CN105736647A - Double-cycloidal-gear planetary speed reducer with adjustable reverse clearance error - Google Patents
Double-cycloidal-gear planetary speed reducer with adjustable reverse clearance error Download PDFInfo
- Publication number
- CN105736647A CN105736647A CN201610312250.8A CN201610312250A CN105736647A CN 105736647 A CN105736647 A CN 105736647A CN 201610312250 A CN201610312250 A CN 201610312250A CN 105736647 A CN105736647 A CN 105736647A
- Authority
- CN
- China
- Prior art keywords
- locking nut
- spline
- eccentric
- thread
- cycloidal wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
Abstract
The invention relates to a double-cycloidal-gear planetary speed reducer with an adjustable reverse clearance error. An eccentric mechanism with a thread contains a planetary shaft, a spline eccentric sleeve, an inner locking nut, a thread eccentric sleeve and an outer locking nut; a spline is arranged at one side of the planetary shaft; the spline is matched and connected with the spline eccentric sleeve; a thread is arranged at the other side of the planetary shaft and the other side of the planetary shaft is connected with the thread eccentric sleeve through the thread; the thread eccentric sleeve is positioned through the inner locking nut and the outer locking nut which are screwed on the thread of the planetary shaft; the spline eccentric sleeve and the thread eccentric sleeve are arranged in a non-180-degree symmetrical manner; two cycloidal gears are mounted on the spline eccentric sleeve and the thread eccentric sleeve respectively; the two cycloidal gears are non-symmetrically mounted, and the thread eccentric sleeve can be used for adjusting the non-symmetrical degree of mounting the two cycloidal gears through the thread. The two cycloidal gears are not mounted in a 180-degree symmetrical mounting manner so that the speed reducer has no initial clearance before operation, and no clearance is formed when forward operation and reverse operation are switched. Therefore, the return difference of the speed reducer can be reduced and the precision is improved.
Description
Technical field
The present invention relates to a kind of double cycloid wheel planetary reduction gear, the adjustable double cycloid wheel planetary reduction gear of especially a kind of opposite clearance error.
Background technology
Cycloidal Wheel planetary reduction gear has the features such as rigidity height, transmission accuracy is high, bearing capacity is strong, volume is little, is widely used in industrial robot product.The primary structure of decelerator is the new structure that the primary planet train cyclo drive with two grades is composited.Owing to structure composite is more complicated, compact conformation, need again bigger gear ratio and high bearing capacity, in high precision, so each parts will be had higher requirement.
Core in Cycloidal Wheel planetary reduction gear is exactly cyclo drive, and the core in cyclo drive is exactly Cycloidal Wheel with relative weak parts, and current Cycloidal Wheel production is all the cycloidal profile profile of tooth of standard.In order to adapt to retarder request, its flank profil to be carried out correction of the flank shape, to reach the assembling of decelerator, the requirement that oil film runs.And flank profil is repaiied type and overall reductor can be brought return difference into.
The actuating device having rotating nearly all can produce return difference, and return difference is defined as power shaft when rotating backward, and output shaft lags behind the hysteresis of power shaft in motion.Decelerator transmission accuracy is high, and has rotating requirement, generally requires that its output shaft return difference is at about 60arcsec.Therefore, just should taking into full account, when design, the various factors affecting return difference, reasonably the precision of design and distribution part, accomplishes that cost is minimum under the premise meeting performance requirement as far as possible.
For eliminating initial return difference, have devised the decelerator of the threaded locking eccentric stiffener of a kind of adjustable-angle, by the redesign to the planet axis in decelerator, it is provided that a method that pretightning force can be produced, adopt unique mounting means, thus effectively eliminating the primary clearance of reductor.
Being found by analogue simulation, when Cycloidal Wheel is not when having primary clearance, the position of two Cycloidal Wheel is respectively at: a Cycloidal Wheel is close to the needle pin in the direction of motion, and the needle pin of another Cycloidal Wheel and motion in the reverse direction is close to.In this case, no matter Cycloidal Wheel is clockwise movement or counterclockwise movement, all will have Cycloidal Wheel and be engaged with needle pin.When not havinging rotation beginning, Cycloidal Wheel needs one low-angle of operating to compensate the problem of primary clearance, namely will not produce the return difference of this part again, and in the rotating switching of reductor, the return difference of generation will reduce.
Eccentric bushing is depended in the location of Cycloidal Wheel, and eccentric adjustment set can regulate the initial position of Cycloidal Wheel.Angle when eccentric bushing is installed is the angle between Cycloidal Wheel, with this by the installation of eccentric bushing scalable asymmetric so that after having assembled, reductor does not have primary clearance, it is to avoid the return difference of this part.
Summary of the invention
The present invention is to provide for the adjustable double cycloid wheel planetary reducer of a kind of opposite clearance error, for the problem solving the initial return difference of Cycloidal Wheel reductor.
In order to achieve the above object, present invention employs techniques below scheme: the adjustable double cycloid wheel planetary reduction gear of a kind of opposite clearance error, there is threaded eccentric stiffener, two Cycloidal Wheel, containing planet axis in described threaded eccentric stiffener, spline eccentric bushing, internal locking nut, tapped eccentric set, outer locking nut；Described planet axis side is provided with spline, spline and spline eccentric bushing are connected, opposite side is provided with screw thread and is connected with tapped eccentric set by screw thread, and tapped eccentric set is by being spun on internal locking nut on planet axis screw thread and outer locking nut location, and make spline eccentric bushing symmetrically placed in not 180 degrees with tapped eccentric set, said two Cycloidal Wheel is separately mounted to spline eccentric bushing and tapped eccentric puts, two asymmetric installations of described Cycloidal Wheel are made to place, the asymmetrical number of degrees that tapped eccentric set is installed by non-two the described Cycloidal Wheel of threaded adjustment, for eliminating primary clearance.
Equipped with lock-screw on described internal locking nut and outer locking nut, locked the internal locking nut after successfully positioning and outer locking nut by lock-screw.
After having assembled, said two Cycloidal Wheel is close to Cycloidal Wheel needle pin to the direction of motion respectively and the opposite direction to motion is close to Cycloidal Wheel needle pin (14).
The invention has the beneficial effects as follows:
The present invention utilizes screw thread to reach the location of eccentric bushing installation site, the angle that the displacement being enclosed within screw thread by tapped eccentric left and right directions is converted between eccentric bushing and datum line, is connected axle and eccentric bushing by spline.Adopt screw thread, the rotation of eccentric bushing is mapped in the movement of eccentric bushing, improved the precision of eccentric bushing corner by helical pitch.Inside and outside locking device is adopted to lock the eccentric bushing located.
By adjusting tapped eccentric set, two Cycloidal Wheel are allowed to be respectively at: a Cycloidal Wheel is close to the needle pin in the direction of motion, when the needle pin of another Cycloidal Wheel and motion in the reverse direction is close to, so as to major part tooth can against pin tooth, primary clearance during initial installation is eliminated with this, then lock inside and outside locking nut and put into lock-screw simultaneously, it is ensured that eccentric bushing is not rotated further by or mobile.
The cycloidal gear of speed reducer band error pre-tightening mechanism of the present invention, by two Cycloidal Wheel do not use 180 be symmetrically installed mode so that reductor does not have primary clearance before operation, positive and negative operating switching time very close to each other.So the present invention can reduce the return difference of reductor, improve precision.
Accompanying drawing explanation
Fig. 1 is the planet axis front view with eccentric bushing assembled portion of the adjustable double cycloid wheel planetary reduction gear of the opposite clearance error in embodiments of the invention；
Fig. 2 is the front view of the planet axis in embodiments of the invention；
Fig. 3 is the sectional view of the assembly case of the adjustable double cycloid wheel planetary reduction gear of the opposite clearance error in embodiments of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated with embodiment.
As shown in Figure 1 to Figure 3, the adjustable double cycloid wheel planetary reduction gear of a kind of opposite clearance error, including planet axis 1, spline eccentric bushing 2, internal locking nut 3, tapped eccentric set 4, outer locking nut 5, lock-screw 6, planetary gear 7, left support abutment 8, large-diameter roller bearing 9, casing 10, Cycloidal Wheel 11, right support abutment 12, little rolling bearing 13, gear pin 14.
Spline eccentric bushing 2 is arranged in planet axis 1；Tapped eccentric set 4 is locked on the screw thread of planet axis 1 under the location of inside and outside locking nut 3,5.The locking hole place of inside and outside locking nut 3,5 puts into lock-screw 6, locked inside and outside locking nut 3,5, it is ensured that tapped eccentric set 4 when stress will not left and right movement.
The design of what traditional planet axis adopted is spline carries out and double; two eccentric bushings carry out assembling, can not be adjusted again after becoming after having assembled, effect after assembling ensures by correction of the flank shape entirely, the present invention is the assembled portion devising planet axis and eccentric bushing of novelty on traditional infrastructure, as shown in Figure 3, what planet axis 1 left side adopted remains spline, and the right is screw thread design.That is tradition just becomes and can no longer become 180 on double; two eccentric bushings this root axle now of 180 symmetric designs, and can be by screw thread and be adjusted.Tapped eccentric is overlapped 4 and is positioned by internal locking nut 3 and the outer locking nut 5 being spun on planet axis 1 screw thread, equipped with lock-screw 6 on internal locking nut 3 and outer locking nut 5, locked the internal locking nut 3 after successfully positioning and outer locking nut 5 by lock-screw 6, and make spline eccentric bushing 2 symmetrically placed in not 180 degrees with tapped eccentric set 4.Two Cycloidal Wheel 11 are separately mounted on spline eccentric bushing 2 and tapped eccentric set 4, make two asymmetric installations of described Cycloidal Wheel 10 place, and the asymmetrical number of degrees that tapped eccentric set 4 is installed by non-two the described Cycloidal Wheel 10 of threaded adjustment are used for eliminating primary clearance.
Detailed process is installed: be first arranged in planet axis 1 by spline eccentric bushing 2.Loading internal locking nut 3 successively on right side, screw in tapped eccentric set 4, in this process, two parts are not locked, and can move freely.Next two Cycloidal Wheel 11 and left support abutment 8 are arranged on left-hand thread eccentric bushing, are installed together by three error pre-tightening mechanisms and two Cycloidal Wheel 11 and left support abutment 8.Then this mechanism is arranged in the casing 10 installing gear pin 14 entirely through large-diameter roller bearing 9.At this moment can start to adjust three tapped eccentric set positions, first mix up the Cycloidal Wheel 11 on right side, Cycloidal Wheel 11 is allowed to be close to the gear pin 14 in the direction of motion, fixing Cycloidal Wheel 11, again through rotating left support abutment 8, the Cycloidal Wheel 11 on the left side is close to the gear pin 14 on motion rightabout.After adjusting, three outer locking nuts 5 are installed, in locking hole 6, lock lock-screw 6 simultaneously, whole mechanism is taken out casing, pull down the Cycloidal Wheel 11 on left support abutment 8 and the left side, screw three internal locking nuts 3, and put into lock-screw 6 and lock, after having ressembled Cycloidal Wheel 11, it is possible to continue to assemble reductor normally.
Claims (3)
1. the adjustable double cycloid wheel planetary reduction gear of opposite clearance error, there is threaded eccentric stiffener, two Cycloidal Wheel (11), it is characterized in that: containing planet axis (1) in described threaded eccentric stiffener, spline eccentric bushing (2), internal locking nut (3), tapped eccentric set (4), outer locking nut (5)；Described planet axis (1) side is provided with spline, spline and spline eccentric bushing (2) are connected, opposite side is provided with screw thread and is connected with tapped eccentric set (4) by screw thread, and tapped eccentric set (4) positions by being spun on internal locking nut (3) on planet axis (1) screw thread and outer locking nut (5), and make spline eccentric bushing (2) and tapped eccentric set (4) symmetrically placed in not 180 degrees, said two Cycloidal Wheel (11) is separately mounted on spline eccentric bushing (2) and tapped eccentric set (4), two asymmetric installations of described Cycloidal Wheel (11) are made to place, the asymmetrical number of degrees that tapped eccentric set (4) is installed by non-two the described Cycloidal Wheel (11) of threaded adjustment, for eliminating primary clearance.
2. the adjustable double cycloid wheel planetary reduction gear of opposite clearance error according to claim 1, it is characterized in that: equipped with lock-screw (6) on described internal locking nut (3) and outer locking nut (5), locked the internal locking nut (3) after successfully positioning and outer locking nut (5) by lock-screw (6).
3. the adjustable double cycloid wheel planetary reduction gear of opposite clearance error according to claim 1, it is characterized in that: after having assembled, said two Cycloidal Wheel (11) is close to Cycloidal Wheel needle pin (14) to the direction of motion respectively and the opposite direction to motion is close to Cycloidal Wheel needle pin (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312250.8A CN105736647B (en) | 2016-05-12 | 2016-05-12 | The adjustable double pendulum line wheel planetary reducer of opposite clearance error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312250.8A CN105736647B (en) | 2016-05-12 | 2016-05-12 | The adjustable double pendulum line wheel planetary reducer of opposite clearance error |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105736647A true CN105736647A (en) | 2016-07-06 |
| CN105736647B CN105736647B (en) | 2018-06-29 |
Family
ID=56288520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610312250.8A Expired - Fee Related CN105736647B (en) | 2016-05-12 | 2016-05-12 | The adjustable double pendulum line wheel planetary reducer of opposite clearance error |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105736647B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111828556A (en) * | 2020-07-27 | 2020-10-27 | 银川威力传动技术股份有限公司 | Pressing nut screwing device of wind driven generator 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5472384A (en) * | 1992-01-17 | 1995-12-05 | Sumitomo Heavy Industries Ltd. | Internally meshing planetary gear structure, reduction or step-up gear having said structure, and method for machining said reduction or step-up gear |
| JPH11351340A (en) * | 1998-06-11 | 1999-12-24 | Maezawa Ind Inc | Reduction gears |
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
| CN101832364A (en) * | 2010-04-17 | 2010-09-15 | 吴声震 | Industrial robot double-cycloid single-stage reducer |
| CN105485322A (en) * | 2016-01-25 | 2016-04-13 | 扬州大学 | Expansion and eccentric sleeve type planet shaft of RV reducer |
-
2016
- 2016-05-12 CN CN201610312250.8A patent/CN105736647B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5472384A (en) * | 1992-01-17 | 1995-12-05 | Sumitomo Heavy Industries Ltd. | Internally meshing planetary gear structure, reduction or step-up gear having said structure, and method for machining said reduction or step-up gear |
| JPH11351340A (en) * | 1998-06-11 | 1999-12-24 | Maezawa Ind Inc | Reduction gears |
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
| CN101832364A (en) * | 2010-04-17 | 2010-09-15 | 吴声震 | Industrial robot double-cycloid single-stage reducer |
| CN105485322A (en) * | 2016-01-25 | 2016-04-13 | 扬州大学 | Expansion and eccentric sleeve type planet shaft of RV reducer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111828556A (en) * | 2020-07-27 | 2020-10-27 | 银川威力传动技术股份有限公司 | Pressing nut screwing device of wind driven generator 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105736647B (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103994184B (en) | Enclosed type cycloid precision speed reduction device | |
| CN101907149B (en) | Double cycloid single-stage reducer of industrial robot | |
| CN101893063B (en) | Planetary speed reducer with small tooth number difference | |
| CN102297257B (en) | Planetary gear reducer with adjustable back lash | |
| CN105221669B (en) | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot | |
| CN106090140B (en) | Elasticity is without return difference 3Z planetary reduction gears | |
| CN105736647A (en) | Double-cycloidal-gear planetary speed reducer with adjustable reverse clearance error | |
| CN108050212A (en) | Compact-sized cycloid reducer | |
| CN105805278B (en) | A kind of electronic automobile-used split type adaptive automatic increasing energy saving drive assembly of square | |
| CN105690256B (en) | Biplane grinding machine spindle worm and gear driving device and its installation adjusting method | |
| CN106090136A (en) | A kind of RV decelerator | |
| CN104343895B (en) | A kind of self compensation zero back clearance planetary transmission decelerator | |
| CN104852512A (en) | Totally-enclosed hollow RV speed reducer | |
| CN101913266A (en) | Double upper-inner impacting stroke adjusting device of powder forming machine | |
| CN205630309U (en) | Two flat grinder worm gear drive arrangement for main shaft | |
| CN205342482U (en) | Transmission and adopt this transmission's actuating system and rotary worktable | |
| CN204633531U (en) | All-sealed hollow type RV reductor | |
| JP2012067899A (en) | Step-up/reduction gear | |
| CN208107077U (en) | A kind of planetary reduction gear | |
| CN106229681A (en) | Two-dimensional electric tilt antenna drive mechanism | |
| CN105649980A (en) | Roots vacuum pump for facilitating measuring end clearance and regulating rotor clearance | |
| CN206259496U (en) | Two-dimensional electric tilt antenna transmission mechanism | |
| CN205896052U (en) | Elasticity does not have return difference 3Z planet gear | |
| CN202017732U (en) | Anti-backlash reducer | |
| CN204387290U (en) | A kind of planar envelope internal messing worm and worm gear automatic gap eliminating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180629 Termination date: 20210512 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |