CN103925340A - Cycloid rolling ball speed reducer - Google Patents
Cycloid rolling ball speed reducer Download PDFInfo
- Publication number
- CN103925340A CN103925340A CN201410190147.1A CN201410190147A CN103925340A CN 103925340 A CN103925340 A CN 103925340A CN 201410190147 A CN201410190147 A CN 201410190147A CN 103925340 A CN103925340 A CN 103925340A
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- output shaft
- spin
- cycloid
- speed reducer
- moving plate
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention relates to a cycloid rolling ball speed reducer which comprises an input shaft, a machine body, a limiting disc, a speed reducing driving disc, an output shaft and an output shaft component. The cycloid rolling ball speed reducer is characterized in that the speed reducing driving disc is driven by an eccentric structure of the input shaft to swing, a cycloid groove is machined in the contacting face of the speed reducing driving disc and the output shaft, speed reducing rolling balls are arranged in hemisphere holes evenly formed in the end face of the output shaft and the cycloid groove, the speed reducing driving disc drives the output shaft to operate through the cycloid groove via the speed reducing rolling balls, O-shaped grooves are evenly formed in the contacting face of the limiting disc and the speed reducing driving disc, limiting rolling balls are arranged in hemisphere holes formed in the contacting face of the O-shaped grooves and the speed reducing driving disc, an output shaft inner cavity is provided with a bearing outer circle, the output shaft inner cavity and the output shaft component are arranged to be of a crossed roller bearing structure so that the short length of the output shaft can bear large axial and radial pressure at the same time, output shaft bearing force is high, and transmission accuracy is high. The speed reducer has the advantages of being large in speed reducing ratio, small in size and high in transmission efficiency, and zero clearance is achieved.
Description
Technical field
The present invention relates to industrial robot, high-precision numerical control equipment, precision round subsection equipment and high precision machinery and manufacture field, especially a kind of cycloid spin speed reducer.
Background technique
At present, the country of industrial technology prosperity, rolling ball transmission technology is applied to successively high-accuracy mechanical retarding device and manufactures field; My the BS speed reducer of the former development of company and appearance of double-deck spin speed reducer, has started to fill up the technological gap that China's mechanical reduction machine manufacture field utilizes rolling ball transmission; But after above two kinds of launch products, find still to exist following shortcoming: 1. BS speed reducer adopts double cycloid structure to realize deceleration, the highest deceleration ratio that can only reach 50:1, deceleration ratio not yet meets the designing requirement of part accurate mechanical equipment speed reducer; 2. the limit stoper of BS speed reducer and double-deck spin speed reducer all adopts assembling unit structure, and limit function has shaking phenomenon, affects deceleration power output accuracy; 3. double-deck spin speed reducer adopts double-deck slowing-down structure, and volume and weight is larger.Be subject to the restriction of above-listed three kinds of shortcomings, affected largely the using scope of above two kinds of speed reducers.
Summary of the invention
The object of the invention is to that a kind of ratio that slows down of designing for above-mentioned background technology is large, volume is little, lightweight, zero clearance, deceleration power output accuracy are high, be applicable to the cycloid spin speed reducer that multi-freedom robot, precision round subsection numerical control device and high precision machinery speed reducer use.
As follows for reaching the technical solution that above-mentioned object takes:
1, a cycloid spin speed reducer, comprises input shaft, body, bearing, position-arresting disk, spacing spin, retardation gear Moving plate, deceleration spin, output shaft, output shaft assembly, screw; It is characterized in that, described speed reducer drive plate is moving by the eccentric structure band switch of input shaft, retardation gear Moving plate and output shaft surface of contact are processed with cycloid groove, deceleration spin is placed in a plurality of hemisphere hole of cycloid groove and the uniform setting of output shaft end face, retardation gear Moving plate utilizes cycloid groove to drive output shaft to turn round by the spin of slowing down, and input shaft often circles, and retardation gear Moving plate swings once, output shaft turns over a wave amplitude, and speed reducer utilizes the wave amplitude number of retardation gear Moving plate cycloid groove to realize deceleration; Described position-arresting disk and retardation gear Moving plate surface of contact be uniform arranges a plurality of O type grooves, spacing spin is placed in a plurality of hemisphere hole of O type groove and the uniform setting of retardation gear Moving plate surface of contact, spacing spin is rolled in O type groove circumference, limit the direction rule swing that retardation gear Moving plate can only drive according to input shaft, can not revolve round the sun; Described output shaft inner chamber is installed bearing top circle and is set as crossed roller bearing structure with output shaft assembly, makes the shorter length of output shaft can carry larger axial and radial pressure simultaneously, makes that output shaft bearing capacity is strong, transmission accuracy is high.
2, the cycloid spin speed reducer as described in technological scheme 1, wherein, described retardation gear Moving plate and position-arresting disk surface of contact are distributed with a plurality of hemisphere hole, mounting limit spin is connected with position-arresting disk, the other end of retardation gear Moving plate is processed with cycloid groove, deceleration spin is installed in cycloid groove and is connected with the hemisphere hole that output shaft interior edge face distributes.
3, the cycloid spin speed reducer as described in technological scheme 1, wherein, the interior edge face of described position-arresting disk is distributed with a plurality of O type grooves, in order to mounting limit spin, the spacing spin a plurality of hemisphere hole uniform with retardation gear Moving plate end face is connected, and is defined and can only in cycloid wave amplitude, rule swings, can not revolve round the sun when retardation gear Moving plate is swung; Position-arresting disk arranges worm structure with body and is connected, and it has met limit stoper can not the technical requirements of rocking, and can regulate again speed reducer inner body axially to realize zero clearance simultaneously.
4, the cycloid spin speed reducer as described in technological scheme 1, wherein, a plurality of hemisphere hole that described output shaft interior edge face is uniform, deceleration spin is installed to be connected with retardation gear Moving plate, power output after retardation gear Moving plate is slowed down, output shaft and output shaft assembly are set as crossed roller axle construction, and output shaft assembly is screwed on body.
5, the cycloid spin speed reducer as described in technological scheme 1, wherein, described input shaft and output shaft, on same straight line, and are designed to hollowly, are beneficial to circuit, gas circuit and pass through in the middle of speed reducer, realize totally-enclosed, fire-proof and explosion-proof.
The present invention compared with prior art has following feature:
(1) this speed reducer adopts individual layer single pendulum line structure to realize deceleration, and deceleration odds ratio BS speed reducer adopts the structure of individual layer double cycloid to double; Be up to the deceleration ratio of 100:1;
(2) this speed reducer position-arresting disk adopts and is threaded with body, making position-arresting disk can limit retardation gear Moving plate rule swings, what can regulate again part in body axially reaches zero clearance, and effectively prevent that position-arresting disk from rocking, solved BS speed reducer and double-deck spin speed reducer and adopted assembly parts limit structure, the shortcoming that exists limit function to have to rock;
(3) this speed reducer output shaft is set as crossed roller bearing structure with output shaft assembly, make the shorter length of output shaft can carry simultaneously larger axis to and radial pressure, solve BS speed reducer output shaft and adopted ball bearing structure, during output shaft bearing pressure, exist axially and the excessive shortcoming of circular runout;
(4) this speed reducer adopts individual layer reducing gear, the scope that deceleration ratio is up to 100:1 generally adapts to the usage requirement of common mechanical equipment speed reducer, has solved double-deck spin speed reducer and has adopted double-deck reducing gear to cause the shortcoming that speed reducer volume and weight is large;
(5) have simple in structurely, deceleration ratio is large, lightweight, zero clearance, output accuracy advantages of higher.
accompanying drawing explanation
Fig. 1 is overall structure sectional view of the present invention,
Fig. 2 is the main pseudosection of retardation gear Moving plate of the present invention,
Fig. 3 is the deceleration of the present invention end face cycloid groove view of facing left,
Fig. 4 is hemisphere hole, retardation gear Moving plate of the present invention right side view,
Fig. 5 is the main pseudosection of position-arresting disk of the present invention,
Fig. 6 is position-arresting disk of the present invention upper-end surface O type groove view,
Fig. 7 is output shaft of the present invention and the main pseudosection of output shaft modular construction,
Fig. 8 is output shaft of the present invention and hemisphere hole, output shaft modular construction upper-end surface view.
In Fig. 1～Fig. 8, input shaft (1), body (2), bearing (3), position-arresting disk (4), spacing spin (5), retardation gear Moving plate (6), deceleration spin (7), output shaft (8), output shaft assembly (9), screw (10).
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described:
Shown in Fig. 8, a kind of cycloid spin speed reducer, comprise input shaft, body, bearing, position-arresting disk, spacing spin, retardation gear Moving plate, deceleration spin, output shaft, output shaft assembly, screw, wherein, described speed reducer drive plate 6 is moving by the eccentric structure band switch of input shaft 1, retardation gear Moving plate 6 is processed with cycloid groove with output shaft 8 surface of contact, deceleration spin 7 is placed in a plurality of hemisphere hole of cycloid groove and the uniform setting of output shaft 8 end face, retardation gear Moving plate 6 utilizes cycloid groove to drive output shaft 8 runnings by the spin 5 of slowing down, input shaft 1 often circles, retardation gear Moving plate 6 swings once, output shaft 8 turns over a wave amplitude, speed reducer utilizes the wave amplitude number of retardation gear Moving plate 6 cycloid groove to realize deceleration, described position-arresting disk 4 and retardation gear Moving plate 6 surface of contact are uniform arranges a plurality of O type grooves, spacing spin 5 is placed in a plurality of hemisphere hole of O type groove and the 6 surface of contact settings of retardation gear Moving plate, spacing spin 5 is rolled in O type groove circumference, limit the direction rule swing that retardation gear Moving plate 6 can only drive according to input shaft 1, can not revolve round the sun, described output shaft 8 inner chambers are installed bearing 3 cylindricals and are set as crossed roller bearing structure with output shaft assembly 9, make the shorter length of output shaft 8 can carry larger axial and radial pressure simultaneously, make that output shaft 8 bearing capacities are strong, transmission accuracy is high.
Described retardation gear Moving plate 6 is distributed with a plurality of hemisphere hole with position-arresting disk 4 surface of contact, mounting limit spin 5 is connected with position-arresting disk 4, the other end of retardation gear Moving plate 6 is processed with cycloid groove, deceleration spin 7 is installed in cycloid groove and is connected with the hemisphere hole that output shaft 8 interior edge faces distribute.
The interior edge face of described position-arresting disk 4 is distributed with a plurality of O type grooves, and in order to mounting limit spin 5, spacing spin 5 is connected with the hemisphere hole that retardation gear Moving plate 6 end faces are established; Position-arresting disk 4 arranges worm structure with body 2 and is connected, and it has met limit stoper can not the technical requirements of rocking, and can regulate again speed reducer inner body axially to realize zero clearance simultaneously.
The hemisphere hole that described output shaft 8 interior edge faces distribute a plurality of, deceleration spin 7 is installed to be connected with retardation gear Moving plate 6, power output after retardation gear Moving plate 6 is slowed down, output shaft 8 is set as crossed roller axle construction with output shaft assembly 9, and output shaft assembly 9 use screws 10 are fixed on body 2.
Described input shaft 1 on same straight line, and is designed to hollowly with output shaft 8, is beneficial to circuit, gas circuit is passed through in the middle of speed reducer, realizes totally-enclosed, fire-proof and explosion-proof.
The present invention adopts single pendulum line structure, input shaft 1 adopts ball bearing constraint running, when power transmission is after input shaft 1, eccentric crank structure on input shaft 1 drives retardation gear Moving plate 6 to do rule and swings, input shaft 1 often circles, and retardation gear Moving plate 6 swings once, a cycloid wave amplitude of output shaft 1 running, utilize retardation gear Moving plate 6 cycloid wave amplitude numbers to realize deceleration, maximum deceleration ratio reaches 100:1; Model machine is used in being arranged on industrial robot motion joint, satisfactory for result.
Claims (5)
1. a cycloid spin speed reducer, comprises input shaft, body, bearing, position-arresting disk, spacing spin, retardation gear Moving plate, deceleration spin, output shaft, output shaft assembly, screw; It is characterized in that, described speed reducer drive plate (6) is moving by the eccentric structure band switch of input shaft (1), retardation gear Moving plate (6) is processed with cycloid groove with output shaft (8) surface of contact, deceleration spin (7) is placed in a plurality of hemisphere hole of the uniform setting of cycloid groove and output shaft (8) end face, retardation gear Moving plate (6) utilizes cycloid groove to drive output shaft (8) running by the spin of slowing down (5), input shaft (1) often circles, retardation gear Moving plate (6) swings once, and output shaft (8) turns over a wave amplitude; Speed reducer utilizes the wave amplitude number of retardation gear Moving plate (6) cycloid groove to realize deceleration; Described position-arresting disk (4) and retardation gear Moving plate (6) surface of contact be uniform arranges a plurality of O type grooves, spacing spin (5) is placed in a plurality of hemisphere hole of O type groove and retardation gear Moving plate (6) surface of contact setting, spacing spin (5) is rolled in O type groove circumference, limit the direction rule swing that retardation gear Moving plate (6) can only drive according to input shaft (1), can not revolve round the sun; Described output shaft (8) inner chamber is installed bearing (3) cylindrical and output shaft assembly (9) is set as crossed roller bearing structure, make the shorter length of output shaft (8) can carry simultaneously larger axially and radial pressure, make that output shaft (8) bearing capacity is strong, transmission accuracy is high.
2. cycloid spin speed reducer according to claim 1, it is characterized in that, described retardation gear Moving plate (6) is distributed with a plurality of hemisphere hole with position-arresting disk (4) surface of contact, mounting limit spin (5) is connected with position-arresting disk (4), the other end of retardation gear Moving plate (6) is processed with cycloid groove, deceleration spin (7) is installed in cycloid groove and is connected with the hemisphere hole that output shaft (8) interior edge face distributes.
3. cycloid spin speed reducer according to claim 1, it is characterized in that, the interior edge face of described position-arresting disk (4) is distributed with a plurality of O type grooves, in order to mounting limit spin (5), spacing spin (5) is connected with the hemisphere hole that retardation gear Moving plate (6) end face is established, position-arresting disk (4) arranges worm structure with body (2) and is connected, and it has met limit stoper can not the technical requirements of rocking, and can regulate again speed reducer inner body axially to realize zero clearance simultaneously.
4. cycloid spin speed reducer according to claim 1, it is characterized in that, a plurality of hemisphere hole that described output shaft (8) interior edge face distributes, deceleration spin (7) is installed to be connected with retardation gear Moving plate (6), power output after retardation gear Moving plate (6) is slowed down, output shaft (8) is set as crossed roller axle construction with output shaft assembly (9), and output shaft assembly (9) is fixed on body (2) with screw (10).
5. cycloid spin speed reducer according to claim 1, is characterized in that, described input shaft (1) and output shaft (8), on same straight line, and are designed to hollowly, is beneficial to circuit, gas circuit is passed through in the middle of speed reducer, realizes totally-enclosed, fire-proof and explosion-proof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410190147.1A CN103925340A (en) | 2014-05-07 | 2014-05-07 | Cycloid rolling ball speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410190147.1A CN103925340A (en) | 2014-05-07 | 2014-05-07 | Cycloid rolling ball speed reducer |
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| CN103925340A true CN103925340A (en) | 2014-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410190147.1A Pending CN103925340A (en) | 2014-05-07 | 2014-05-07 | Cycloid rolling ball speed reducer |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104265842A (en) * | 2014-09-19 | 2015-01-07 | 佛山市诺尔贝机器人技术有限公司 | Swing ball type reducer |
| CN104819277A (en) * | 2015-02-25 | 2015-08-05 | 佛山市诺尔贝机器人技术有限公司 | Power input rotation preventing device of multi-crankshaft cycloidal speed reducer |
| CN104819254A (en) * | 2015-02-25 | 2015-08-05 | 佛山市诺尔贝机器人技术有限公司 | Mono-crankshaft cycloid speed reducer |
| CN104832602A (en) * | 2015-02-25 | 2015-08-12 | 佛山市诺尔贝机器人技术有限公司 | Power output device of multi-crankshaft cycloid speed reducer |
| CN106286712A (en) * | 2016-10-12 | 2017-01-04 | 东莞市远鑫电子科技有限公司 | The high rigidity reductor of a kind of high accuracy |
| CN108361364A (en) * | 2018-04-04 | 2018-08-03 | 海尚集团有限公司 | Vector cycloid speed reducer |
| CN109990049A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of speed reducer based on split type shell |
| CN110043634A (en) * | 2019-05-07 | 2019-07-23 | 江阴市传动机械研究所 | A kind of bearing-type speed reducer for driving robot that transmission ratio is big |
| CN111022589A (en) * | 2020-01-06 | 2020-04-17 | 河南烛龙高科技术有限公司 | Centrosymmetric two-stage nested type undercut cycloid oscillating tooth speed reducer |
| CN111120586A (en) * | 2020-01-06 | 2020-05-08 | 河南烛龙高科技术有限公司 | Closed undercut cycloid oscillating tooth reduction gear of doublestage |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104265842A (en) * | 2014-09-19 | 2015-01-07 | 佛山市诺尔贝机器人技术有限公司 | Swing ball type reducer |
| CN104832602B (en) * | 2015-02-25 | 2018-06-01 | 佛山市诺尔贝机器人技术有限公司 | A kind of power output device of more bent axle cycloid speed reducers |
| CN104819254A (en) * | 2015-02-25 | 2015-08-05 | 佛山市诺尔贝机器人技术有限公司 | Mono-crankshaft cycloid speed reducer |
| CN104832602A (en) * | 2015-02-25 | 2015-08-12 | 佛山市诺尔贝机器人技术有限公司 | Power output device of multi-crankshaft cycloid speed reducer |
| CN104819254B (en) * | 2015-02-25 | 2017-03-15 | 佛山市诺尔贝机器人技术有限公司 | A kind of single axle cycloid speed reducer |
| CN104819277A (en) * | 2015-02-25 | 2015-08-05 | 佛山市诺尔贝机器人技术有限公司 | Power input rotation preventing device of multi-crankshaft cycloidal speed reducer |
| CN106286712A (en) * | 2016-10-12 | 2017-01-04 | 东莞市远鑫电子科技有限公司 | The high rigidity reductor of a kind of high accuracy |
| CN108361364A (en) * | 2018-04-04 | 2018-08-03 | 海尚集团有限公司 | Vector cycloid speed reducer |
| CN109990049A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of speed reducer based on split type shell |
| CN110043634A (en) * | 2019-05-07 | 2019-07-23 | 江阴市传动机械研究所 | A kind of bearing-type speed reducer for driving robot that transmission ratio is big |
| CN110043634B (en) * | 2019-05-07 | 2023-12-12 | 江阴市传动机械研究所 | Bearing type speed reducer of drivable robot with large transmission ratio |
| CN111022589A (en) * | 2020-01-06 | 2020-04-17 | 河南烛龙高科技术有限公司 | Centrosymmetric two-stage nested type undercut cycloid oscillating tooth speed reducer |
| CN111120586A (en) * | 2020-01-06 | 2020-05-08 | 河南烛龙高科技术有限公司 | Closed undercut cycloid oscillating tooth reduction gear of doublestage |
| CN111120586B (en) * | 2020-01-06 | 2021-03-16 | 河南烛龙高科技术有限公司 | Closed undercut cycloid oscillating tooth reduction gear of doublestage |
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Application publication date: 20140716 |