold 5 connections. Shock wave device I 14 and shock wave device II 23 composition combination shock wave devices, shock wave device II 23 is by connectingConnecing piece 24 is connected with link 7. Be arranged on the steel ball 13 combining on shock wave device trapezoidal with centre wheel 12Groove engagement, it is upper that the each steel ball centre of sphere of steel ball group 13 is distributed in a circle, and centre wheel 12 is by screw 21 and defeatedShaft 18 connects. Between body 22 and centre wheel 12, bearing 11 is housed.
Balance weight 1 is installed on power shaft 2, makes decelerator keep dynamic balancing. Power shaft 2 eccentric segment bandsMoving planetary plate 27 moves with link 7, and steel is installed in planetary plate 27 cycloid groove and end cap 6 cycloid grooveBall 28, planetary plate 27 is subject to the reaction generation rotation of steel ball 28. Link 7 power shaft 2 withUnder the effect of planetary plate 27, do planetary motion, link 7 is connected with contiguous block 24 by bearing pin 10,Bearing pin 10 is provided with needle bearing 25 with pin-and-hole place, and contiguous block 24 is connected with shock wave device II 23 by bearing pin,Two bearing pin geometric center lines vertically meet at a bit, and this point is in power shaft 2 eccentric segment geometric centers. OKThe spinning motion of astrolabe 27 passes to combination shock wave device, and combination shock wave device rotates; Link 7Revolution motion passes to combination shock wave device, and combination shock wave device swings in rotating.
Shock wave device I 14 by screw 15 composition combination shock wave devices, combines shock wave device with shock wave device II 23Upper installation steel ball group 13, steel ball group 13 numbers are Z5, steel ball group 13 engages with centre wheel 12 dovetail grooves,Centre wheel 12 groove numbers are Z4＝Z5-1. It is on R circle that the each steel ball centre of sphere of steel ball group 13 is distributed on Radius,In retarder operation, this center of circle is not moved, and output shaft 18 centre of gyration lines pass through the center of circle. DefeatedEnter axle 2 and output shaft 18 centre of gyration line conllinear.
The motion of combination shock wave device is by rotation with around two kinds of motions of steel ball 13 component cloth circle centre swingingsStack is synthesized. The spinning motion of combination shock wave device passes to centre wheel 12 by steel ball 13; Meanwhile,The swing of combination shock wave device acts on centre wheel 12 by steel ball group 13, makes centre wheel 12 produce oneWith respect to the rotating speed of group and shock wave device rotation switched in opposite, centre wheel 12 is in the coupling of two kinds of rotating speedsLower generation one constant rotational speed, output shaft 18 these constant rotational speed of output.
Body 22 inner rings are processed with 4 keyways, and spider 26 external cylindrical surfaces are processed with 4 keys, centerDish 26 is arranged in body 22, the rotation of body 22 keyway restriction spiders 26. On end cap 6, addWork has Z1Individual epicycloid groove, is processed with Z on planetary plate 273＝Z1+ 2 hypocycloid grooves, install Z2＝Z1+1Individual steel ball 28, power shaft 2 rotating speeds are n1. Power shaft 2 eccentric segments drive planetary plate 27 and link 7Motion, planetary plate 27 is subject to the reaction generation rotation of steel ball 28, and rotating speed is n2＝2n1/Z3. ConnectFrame 7 does planetary motion under the effect of power shaft 2 and planetary plate 27, and the planetary motion of link 7 is logicalCross contiguous block 24 and drive the motion of combination shock wave device.
Combination shock wave device is around the steel ball group 13 round heart precession that distributes. The rotation of combination shock wave device is by steel ball group13 pass to centre wheel 12; Meanwhile, the swing of combination shock wave device acts on center by steel ball group 13Wheel 12, makes centre wheel 12 produce a rotating speed with respect to combination shock wave device rotation switched in opposite, centerWheel 12 produces constant rotational speed under the compound action of two kinds of rotating speeds, and rotating speed is n3＝n1(2/Z3-1/Z4), defeatedShaft 18 these constant rotational speed of output.
On body 22, be processed with 4 screwed holes, mounting screw 8 in screwed hole. Cycloidal engagement pair wearing and tearingAfter, rotary screw 8 promotes steel ball 9 and moves along the lozenges of spider 26, and steel ball 9 promotes spider26 axially-movables, keep steel ball 28 to contact with cycloid groove. After the wearing and tearing of output Meshing Pair, rotary screw15, dwindle the spacing between shock wave device I 14 and shock wave device II 23, keep steel ball group 13 and dovetail grooveContact. Between Meshing Pair, keep in touch, realize precision drive.
Claims (4)
1. a precession steel ball reducer in parallel, comprise by bearing (4) support and pass through end cap (6) withThe power shaft (2) that body (22) is connected, and be installed in small end cover (17) by bearing (20)The output shaft (18) that supports and pass through large end cap (16) and be fixed on body (22), is characterized in that, described inPower shaft (2) eccentric segment is connected with link (7) by bearing (5), described link (7) andPlanetary plate (27) connects and is connected with contiguous block (24) by bearing pin, and described contiguous block (24) passes throughBearing pin is connected with shock wave device II (23), and two bearing pin geometric center lines vertically meet at a bit, described planetary plate(27) in both ends of the surface, be processed with identical cycloid groove, left side and the described end that is processed with corresponding cycloid grooveLid (6) connects by steel ball (28), right side and the spider (26) that is processed with corresponding cycloid grooveConnect by steel ball (28), described spider (26) is connected with described body (22), described shock waveDevice II (23) connects and composes combination shock wave device, described combination by screw (15) with shock wave device I (14)Shock wave device contacts with the dovetail groove on centre wheel (12) by the steel ball group (13) distributing thereon, instituteState steel ball group (13) centre of sphere and distribute the round heart on described output shaft (18) centre of gyration line, described inHeart wheel (12) be connected with described body (22) by bearing (11) and pass through screw (21) and described inOutput shaft (18) connects.
2. one according to claim 1 precession steel ball reducer in parallel, is characterized in that, described inLink (7) and described planetary plate (27) are by spline joint, outside described link (7) is processed withSpline, described planetary plate (27) is processed with internal spline.
3. one according to claim 1 precession steel ball reducer in parallel, is characterized in that, described inCentre wheel (12) inner surface is sphere, and described steel ball group (13) centre of sphere distributes the round heart simultaneously for the centre of sphere,Described steel ball group (13) is distributed on sphere.
4. according to the precession steel ball reducer in parallel of the one described in the claims any one, its feature existsIn, described spider (26) is provided with lozenges and described body (22) forms wedge shape space, described wedgeIn shape space, place steel ball (9) and contact with described body (22) with described spider (26), described machineBody is processed with screwed hole on (22), and mounting screw (8) in described screwed hole, rotates described screw (8)Promote described steel ball (9) motion, described steel ball (9) promotes described spider (26) axially-movable,Keep described steel ball (28) to contact with described cycloid groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410054261.1A CN103867671B (en) | 2014-02-18 | 2014-02-18 | Precession steel ball reducer in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410054261.1A CN103867671B (en) | 2014-02-18 | 2014-02-18 | Precession steel ball reducer in parallel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103867671A CN103867671A (en) | 2014-06-18 |
| CN103867671B true CN103867671B (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410054261.1A Expired - Fee Related CN103867671B (en) | 2014-02-18 | 2014-02-18 | Precession steel ball reducer in parallel |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104617739B (en) * | 2014-12-23 | 2016-10-05 | 燕山大学 | Dynamo-electric integrated motor |
| CN105782394B (en) * | 2016-04-12 | 2018-02-09 | 燕山大学 | Rectangular axis steel ball reducer |
| TWI593900B (en) * | 2016-05-12 | 2017-08-01 | Rui-Long Cao | Slow down mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4060010A (en) * | 1974-09-26 | 1977-11-29 | Bjorn Harald Heden | Reduction gear, especially for camera lens motors |
| CN2114059U (en) * | 1992-02-02 | 1992-08-26 | 浙江省平阳机器厂 | Concertina cycloidal speed reducer |
| CN1065128A (en) * | 1992-02-02 | 1992-10-07 | 浙江省平阳机器厂 | Snake belly type cycloidal retarding machine |
| CN101101044A (en) * | 2006-07-09 | 2008-01-09 | 杨光笋 | Monotype cycloid reducer with retainer |
-
2014
- 2014-02-18 CN CN201410054261.1A patent/CN103867671B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4060010A (en) * | 1974-09-26 | 1977-11-29 | Bjorn Harald Heden | Reduction gear, especially for camera lens motors |
| CN2114059U (en) * | 1992-02-02 | 1992-08-26 | 浙江省平阳机器厂 | Concertina cycloidal speed reducer |
| CN1065128A (en) * | 1992-02-02 | 1992-10-07 | 浙江省平阳机器厂 | Snake belly type cycloidal retarding machine |
| CN101101044A (en) * | 2006-07-09 | 2008-01-09 | 杨光笋 | Monotype cycloid reducer with retainer |
Non-Patent Citations (1)
| Title |
|---|
| 无隙钢球减速器研究;安子军，曲继方;《机械制造》;19960830;全文 * |
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| CN103867671A (en) | 2014-06-18 |
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| CB03 | Change of inventor or designer information |
Inventor after: An Zijun Inventor after: Yi Yali Inventor after: Yang Ronggang Inventor after: Jin Jingchuan Inventor after: Liu Yuxuan Inventor before: Yi Yali Inventor before: Yang Ronggang Inventor before: Jin Jingchuan Inventor before: Liu Yuxuan |
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| COR | Change of bibliographic data | ||
| CB03 | Change of inventor or designer information |
Inventor after: An Zijun Inventor after: Yang Ronggang Inventor after: Yi Yali Inventor after: Liu Yuxuan Inventor before: An Zijun Inventor before: Yi Yali Inventor before: Yang Ronggang Inventor before: Jin Jingchuan Inventor before: Liu Yuxuan |
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Granted publication date: 20160504 Termination date: 20190218 |