CN104819253B - Multi-crankshaft cycloid speed reducer - Google Patents

Multi-crankshaft cycloid speed reducer Download PDF

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Publication number
CN104819253B
CN104819253B CN201510087582.6A CN201510087582A CN104819253B CN 104819253 B CN104819253 B CN 104819253B CN 201510087582 A CN201510087582 A CN 201510087582A CN 104819253 B CN104819253 B CN 104819253B
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China
Prior art keywords
cycloid
ball
hole
bent axle
track groove
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CN104819253A (en
Inventor
卢新建
陈飞龙
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FOSHAN BEB ROBOT TECHNOLOGY Co Ltd
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FOSHAN BEB ROBOT TECHNOLOGY Co Ltd
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion

Abstract

The present invention provides a multi-crankshaft cycloid speed reducer. The speed reducer comprises a housing; an output mechanism mounted in the housing by using a bearing I; at least two crankshafts, wherein the crankshafts are mounted in the output mechanism by using a bearing II; an input shaft running through the output mechanism, wherein the input shaft has one end connected to input equipment and the other end in transmission connection with the crankshafts; and a cycloid pan positioned in the housing. The cycloid pan sleeves eccentric parts of the crankshafts; balls and a movement space for the balls are arranged between the cycloid pan and the interior of the housing; the movement space is holes and track grooves disposed between an end surface in the housing and a side surface of the cycloid pan. The speed reducer of the present invention is compact in structure, large in load bearing capacity, stable in rotation and high in reliability; the aims of simplifying the internal structure of the speed reducer and reducing the weight and the size of the speed reducer are achieved while transmission efficiency and a speed reduction ratio of the speed reducer are improved, thereby reducing production costs of the speed reducer. The multi-crankshaft cycloid speed reducer is especially suitable for use as a power transmission mechanism on large-sized mechanical equipment.

Description

A kind of many bent axle cycloid speed reducers
Technical field
The present invention relates to the technical field that machine driving is slowed down, more particularly, it relates to a kind of reductor.
Background technology
Reductor is a kind of power drive mechanism, the rotating speed of power can be decelerated to into desired rotating speed and obtain larger turning Square.In the mechanism currently used for transmission power with motion, the range of application of reductor is quite extensive, from the vapour of the vehicles Car, ship, heavy-duty machine for building, to the process equipment and automated production equipment used by mechanical industry etc..
Reductor is a kind of relatively accurate machinery, and its species is various, the reductor in robot is moved at present and is mainly RV reductors.RV reductors are highly beneficial to the kinematic accuracy and dynamic characteristic for improving robot, but also with gear ratio it is big, The advantages of large carrying capacity and high kinematic accuracy, therefore the actuating device is not only employed for robot, Machine Tool Industry also by It is widely used.
However, RV reductors belong to cycloidal planetary gear speed reducer, and cycloidal planetary gear speed reducer is using balancing point and cycloidal fashion Transfer motion power, its deceleration transmission part is using circle-arc tooth and needle roller Cylindrical Surfaces Contact.When cycloidal planetary gear speed reducer works, by Transmitting contact surface motor process in the power of reductor is moved in high load capacity form, therefore easily causes part (such as balancing point With the external tooth of cycloid disc etc.) abrasion.And its complex structure, requirement on machining accuracy height will during design and installation Certain process gap is left, causes to rotate not steady enough during work, noise is big, and rotational efficienty is low.Simultaneously for robot structure For making, need to carry out many rod member motions, so rod size and weight will affect its inertia and load-bearing capacity.Because RV subtracts Fast machine complex structure causes its volume big and the characteristics of with constant weight so that it is applied cannot reduce being used in robot Property.
The content of the invention
It is an object of the invention to overcome shortcoming of the prior art with it is not enough, there is provided a kind of compact conformation, noise are low, hold Carry that load-bearing capacity is big, many bent axle cycloid speed reducers that stability of rotation reliability is high, with realize improve reduction box transmission efficiency and Can simplify while speed reducing ratio reductor internal structure, reduce reductor volume and weight, and then reduce reductor production into This, is particularly suitable on heavy mechanical equipment as power drive mechanism.
In order to achieve the above object, the technical scheme is that:A kind of many bent axle cycloid speed reducers, It is connected with input equipment;It is characterized in that:Including:
Shell;
Output mechanism inside the housing is installed by bearing one;
At least two bent axles, the bent axle is arranged on inside output mechanism by bearing two;
The input shaft being located on output mechanism, described input shaft one end is connected with input equipment, and the other end is passed with bent axle Dynamic connection;
And positioned at the cycloid disc of enclosure, the cycloid disc is set in the eccentric part of bent axle;
The motion that ball and ball are provided between the cycloid disc and enclosure is interval, and the motion is interval for outside The hole arranged between shell internal end surface and cycloid disc one side and track groove.
In such scheme, the input shaft that one end is connected with input equipment can drive the bent axle of more than two certainly when rotating Turn, so as to drive the cycloid disc in the crankshaft eccentric portion for being set in more than two to swing.In cycloid disc swing process, due to two Bent axle more than bar is not arranged on the center of circle of cycloid disc, and bent axle can make the center of cycloid disc make the circle with offset as radius Zhou Yundong;Now ball rolls or slides the rotation so as to limit cycloid disc and cycloid disc is transmitted in the motion interval of ball Transverse pressure, realizes cycloid disc reciprocally swinging in the horizontal direction.Therefore, the motion of bent axle, ball and ball of the invention is interval Can be used as anti-rotation mechanism.The anti-rotation mechanism without the need for extra set parts (such as retainer), so as to simplified reductor Structure and alleviate the weight of reductor, and improve the structural compactness of reductor.
And ball can then be driven the active force after deceleration to cycloid disc in the interval rolling of motion or slip so that cycloid disc The bent axle for driving more than two revolves round the sun around input shaft, so as to drive output mechanism to rotate, realizes the effect slowed down.Subtract in reductor During speed, the motion interval of ball is the combination using hole and track groove, and relative to existing RV reductors hypocycloid is adopted For the motion interval that two track grooves of raceway and epicycloid raceway are formed, then the needle roller that there is no RV reductors is rolled in hypocycloid The phase contrast produced when road and epicycloid rolling path rolling, can be prevented effectively from needle roller and cancel out each other when two track grooves are rolled output Rotational angle phenomenon, therefore, the present invention reductor subtracting for reductor can be effectively improved using the combination of hole and track groove Speed ratio, transmission efficiency and stability of rotation reliability.And, the present invention reductor every bent axle only with one-level eccentric part, Then need to only adopt one layer of actuating device (i.e. cycloid disc, ball and motion are interval) can reach the effect of deceleration, so as to Existing RV reductors are avoided to cause speed reducer structure complexity, volume using two-layer actuating device (i.e. two cycloid discs and needle roller) While the problem of big and weight weight, speed reducing ratio, transmission efficiency and the stability of rotation reliability of reductor can be also effectively improved, be entered And reduce the production cost of reductor.
The ball of the present invention and the motion interval of ball can be used as an anti-rotation mechanism part for cycloid disc, also can conduct A part for the deceleration transmission force mechanisms of the reductor.
More specifically, the cycloid disc is disc cycloid disc, and it is provided with for installing the through hole one of input shaft, using Through hole three in the through hole two for installing bent axle and for installing output mechanism;The cycloid disc is by bearing three in the inner sleeve of through hole two It is connected on the eccentric part of bent axle.
The cycloid disc of the present invention can arrange corresponding through hole two according to the quantity of bent axle, due to being used for installing the through hole of bent axle Two are not arranged on the center of circle of cycloid disc, and ball is under the interval active force of motion, therefore in cycloid disc swing process In can limit the rotation of cycloid disc, and transverse pressure is transmitted to cycloid disc, realize cycloid disc reciprocally swinging in the horizontal direction.
Described input shaft one end is connected with input equipment, and the other end is connected with transmission of crankshaft and refers to:Input shaft one end with it is defeated Enter equipment connection, the other end is provided with input gear, and bent axle one end relative with input shaft is provided with travelling gear;Input shaft turns Band dynamic crankshaft rotation is engaged by input gear and travelling gear when dynamic, being connected for input shaft and bent axle is realized.
The shell includes upper shell and lower casing, and two output mechanisms are arranged on upper shell by bearing one respectively Inside internal and lower casing.The output mechanism of the present invention is set to two, can be respectively used to conduct on two heavy mechanical equipments Power drive mechanism, the reductor two sides can connect outut device, directionless differentiation.In the present invention, cycloid disc is outer with lower Clearance position is provided between shell, for providing the swing space of cycloid disc.
The motion interval that ball and ball are provided between the cycloid disc and enclosure refers to:The cycloid disc is just It is provided with the motion interval one of ball one and ball one between side and upper enclosure, and the face of tossing about of cycloid disc is outer with lower The motion interval two of ball two and ball two is provided between shell inside.
The motion interval one is the track that the positive side of the hole one and cycloid disc arranged in upper enclosure end face is arranged Groove one, or the hole that the positive side that motion interval is the track groove one and cycloid disc arranged in upper enclosure end face is arranged One;The motion interval two is the track groove two of the face setting of tossing about of the hole two and cycloid disc arranged in lower casing internal end surface, Or the hole two of the face setting of tossing about that motion interval two is the track groove two and cycloid disc arranged in lower casing internal end surface.This The bright interval mesopore one of motion and the set location of track groove one can be exchange, equally, move the interval He of two mesopore two The set location of track groove two also can be exchange, can so improve motility and the multiformity of reductor internal structure.
The track groove one is identical with the shape of track groove two, is cross section in "U" shaped groove, "U" shaped groove Groove footpath R matches with the external diameter of ball one and ball two;Track groove one the positive side of cycloid disc and upper enclosure end face it Between formed with wave number cycloid closing guide groove;Track groove two formed between face and lower casing internal end surface in being tossed about for cycloid disc Cycloid with wave number closing guide groove;The wave number of the track groove one is equal with the wave number of track groove two.When track groove one and rail When mark groove two is arranged at cycloid disc, the positive side of the cycloid disc is identical with track groove two with the track groove one of face setting of tossing about Track groove, therefore, the obverse and reverse of cycloid disc need not be distinguished when reductor is assembled, so as to reduce the difficult processing of cycloid disc Degree so that easy to process, and the agility and convenience of reductor assembling can be improved.
The wave number of the track groove one has difference with the quantity in hole one;The wave number of the track groove two and the quantity in hole two With difference.The wave number of track groove of the present invention one and track groove two can be more than the quantity in hole one and hole two, or hole one and hole Two quantity can be more than the wave number of track groove one and track groove two, and so design can increase the speed reducing ratio of reductor, also have Beneficial to the simplification and processing of machinery.If the wave number of track groove one and track groove two is identical with the quantity in hole one and hole two, track The position of the ripple of groove one and track groove two is corresponding with the location matches in hole one and hole two, therefore, ball one and ball two can not Realize being rolled or being slided in motion interval one and motion interval two, it is impossible to realize the positive side of cycloid disc and upper enclosure The engagement of end face, the engagement of toss about face and the lower casing internal end surface of cycloid disc, cannot also react on the active force of deceleration Cycloid disc, cannot finally realize that cycloid disc promotes bent axle to revolve round the sun around input shaft, so as to reductor can not play a part of deceleration.
The semicircle orifice that the Kong Yiwei apertures match with the external diameter of ball one, the Kong Erwei apertures and the external diameter phase of ball two The semicircle orifice of matching;The quantity of ball one, Kong Yi, ball two and hole two is equal.When the positive side of cycloid disc is provided with hole for the moment, Hole one is uniformly arranged in the positive side disc face of cycloid disc, and the circle center line connecting in each hole one forms the concentric circular of disk; When the face of tossing about of cycloid disc is provided with hole two, hole two is uniformly arranged on the tossing about in the disc face of face of cycloid disc, and each hole Two circle center line connecting forms the concentric circular of disk.
The bearing two is cylinder roller bearing;Oil sealing is provided with the shell.The bearing two of the present invention adopts cylinder Roller bearing can make two to be mounted so as to more closely and firm between output mechanism and bent axle, prevent reductor and use process The phenomenon that middle output mechanism comes off.
Many bent axle cycloid speed reducers of the present invention are simple and compact for structure, and gearless driving can reach preferable effect of slowing down Really.The operation principle that the reductor slows down is such:When the input that input equipment high-speed rotation, one end are connected with input equipment Axle can drive the bent axle rotation of more than two when rotating, so as to drive the cycloid disc in the crankshaft eccentric portion for being set in more than two Swing, bent axle can make the center of cycloid disc make the circular motion with offset as radius, now, the ball one being placed in hole one Roll in corresponding track groove one or slide, be placed on the ball two in hole two and roll in corresponding track groove two or sliding It is dynamic, so as to limiting the rotation of cycloid disc and to cycloid disc transmission transverse pressure, realizing cycloid disc reciprocally swinging in the horizontal direction. Meanwhile, during cycloid disc horizontal direction reciprocally swinging, active force causes the ball one being placed in hole one in track groove one Interior rolling or slip, are placed on the ball two in hole two and roll or slide in the groove of track two, because upper shell and lower casing are consolidated It is fixed motionless, therefore, ball one and ball two react on cycloid disc to the active force of track groove one and track groove two so that cycloid The bent axle that dish driving is more than two revolves round the sun around input shaft, so as to drive output mechanism to rotate, realizes that input shaft often rotates 360 °, defeated Go out mechanism and offset a certain amount of rotational angle, and then turning input equipment under the motion stress effect of ball one and ball two Dynamic deceleration is transferred to the output mechanism of reductor, to reach the effect of deceleration.
Compared with prior art, the invention has the advantages that and beneficial effect:
1st, many bent axle cycloid speed reducer compact conformations of the invention, bearing load ability be big, stability of rotation reliability is high, realizes Reductor internal structure can be simplified while reduction box transmission efficiency and speed reducing ratio is improved, reductor volume and weight is reduced, And then the production cost of reduction reductor, it is particularly suitable on heavy mechanical equipment as power drive mechanism.
2nd, the anti-rotation mechanism that ball of the present invention can be formed in the interval rolling of motion or slip and the setting of bent axle, this is prevented Free-wheeling system without the need for extra set parts (such as retainer), so as to simplified reductor structure and alleviate reductor Weight, and improve the structural compactness of reductor.
3rd, reductor of the invention can effectively improve the speed reducing ratio of reductor, transmission efficiency using the combination of hole and track groove With stability of rotation reliability.
Description of the drawings
Fig. 1 is the overlooking surface structural representation of many bent axle cycloid speed reducers of the invention;
Fig. 2 is the internal structure schematic diagram of many bent axle cycloid speed reducers in A-A directions in Fig. 1;
Fig. 3 is the schematic diagram that the upper enclosure end face of many bent axle cycloid speed reducers of the invention is provided with hole one;
Fig. 4 is the schematic diagram that the lower casing internal end surface of many bent axle cycloid speed reducers of the invention is provided with hole two;
Fig. 5 is the schematic diagram that track groove one is provided with the positive side of cycloid disc of many bent axle cycloid speed reducers of the invention;
Fig. 6 is that the cycloid disc of many bent axle cycloid speed reducers of the invention is tossed about the schematic diagram of track groove two is provided with face;
Wherein, 1 it is input gear, 2 be travelling gear, 3 be bent axle, 4 is for output mechanism one, 5.2 for bearing two, 5.1 Output mechanism two, 6 be bearing one, 7.1 be upper shell, 7.2 be lower casing, 8 be cycloid disc, 9.1 be ball one, 9.2 be ball 2nd, 10.1 be track groove one, 10.2 be track groove two, 11 be oil sealing, 12 be bearing three, 13 be input shaft, 14.1 be hole one, 14.2 is that through hole three, 18 is clearance position for through hole two, 17 for through hole one, 16 for hole two, 15.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail with specific embodiment.
Embodiment one
The present embodiment one is set with moving the interval one positive side for being the hole one and cycloid disc arranged in upper enclosure end face The track groove one put, motion interval two is the track of the face setting of tossing about of the hole two and cycloid disc arranged in lower casing internal end surface Groove two, and the reductor is to being illustrated below as a example by double-crankshaft cycloid speed reducer.
As shown in Figures 1 to 6, many bent axle cycloid speed reducers of the invention are connected with input equipment;It includes:
Upper shell 7.1, lower casing 7.2;
Output mechanism 1 inside upper shell 7.1 is arranged on by bearing 1, lower casing is arranged on by bearing 1 Output mechanism 2 5.2 inside 7.2;
Two bent axles 3;The bent axle 3 is arranged on inside output mechanism 1 and output mechanism 2 5.2 by bearing 24;
The input shaft 13 being located on output mechanism 1 and output mechanism 2 5.2, the one end of input shaft 13 sets with input Standby connection, the other end is connected with bent axle 3;
And the cycloid disc 8 inside upper shell 7.1 and lower casing 7.2, the cycloid disc 8 is set in the bias of bent axle 3 Portion.
Specifically, one end of input shaft 13 of the invention is connected with input equipment, and the other end is connected with bent axle 3 is Refer to:The one end of input shaft 13 is connected with input equipment, and the other end is provided with input gear 1, the one end relative with input shaft 13 of bent axle 3 It is provided with travelling gear 2;The band rotation of dynamic crankshaft 3, reality are engaged by input gear 1 and travelling gear 2 when input shaft 13 is rotated Existing input shaft 13 is connected with bent axle 3.
The cycloid disc 8 of the present invention is disc cycloid disc, and it is provided with for installing the through hole 1 of input shaft 13, being used for The through hole 2 16 and the through hole 3 17 for installing output mechanism 1 and output mechanism 2 5.2 of bent axle 3 are installed.Wherein, cycloid Disk 8 is socketed on the eccentric part of bent axle 3 by bearing 3 12 in through hole 2 16.It is provided between cycloid disc 8 and lower casing 7.2 Clearance position 18, for providing the swing space of cycloid disc 8.
Wherein, the fortune of ball 1 and ball 1 is provided between the positive side of cycloid disc 8 and the inside of upper shell 7.1 Interval one is moved, and tossing about for cycloid disc 8 is provided with the fortune of ball 2 9.2 and ball 2 9.2 between face and the inside of lower casing 7.2 Dynamic interval two.Motion interval one is that the positive side of the hole 1 and cycloid disc 8 arranged in the internal end surface of upper shell 7.1 is arranged Track groove 1, motion interval two is that the face of tossing about of the hole 2 14.2 and cycloid disc 8 arranged in the internal end surface of lower casing 7.2 sets The track groove 2 10.2 put.Track groove 1 is identical with the shape of track groove 2 10.2, is cross section in "U" shaped groove, The groove footpath R of "U" shaped groove matches with the external diameter of ball 1 and ball 2 9.2.And, track groove 1 is in cycloid The closing guide groove of the cycloid with wave number is formed between the positive side of disk 8 and the internal end surface of upper shell 7.1;Track groove 2 10.2 is in pendulum The tossing about closing guide groove of the cycloid with wave number of formed between face and the internal end surface of lower casing 7.2 of drum 8, track groove 1 Wave number is equal with the wave number of track groove 2 10.2.Positive side and the track groove 1 of face setting of tossing about due to the cycloid disc 8 It is identical track groove with track groove 2 10.2, therefore, the obverse and reverse of cycloid disc 8 need not be distinguished when reductor is assembled, So as to reduce the difficulty of processing of cycloid disc 8 so that easy to process, and the agility and convenience of reductor assembling can be improved.
The wave number of track groove 1 has difference with the quantity in hole 1;The wave number of track groove 2 10.2 and hole two 14.2 quantity also has difference.The wave number of track groove of the present invention 1 and track groove 2 10.2 can be than hole 1 and hole 2 14.2 quantity is more, or the quantity in hole 1 and hole 2 17.2 can be than track groove 1 and track groove 2 10.2 Wave number is more, and so design can increase the speed reducing ratio of reductor, is also beneficial to the simplification and processing of machinery.Hole 1 is aperture The semicircle orifice matched with the external diameter of ball 1, hole 2 14.2 is the semicircle orifice that aperture matches with the external diameter of ball 2 9.2;Rolling The quantity in pearl 1, hole 1, ball 2 9.2 and hole 2 14.2 is equal.
It is more closely and firm in order to make to be mounted so as between output mechanism 1 and output mechanism 2 5.2 and bent axle 3, The bearing 24 adopts cylinder roller bearing, can prevent output mechanism 1 and output mechanism two during reductor use 5.2 phenomenons for coming off.The present invention is additionally provided with oil sealing 11 on upper shell 7.1.
Many bent axle cycloid speed reducers of the present invention are simple and compact for structure, and gearless driving can reach preferable effect of slowing down Really.The operation principle that the reductor slows down is such:When the input that input equipment high-speed rotation, one end are connected with input equipment Axle 13 can drive the rotation of two bent axles 3 when rotating, bent so as to drive the cycloid disc 8 being set on two eccentric parts of bent axle 3 to swing Axle 3 can make the center of cycloid disc 8 make the circular motion with offset as radius, now, the ball one being placed in hole 1 9.1 roll or slide in corresponding track groove 1, are placed on the ball 2 9.2 in hole 2 14.2 in corresponding track groove Roll in 2 10.2 or slide, so as to limiting the rotation of cycloid disc 8 and to the transmission transverse pressure of cycloid disc 8, realizing cycloid disc 8 Reciprocally swinging in the horizontal direction.Meanwhile, during the horizontal direction reciprocally swinging of cycloid disc 8, active force causes to be placed on hole one Ball 1 in 14.1 is rolled or slided in track groove 1, is placed on the ball 2 9.2 in hole 2 14.2 in track Roll in 2 10.2 grooves or slide, because upper shell 7.1 and lower casing 7.2 are maintained static, therefore, ball 1 and ball two The active force of 9.2 pairs of track grooves 1 and track groove 2 10.2 reacts on cycloid disc 8 so that cycloid disc 8 drives two songs Axle 3 revolves round the sun around input shaft 13, so as to drive output mechanism 1 and output mechanism 2 5.2 to rotate, realizes that input shaft 13 is often rotated 360 °, output mechanism 1 and output mechanism 2 5.2 offset one under the motion stress effect of ball 1 and ball 2 9.2 Quantitative rotational angle, and then the rotation deceleration of input equipment is transferred to into the output mechanism 1 and output mechanism of reductor 2 5.2, to reach the effect of deceleration.
Embodiment two
The present embodiment the difference is that only with embodiment one:Motion interval one is the rail arranged in upper enclosure end face The hole one that the positive side of mark groove one and cycloid disc is arranged, motion interval two is the hole two and cycloid arranged in lower casing internal end surface The track groove two of the face setting of tossing about of disk, other structures are consistent with embodiment one.
Embodiment three
The present embodiment the difference is that only with embodiment one:Motion interval one is the hole arranged in upper enclosure end face One and the track groove one that arranges of positive side of cycloid disc, motion interval two is the He of track groove two arranged in lower casing internal end surface The hole two of the face setting of tossing about of cycloid disc, other structures are consistent with embodiment one.
Example IV
The present embodiment the difference is that only with embodiment one:Motion interval one is the rail arranged in upper enclosure end face The hole one that the positive side of mark groove one and cycloid disc is arranged, motion interval two is the He of track groove two arranged in lower casing internal end surface The hole two of the face setting of tossing about of cycloid disc, other structures are consistent with embodiment one.
Embodiment five
The present embodiment the difference is that only with embodiment one:Reductor can arrange three bent axles or the song of more than three Axle, cycloid disc is socketed on the eccentric part of every bent axle by bearing three in through hole two, and other structures are consistent with embodiment one.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention not by above-described embodiment Limit, other any spirit without departing from the present invention and the change, modification, replacement made under principle, combine, simplification, Equivalent substitute mode is should be, is included within protection scope of the present invention.

Claims (9)

1. a kind of many bent axle cycloid speed reducers, are connected with input equipment;It is characterized in that:Including:
Shell;
Output mechanism inside the housing is installed by bearing one;
At least two bent axles, the bent axle is arranged on inside output mechanism by bearing two;
The input shaft being located on output mechanism, described input shaft one end is connected with input equipment, and the other end connects with transmission of crankshaft Connect;
And positioned at the cycloid disc of enclosure, the cycloid disc is set in the eccentric part of bent axle;
The motion that ball and ball are provided between the cycloid disc and enclosure is interval, and the motion interval is in inside the shell The hole arranged between end surface and cycloid disc one side and track groove;
The shell includes upper shell and lower casing, and two output mechanisms are arranged on upper enclosure by bearing one respectively Inside lower casing.
2. many bent axle cycloid speed reducers according to claim 1, it is characterised in that:The cycloid disc is disc cycloid Disk, it is provided with for installing the through hole one of input shaft, the through hole two for installing bent axle and for installing the logical of output mechanism Hole three;The cycloid disc is socketed on the eccentric part of bent axle by bearing three in through hole two.
3. many bent axle cycloid speed reducers according to claim 1, it is characterised in that:Described input shaft one end and input equipment Connection, the other end is connected with transmission of crankshaft and refers to:Input shaft one end is connected with input equipment, and the other end is provided with input gear, Bent axle one end relative with input shaft is provided with travelling gear;Engaging by input gear and travelling gear when input shaft is rotated Band dynamic crankshaft rotation, realizes being connected for input shaft and bent axle.
4. many bent axle cycloid speed reducers according to claim 1, it is characterised in that:Between the cycloid disc and enclosure The motion interval for being provided with ball and ball refers to:Ball one is provided between the positive side of the cycloid disc and upper enclosure Ball two and ball two are provided between face and lower casing inside with the motion interval one of ball one, and tossing about for cycloid disc Motion interval two.
5. many bent axle cycloid speed reducers according to claim 4, it is characterised in that:The motion interval one is in upper shell The track groove one that the hole one and the positive side of cycloid disc that internal end surface is arranged is arranged, or motion interval is in upper enclosure The hole one that the track groove one and the positive side of cycloid disc that end face is arranged is arranged;The motion interval two is in lower casing internal end surface The hole two of setting and the track groove two of the face setting of tossing about of cycloid disc, or motion interval two is to arrange in lower casing internal end surface Track groove two and cycloid disc toss about face setting hole two.
6. many bent axle cycloid speed reducers according to claim 5, it is characterised in that:The track groove one and track groove dimorphism Shape is identical, is cross section in "U" shaped groove, groove footpath R and ball one and the external diameter phase of ball two of "U" shaped groove Match somebody with somebody;Track groove one forms the closing guide groove of the cycloid with wave number between the positive side of cycloid disc and upper enclosure end face;Rail Toss about face and lower casing internal end surface between formed cycloid with wave number closing guide groove of the mark groove two in cycloid disc;The track The wave number of groove one is equal with the wave number of track groove two.
7. many bent axle cycloid speed reducers according to claim 6, it is characterised in that:The wave number of the track groove one and hole one Quantity there is difference;The wave number of the track groove two has difference with the quantity in hole two.
8. many bent axle cycloid speed reducers according to claim 5, it is characterised in that:Outside the Kong Yiwei apertures and ball one The semicircle orifice that footpath matches, the semicircle orifice that the Kong Erwei apertures match with the external diameter of ball two;Ball one, Kong Yi, ball two It is equal with the quantity in hole two.
9. many bent axle cycloid speed reducers according to claim 1, it is characterised in that:The bearing two is cylindrical roller axle Hold;Oil sealing is provided with the shell.
CN201510087582.6A 2015-02-25 2015-02-25 Multi-crankshaft cycloid speed reducer Active CN104819253B (en)

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