CN105508542A - Return-difference-free two-stage cycloidal cone gear speed reducer - Google Patents
Return-difference-free two-stage cycloidal cone gear speed reducer Download PDFInfo
- Publication number
- CN105508542A CN105508542A CN201610001207.XA CN201610001207A CN105508542A CN 105508542 A CN105508542 A CN 105508542A CN 201610001207 A CN201610001207 A CN 201610001207A CN 105508542 A CN105508542 A CN 105508542A
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- Prior art keywords
- conical
- cycloid
- change gear
- wheel
- cone tooth
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
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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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/038—Gearboxes for accommodating bevel gears
-
- 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 invention provides a return-difference-free two-stage cycloidal cone gear speed reducer, belonging to the field of precise mechanical transmission. The return-difference-free two-stage cycloidal cone gear speed reducer comprises a shell, an input shaft, an end cover, a dowel pin I, a cone gear sleeve I, a conical cycloidal wheel I, an eccentric sleeve I, a steel ball set, a cross disk, a dowel pin II, a cone gear sleeve II, a conical cycloidal wheel II, an eccentric sleeve II, an output shaft, a pretension nut, a support bearing and a bearing end cover. The speed reducer adopts the NN two-stage-parallel few-tooth-difference planetary transmission basic structure; by using the outer cycloidal conical profile on the conical cycloidal wheel as the tooth profile, meshing transmission with the conical gear sleeve is performed; pretension force is applied to eliminate the tooth space, and the tooth-space-free floating-type constant speed unit is arranged; and thus, the speed reducer has the advantages of simple structure, small size, high transmission ratio, zero tooth space, high transmission accuracy and low impact. Meanwhile, as distinguished from the common NN cycloidal lantern-wheel transmission, the two conical cycloidal wheels are installed on different eccentric shaft sections in a 180-degree symmetric mode, and connected through a floating-type steel ball constant speed unit, thereby achieving the balance between meshing force and inertia force. The speed reducer has the advantages of small inertia force during transmission operation, low load of the swing arm bearing, and long service life.
Description
Technical field
The present invention relates to a kind of accurate speed reduction gearing, can be applicable to the precision mechanical transmission fields such as robot, numerical control machine tool, aviation, medical apparatus, instrument and apparatus.
Background technique
In order to improve transmission accuracy and the control accuracy of the precision optical machineries such as robot, require use speed reduction gearing has compact structure, volume is little, velocity ratio is large, backlash is little, response is fast, efficiency high, require that speed reduction gearing has higher reciprocal positioning precision simultaneously.
The mechanism form of existing conventional accurate speed reduction gearing many employings single-stage K-H-V type or the transmission of secondary NN type few teeth difference.Wherein, the attainable transmission of single-stage K-H-V type few teeth difference transmission is smaller, is difficult to the demand adapting to robotic equipment's low-speed running.The transmission of secondary NN type few teeth difference can realize higher velocity ratio, but common NN type few teeth difference transmission, two planet wheels are installed on same eccentric shaft part, and when transmission runs, inertial force is large, rotary arm bearing load is very large, the life-span is lower, is difficult to possess excellent transmission performance.
China Patent No. CN201320633087, publication date on March 12nd, 2014, disclose the patent document that a name is called cycloidal ball planet speed reducer, its bearing A, spider, planetary plate and output disc are located on eccentric input shaft successively, spider is fixedly connected with frame housing, the end face that spider is corresponding with planetary plate is respectively equipped with epicycloid enclosed slot and hypocycloid enclosed slot, several steel balls A is provided with at epicycloid and hypocycloid mesh regional, the end face that planetary plate is corresponding with output disc is respectively equipped with enclosed slot, steel ball B is provided with in enclosed slot, enclosed slot size and steel ball B diameter match.Speed reducer described in this patent can realize without return difference Movement transmit, not self-locking, and efficiency is high, and Safety performance is good, but which employs the structure of single-stage K-H-V type few teeth difference transmission, and velocity ratio is little, is difficult to the demand adapting to robotic equipment's low-speed running.。
Chinese patent 200820076990.7, publication date on January 28th, 2009, disclosing a name is called constantly without return difference transmission fine grade ball planet speed reducer, it comprises input eccentric shaft, end face has the spider of cycloid enclosed slot, combined type planetary plate, end face to have output disc and the frame of cycloid enclosed slot, and combined type planetary plate end face is made up of the planetary plate of cycloid enclosed slot the planetary plate of cycloid enclosed slot, butterfly spring, bearing pin and end face.This model utility solve precision steel ball planetary reducer because of engagement pair wearing and tearing there is gap, transmission return difference and engagement pair thermal expansion is caused to cause the problems such as stuck, the automatic without return difference transmission constantly of retarder can be realized, but in the NN type few tooth difference transmission mechanism that this model utility adopts, two planetary plates are installed on same eccentric shaft part, when transmission runs, inertial force is large, rotary arm bearing load is very large, the life-span is lower, and the machining accuracy of combined type planetary plate and assembly precision require very high, therefore transmission performance is not good.
Summary of the invention
The present invention overcomes the defect of above-mentioned existence, provides a kind of without return difference secondary cycloid cone tooth retarder, belongs to precision mechanical transmission field.This retarder adopts the basic structure of NN type secondary planetary drive with small teeth difference in parallel, using the epicycloid profile on change gear of conical cycloid wheel as flank profil, engagement driving is overlapped with cone tooth, backlash is eliminated by applying pretightening force, be equipped with the floating type steel ball constant speed unit without backlash simultaneously, have that structure is simple, volume is little, without return difference, the high and low impact of transmission accuracy, advantage that velocity ratio is large.Simultaneously, be different from common NN type Cycloidal pin-wheel drive, two change gear of conical cycloids in the present invention are taken turns 180 ° of symmetries and are installed on different eccentric shaft parts, and connected by cross steel ball constant speed unit, engaging force and inertia equilibrium of forces can be realized, there is inertial force when transmission runs little, the advantage that rotary arm bearing load is little, the life-span is high.
The present invention adopts following technological scheme: a kind of without return difference secondary cycloid cone tooth retarder, comprises input shaft, input shaft end cap, end cap, rotary arm bearing I, change gear of conical cycloid wheel I, pin I, cone tooth cover I, eccentric bushing I, steel ball group, cross plate, steel ball group, cone tooth cover II, pin II, change gear of conical cycloid wheel II, rotary arm bearing II, eccentric bushing II, axle sleeve, pre-load nut, output shaft end cap, output shaft, casing.It is characterized in that: input shaft is connected by interference fit and eccentric bushing I, and take turns I with change gear of conical cycloid be connected by rotary arm bearing I; Input shaft is also connected by interference fit and eccentric bushing II, and is taken turns II with change gear of conical cycloid be connected by rotary arm bearing II.Eccentric bushing I is equal with the throw of eccentric of eccentric bushing II and be arranged symmetrically with in 180 °.Cross plate is taken turns between II at change gear of conical cycloid wheel I and change gear of conical cycloid and is floated.The right-hand member of output shaft is flange plate structure.End cap is connected by set screws and casing.
Further, the wheel rim of described change gear of conical cycloid wheel I is the epicycloid profile having certain taper, the left side of end cap is provided with pin I, pin I installs cone tooth cover I.The tapering of cone tooth cover I is identical with the wheel rim tapering that change gear of conical cycloid takes turns I, forms first order gearing down engagement pair.The wheel rim of change gear of conical cycloid wheel II is also the epicycloid profile having certain taper, output shaft right side is provided with pin II, pin II installs cone tooth cover II.The tapering of cone tooth cover II is identical with the wheel rim tapering that change gear of conical cycloid takes turns II, forms second level gearing down engagement pair.
Also comprise, described bores tooth retarder without return difference secondary cycloid, the left side of change gear of conical cycloid wheel I is processed with the vertical groove of one group of tapered cross-section, cross plate right side is also processed with the vertical groove of one group of same size tapered cross-section, movable steel ball group is installed between two groups of vertical groove.Change gear of conical cycloid wheel II right side is processed with the horizontal slot of one group of tapered cross-section, and cross plate left side is also processed with the horizontal slot of one group of same size tapered cross-section, is provided with movable steel ball group between two groups of horizontal slots.
Also comprise, described bores tooth retarder without return difference secondary cycloid, and the right block bearing of its input shaft adopts Internal and external cycle axial restraint mode, and the left block bearing of input shaft adopts inner ring axial restraint, outer ring play mode.Casing left end endoporus is processed with screw thread, is screwed into the left block bearing that pre-load nut fixes output shaft, is provided with lock washer between pre-load nut and casing.
After adopting above technological scheme, the beneficial effect that the present invention reaches is:
(1) change gear of conical cycloid wheel flank profil has identical tapering with cone tooth cover, backlash can be eliminated by axial pretightening, change gear of conical cycloid wheel I, cross plate, change gear of conical cycloid wheel II and steel ball group therebetween form floating type steel ball constant speed unit, in this constant speed unit, the horizontal slot in the upper conical cross section of each dish, form four point gearing between vertical groove with steel ball and contact.When the reciprocal clockwise and anticlockwise work of retarder, all can ensure without backlash, this retarder can realize very high transmission accuracy, and return difference is less than ± 4arcmin.
(2) in floating type steel ball constant speed unit, the position of steel ball can float to adapt to part foozle in groove, and requirement on machining accuracy is low; In this constant speed unit, ball size is not by the impact of throw of eccentric, and freely can determine the size of steel ball, bearing capacity is strong.
(3) two eccentric bushings on eccentric shaft part adopt 180 ° of bias to be arranged symmetrically with, and the inertial force of generation is reverse, can cancel out each other, thus balance inertial force, reduce the load suffered by rotary arm bearing, improve the rotary arm bearing life-span.
(4) casing left end endoporus is processed with screw thread, and be screwed into pre-load nut promotion shafting components and move, the backlash remained when can eliminate just assembling, ensures transmission accuracy.Meanwhile, between pre-load nut and casing, lock washer is installed, prevents pre-load nut from producing and loosen.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the A-A sectional drawing of Fig. 1;
Fig. 3 is the B-B sectional drawing of Fig. 1;
Fig. 4 is the C-C sectional drawing of Fig. 1;
In Fig. 1 ~ Fig. 4:
1-input shaft; The right block bearing of 2-input shaft; 3-input shaft end cap; 4-set screws;
5-rotary arm bearing I; 6-end cap; 7-change gear of conical cycloid wheel I; 8-pin I;
9-cone tooth cover I; 10-set screws; 11-steel ball group; 12-cross plate;
13-steel ball group; 14-casing; 15-cone tooth cover II; 16-pin II;
17-change gear of conical cycloid wheel II; 18-rotary arm bearing II; The left block bearing of the right block bearing of 19-output shaft 20-output shaft;
21-pre-load nut; 22-lock washer; 23-output shaft end cap; 24-output shaft;
25-set screws; 26-packing ring; 27-circlip for shaft; The left block bearing of 28-input shaft;
29-axle sleeve; 30-eccentric bushing II; 31-circlip for shaft; 32-eccentric bushing I;
33-circlip for shaft.
Embodiment
Accompanying drawing discloses the concrete structure of an embodiment of the present invention without limitation, and below in conjunction with accompanying drawing, the invention will be further described.
One shown in Fig. 1 ~ Fig. 3 is without return difference secondary cycloid cone tooth retarder.Power is inputted by input shaft (1), because input shaft (1) is by interference fit and eccentric bushing I(32) be connected, therefore input shaft (1) drives eccentric bushing I(32) rotation together, and by eccentric bushing I(32) on rotary arm bearing I(5) drive change gear of conical cycloid to take turns I(7) make revolution motion.Change gear of conical cycloid wheel I(7) overlap I(9 with cone tooth) engage, done low speed rotation by counter pushing away, thus complete first order gearing down.Horizontal slot on cross plate (12) left and right end face, vertical groove take turns II(17 by steel ball group (11,13) and change gear of conical cycloid) horizontal slot on right side, change gear of conical cycloid take turns I(7) vertical groove on left side forms engagement pair, make cross plate by about steel ball and horizontal slot, the engaging of vertical slots, slide up and down, thus form floating type steel ball constant speed unit.Change gear of conical cycloid wheel I(7) through the first order slow down after spinning motion take turns II(17 by floating type steel ball constant speed unit constant-speed transmission to change gear of conical cycloid).Change gear of conical cycloid wheel II(17) overlap II(15 with cone tooth) engage, promote output shaft (24) and rotate with lower angular velocity, thus complete second level gearing down.
In this example, the left end endoporus of casing (14) is processed with screw thread, is screwed into pre-load nut (21) and promotes shafting components and move axially, and can eliminate change gear of conical cycloid wheel and bore tooth and overlap and backlash between cone tank and steel ball group (11,13), guarantee transmission accuracy.Meanwhile, lock washer (22) is installed between pre-load nut (21) and casing (14), prevents pre-load nut (21) from producing and loosen.Input shaft (1) adopts right block bearing (2) twin fixed guide-vane, the supporting structure that left block bearing (28) is travelling, both ensure that the location of shafting components, and what can meet again elimination backlash process center shafting part moves axially requirement.
Claims (5)
1. bore tooth retarder without return difference secondary cycloid for one kind, comprise input shaft (1), input shaft end cap (3), end cap (6), rotary arm bearing I(5), change gear of conical cycloid wheel I(7), pin I(8), cone tooth cover I(9), eccentric bushing I(32), steel ball group (11), cross plate (12), steel ball group (13), cone tooth cover II(15), pin II(16), change gear of conical cycloid wheel II(17), rotary arm bearing II(18), eccentric bushing II(30), axle sleeve (29), pre-load nut (21), output shaft end cap (23), output shaft (24), casing (14), it is characterized in that: input shaft (1) is by interference fit and eccentric bushing I(32) be connected, and by rotary arm bearing I(5) take turns I(7 with change gear of conical cycloid) be connected, input shaft (1) is also by interference fit and eccentric bushing II(30) be connected, and by rotary arm bearing II(18) take turns II(17 with change gear of conical cycloid) be connected, eccentric bushing I(32) with eccentric bushing II(30) throw of eccentric equal and be arranged symmetrically with in 180 °, cross plate (12) is at change gear of conical cycloid wheel I(7) take turns II(17 with change gear of conical cycloid) between floating, the right-hand member of output shaft (24) is flange plate structure, and end cap (6) is connected by set screws (10) and casing (14).
2. according to claim 1 a kind of without return difference secondary cycloid cone tooth retarder, it is characterized in that: described change gear of conical cycloid wheel I(7) wheel rim be the epicycloid profile having certain taper, the left side of end cap (6) is provided with pin I(8), pin I(8) upper installation cone tooth cover I(9), cone tooth cover I(9) tapering take turns I(7 with change gear of conical cycloid) wheel rim tapering identical, form first order gearing down engagement pair, change gear of conical cycloid wheel II(17) wheel rim be also the epicycloid profile having certain taper, output shaft (24) right side is provided with pin II(16), pin II(16) upper installation cone tooth cover II(15), cone tooth cover II(15) tapering take turns II(17 with change gear of conical cycloid) wheel rim tapering identical, form second level gearing down engagement pair.
3. according to claim 1 a kind of without return difference secondary cycloid cone tooth retarder, it is characterized in that: described change gear of conical cycloid wheel I(7) left side on be processed with the vertical groove of one group of tapered cross-section, cross plate (12) right side is also processed with the vertical groove of one group of same size tapered cross-section, movable steel ball group (11) is installed between two groups of vertical groove, change gear of conical cycloid wheel II(17) right side is processed with the horizontal slot of one group of tapered cross-section, cross plate (12) left side is also processed with the horizontal slot of one group of same size tapered cross-section, movable steel ball group (13) is installed between two groups of horizontal slots.
4. according to claim 1 a kind of without return difference secondary cycloid cone tooth retarder, it is characterized in that: described input shaft (1) right block bearing (2) adopts Internal and external cycle axial restraint mode, and input shaft (1) left block bearing (28) adopts inner ring axial restraint, outer ring play mode.
5. according to claim 1 a kind of without return difference secondary cycloid cone tooth retarder, it is characterized in that: described casing (14) left end endoporus is processed with screw thread, be screwed into the left block bearing (20) of the fixing output shaft (24) of pre-load nut (21), lock washer (22) is installed between pre-load nut (21) and casing (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610001207.XA CN105508542A (en) | 2016-03-09 | 2016-03-09 | Return-difference-free two-stage cycloidal cone gear speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610001207.XA CN105508542A (en) | 2016-03-09 | 2016-03-09 | Return-difference-free two-stage cycloidal cone gear speed reducer |
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| CN105508542A true CN105508542A (en) | 2016-04-20 |
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| CN201610001207.XA Pending CN105508542A (en) | 2016-03-09 | 2016-03-09 | Return-difference-free two-stage cycloidal cone gear speed reducer |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106969104A (en) * | 2017-05-17 | 2017-07-21 | 北京龙微智能科技股份有限公司 | A kind of ball gearing speed-reducer and transmission device |
| CN107882928A (en) * | 2017-12-13 | 2018-04-06 | 重庆大学 | A kind of compound cycloidal reducer |
| CN108458054A (en) * | 2018-06-20 | 2018-08-28 | 上海乐白机器人有限公司 | The cycloidal reducer that back clearance compensates automatically |
| CN111030372A (en) * | 2019-12-30 | 2020-04-17 | 江西工创科技协同创新有限公司 | Built-in symmetrical double-output-shaft star wheel speed reducer and permanent magnet direct drive device thereof |
| CN112728017A (en) * | 2021-01-05 | 2021-04-30 | 珠海格力电器股份有限公司 | Speed reducer |
| CN113324023A (en) * | 2021-06-10 | 2021-08-31 | 周晓汀 | Zero-backlash cycloidal planetary reducer with bidirectional pretightening and gap adjusting functions |
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| CN103883683A (en) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | Single-stage rigid tooth surface cycloid steel ball planetary gear reducer |
| CN205371517U (en) * | 2016-03-09 | 2016-07-06 | 江苏泰隆减速机股份有限公司 | No return difference second grade cycloid awl tooth reduction gear |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106969104A (en) * | 2017-05-17 | 2017-07-21 | 北京龙微智能科技股份有限公司 | A kind of ball gearing speed-reducer and transmission device |
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| CN107882928A (en) * | 2017-12-13 | 2018-04-06 | 重庆大学 | A kind of compound cycloidal reducer |
| CN107882928B (en) * | 2017-12-13 | 2023-12-12 | 重庆大学 | Duplex cycloidal reducer |
| CN108458054A (en) * | 2018-06-20 | 2018-08-28 | 上海乐白机器人有限公司 | The cycloidal reducer that back clearance compensates automatically |
| CN111030372A (en) * | 2019-12-30 | 2020-04-17 | 江西工创科技协同创新有限公司 | Built-in symmetrical double-output-shaft star wheel speed reducer and permanent magnet direct drive device thereof |
| CN112728017A (en) * | 2021-01-05 | 2021-04-30 | 珠海格力电器股份有限公司 | Speed reducer |
| CN112728017B (en) * | 2021-01-05 | 2022-05-27 | 珠海格力电器股份有限公司 | Speed reducer |
| CN113324023A (en) * | 2021-06-10 | 2021-08-31 | 周晓汀 | Zero-backlash cycloidal planetary reducer with bidirectional pretightening and gap adjusting functions |
| CN113324023B (en) * | 2021-06-10 | 2023-08-25 | 周晓汀 | Zero back clearance cycloid planetary reducer with bidirectional pre-tightening clearance adjustment |
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Application publication date: 20160420 |