CN106838135A - Epicyclic speed reducer - Google Patents
Epicyclic speed reducer Download PDFInfo
- Publication number
- CN106838135A CN106838135A CN201710029831.5A CN201710029831A CN106838135A CN 106838135 A CN106838135 A CN 106838135A CN 201710029831 A CN201710029831 A CN 201710029831A CN 106838135 A CN106838135 A CN 106838135A
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- Prior art keywords
- wheel assembly
- curved bar
- cycloid wheel
- bearing
- level
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- 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.)
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 239000007787 solid Substances 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims abstract description 8
- 230000003068 static effect Effects 0.000 claims abstract description 8
- 208000032370 Secondary transmission Diseases 0.000 claims abstract description 7
- 230000005611 electricity Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
- 238000010146 3D printing Methods 0.000 abstract description 4
- 238000012937 correction Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 208000032369 Primary transmission Diseases 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 241000950638 Symphysodon discus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- HOQADATXFBOEGG-UHFFFAOYSA-N isofenphos Chemical compound CCOP(=S)(NC(C)C)OC1=CC=CC=C1C(=O)OC(C)C HOQADATXFBOEGG-UHFFFAOYSA-N 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
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
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H2057/085—Bearings for orbital gears
Abstract
Epicyclic speed reducer, deceleration is constituted using cycloid wheel assembly and curved bar composition Meshing Pair, by secondary transmission；Gear range：39‑199.It is divided into by the position of its input shaft：Two kinds of ' solid type ' and ' hollow type '；' solid type ' is without centre bore, first order curved bar (Q1) be arranged on 0 point of center and make centering motion, and rotate and input torque, the second cycloid wheel assembly (B at a high speed2) it is static element, remaining whole joggle piece is planetary motion part.And ' hollow type ' is center circular port, except the second cycloid wheel assembly (B2) for outside static element, remaining whole joggle piece is planetary motion part.First and second grade of curved bar (Q1、Q2) in the middle part of two disks on, zanjon bearing (2), bearing block (4) and arc insert (5) be installed, increase the rigidity of curved bar and make volume smaller.Due to there is self-locking performance, exempt to fill electricity loss brake.Number of parts is few, the small and simple suitable 3D printing technique of size.
Description
Technical field：
The present invention relates to one kind with Cycloidal Wheel, curved bar composition Meshing Pair, the reductor being made up of planetary motion, abbreviation
Epicyclic speed reducer.Belong to mechanical transmission fields.
Background technology：
In the prior art, by the use of cycloid as tooth curve, deceleration device is constituted using planetary body, is early had
Using the applicant only from the more product of current 1 application and 1 patent for authorizing for 2008, enters as technical background
Row is discussed：
1, RV formula E types and c-type reductor, are that more product is applied on current industrial robot, but have lower column defects：
1. it is not merely to be constituted with cycloidal engagement pair, but employs and mix composition with involute Meshing Pair, and
In order to constitute centre bore in its c-type, employing during three-level is driven has one-level not to slow down but ' the waste behavior ' of speedup.
2. in its primary transmission involute gear Meshing Pair, must there are sideshake and backlash, press《RV technical data collection》Carry：
' sideshake 0.035-0.18.The arc of backlash 1 point '.Transmission rigidity and positioning precision must be lost, in order to solve this problem, must be
Other side is set up ' correction measure '.
3. its whole level transmission is type cycloidal pin-wheel planetary reducing gears, and the track of its planetary motion is to lean on 4 parts to tie up
Hold；The transmission chain of its moment of torsion, and constituted on the motion chains that up to 8 parts of are constituted by other 4 parts, its work
The positioning precision of terminal, it is unavoidable ' accumulated error ' occur, so at this《RV reductor technical data》In P57-58, though with " bullet
(such as in RV-100C types, during moment of torsion 100kgf.m, dally spring constant " 1arc.min；And spring constant also reaches 52kgf.m/
Arc.min) carry out euphemistic expression, but be also difficult to conceal truth.
4. it does not have self-locking performance, and the moment that has a power failure production accident or security incident can be occurred by inertial drive.For that purpose it is necessary to
Install ' electricity loss brake '.
5. its number of parts is very more, is more than 2 times of the Cycloidal Wheel number of teeth, presses《RV reductor technical data collection》P91,
From ' structure chart ', more than 80 part can be clearly counted, and wherein most of parts require that machining accuracy is high,
This structure in itself, is not suitable with 3D printing technique characteristic on the horizon, the possibility for suffering exit unavoidably.
2, Chinese patent：" hypocycloid planetary driving device ", patent No. ZL200610001307.9.Write from applicant oneself
Write《Recommendation data》In, it is also possible to find out its own shortcomings：
1. in this article：The contents such as " birdcage output shaft ", " planetary gear " of " multiple power transmission pins " composition ..., illustrate that it is tied
Structure feature has many general character with the feature of cycloidal planetary gear speed reducer, simply by epicycloidal gear, has been changed to hypocycloid gear ring, its pendulum
The two-dimensional coordinate parametric equation formula of line, parameter is approached, and item number is identical, when running into the calculating that rolling circle radius are added with base radius
When, only plus sige need to be changed to minus sign just, how many characteristic changed with not remoulding oneself thoroughly.Strictly speaking, it is cycloid
The derivative of pin gear speed reducer, is not really innovation and invention in real justice meaning.
2. in this article：" have and adjust gap function, can reduce gap return difference ... " is exactly to recognize there is backlash and return difference.
So, the shortcoming of above-mentioned RV formulas reductor, this patented technology remains on presence.
3. in this article：" additionally, the theoretical recent studies on achievement of Cycloidal Wheel correction of the flank shape, can improve the transmission accuracy of decelerator and hold
Loading capability ... " it is reported that, the technical staff (including some leader's technology authoritative sources) of the producer of the imitated RV formulas of domestic many families,
More than several families step into this trap, perverse so far.
Actually " Cycloidal Wheel correction of the flank shape is theoretical " is a pseudo- proposition, because it has run counter to the scientific definition of " cycloid " title：
" circle (round as a ball) makees non-sliding rolling along another fixed circle (basic circle), and the track of any on round as a ball circumference, is exactly cycloid." please
Note：Definition " ", is exactly the saying for showing " any point on circumference " by mathematical logic on round as a ball circumference a bit, can not at will be regarded
And lose.
Meanwhile,《Engineering mathematics》Also explicitly pointed out in related data：" one of big feature ... of cycloid three is that cycloid is nibbled
Close to distance between axles sensitive.”
Therefore, " correction of the flank shape opinion " person, Bi is Dinged Mian and faces two hang-ups：
One is after round as a ball (or its short width or its translation away from) turns into " non-circular " by " correction of the flank shape ", also to cry " round as a ball "Can also
" non-sliding rolling "
Two are after round as a ball (or its short width or its translation away from) turns into " non-circular " by " correction of the flank shape ", necessarily result in distance between axles (
Gap) change, moreover it is possible to exclude the problem of " to distance between axles sensitive "
So, somebody has spent plenty of time, energy and funds, and a successfully report is there is no so far.
4. see from the accompanying drawing photo in this article, axial dimension is larger.And why RV formulas are adapted to joint of robot
Axle is used, because it has two key characters：One is that radial dimension is more than more than 2 times of axial dimension " discus shape "；Two are
It is easy to threading, wears " centre bore " (RV-C) of axle.But, should《Recommendation data》Photo eigen does not have the two important bars
Part.
Of the invention then only constituted with cycloidal engagement pair for disadvantages mentioned above and problem, no involute Meshing Pair brought
" backlash ", and only slow down, do not have " the waste behavior " of speedup, only can also be constituted with secondary transmission it is sufficiently large
" centre bore ".And 4 advantages are brought from structural principle：
1, the part of every grade of driving-chain only has 2；And without tooth form sideshake, motion rigidity and positioning precision can be improved.
2, part sum only has the 1/5-1/4 of above two reductor.Calculated by comparison of design, in same size type
Number, identical input, output function parameter, identical appearance size, under conditions of same precision, difficulty of processing is smaller, production cost
It is lower.
3, there is auto-lock function, exempt to fill electricity loss brake.The few equipment volumes in terms of electrical equipment of Minus, fund and long-term use
The electricity charge.
4, the feature of part has：Minimum number, simple shape, and size is thick, fertile, short, thickness, and numerical control lathe is suitable at present
Milling compounding machine bed processing, future is also suitable for the technique of 3D printing technique, realizes high accuracy, the production requirement of high efficiency.
The content of the invention：
In order to realize above-mentioned target, present invention content is as follows：
Epicyclic speed reducer, using cycloid wheel assembly and curved bar composition Meshing Pair, constitutes deceleration by secondary transmission
Function；Ji the layout at 0 point of Ti one-level curved bar positions and center by its input shaft to differ, be divided into：' solid type ' and ' hollow type '
Two kinds.
1, solid type：
First order curved bar is arranged on 0 point of center makees centering rotation.
Second level cycloid wheel assembly is ring gear, and static element is connected as by straight pin and shell flange disk.
First order cycloid wheel assembly and second level curved bar be arranged in both first order curved bar and second level cycloid wheel assembly it
Between, make planetary motion.
Output end connects whole planetary motion parts by bearing, realizes the low speed rotation of the π of ＞ 2.
2, hollow type：
Second level cycloid wheel assembly is ring gear, and affixed by straight pin and shell flange is static element.
First and second grade of curved bar and first order cycloid wheel assembly are arranged between 0 point of center and second level cycloid wheel assembly,
Make planetary motion.
Output end connects whole planetary motion parts by bearing, realizes the low speed rotation in the range of≤2 π.
On two disks in the middle part of curved bar, zanjon bearing is installed, is stayed near the one side of cycloid wheel assembly in bearing outer ring
There is gap, bearing block is equipped with away from the one side of cycloid wheel assembly in bearing outer ring, bearing block section is arch, but to two point
It is the Ping Mian that are parallel to each other that angle is cut；And the inside dimension of its peripheral arc insert is in, just with the Outside Dimensions of bearing block
Match；The periphery of arc insert is output end；There is screw to fix arc insert outside output end, prevent bearing block from rotating.
Gear range：39-199.
Brief description of the drawings：
In order to be more clearly understood that the present invention, now by embodiment, referring concurrently to accompanying drawing, further this is described in detail
Invention, wherein：
Fig. 1 is the longitudinal sectional view of solid type epicyclic speed reducer.
Fig. 2 is the A direction views of Fig. 1.
Fig. 3 is the longitudinal sectional view of hollow type epicyclic speed reducer.
Fig. 4 is the B direction views of Fig. 3.
Fig. 5 is E-E broken section enlarged drawings.
Fig. 6 is F-F broken section enlarged drawings.
In figure：
Part number：
K. housing parts：K1Ring flange housing；K2Flange lid housing.
S. output terminal component：S1Lid output end is gone up；S2Lower cover output end.
B. cycloid wheel assembly：B1First order cycloid wheel assembly；B2Second level cycloid wheel assembly.
Q. curved bar：Q1First order curved bar；Q2Second level curved bar.
Dash number：
1. thin-wall bearing, 2. zanjon bearing, 3. bearing, 4. bearing block, 5. arc insert, 6. circular-patch, 7. screw, 8.
Rivet, 9. seal, 10. straight pin.
Specific embodiment：
Epicyclic speed reducer, using cycloid wheel assembly and curved bar composition Meshing Pair, constitutes deceleration by secondary transmission
Function；Ji Ti one-level curved bars (Q by its input shaft1) layout at 0 point of position and center differs, be divided into：It is ' solid type ' and ' hollow
Type ' two kind.
1, solid type：
Fig. 1 is the longitudinal sectional view of solid type epicyclic speed reducer.
Fig. 2 is the A direction views of Fig. 1.
Fig. 5 and Fig. 6 are itself E-E and F-F broken section enlarged drawings.
First order curved bar (Q1) be arranged on 0 point of center and make centering rotation.
Second level cycloid wheel assembly (B2) it is ring gear, by straight pin (10) and shell flange disk (K1) be connected as it is static
Part.
First order cycloid wheel assembly (B1) and second level curved bar (Q2) it is arranged in first order curved bar (Q1) and second level Cycloidal Wheel
Assembly (B2) between the two, make planetary motion.
Lid and lower cover (S in output end1、S2) whole planetary motion parts are connected by bearing (2,3), realize the low speed of the π of ＞ 2
Rotation.
2, hollow type：
Fig. 3 is the longitudinal sectional view of hollow type epicyclic speed reducer.
Fig. 4 is the B direction views of Fig. 3.
Fig. 5 and Fig. 6 are itself E-E and F-F broken section enlarged drawings.
Second level cycloid wheel assembly (B2) it is ring gear, by straight pin (10) and shell flange disk (K1) affixed for static
Part.
First and second grade of curved bar (Q1、Q2) and first order cycloid wheel assembly (B1) it is arranged in 0 point of center and second level cycloid
Wheel assembly (B2) between, make planetary motion.
Lid and lower cover (S in output end1、S2) whole planetary motion parts are connected by bearing (2,3), realize in the range of≤2 π
Low speed rotation.
First and second grade of curved bar (Q1、Q2) in the middle part of two disks on, zanjon bearing (2) is installed, bearing outer ring be close to
Cycloid wheel assembly (B1、B2) one side leave gap, bearing outer ring deviate from cycloid wheel assembly (B1、B2) one side be equipped with bearing
Seat (4), bearing block section is arch, but is processed as the Ping Mian that are parallel to each other to two wedge angle；And it is in its peripheral arc
The inside dimension of insert (5), just the Outside Dimensions with bearing block (4) match；The periphery of arc insert (5) is output end
(S)；There is bolt (7) that arc insert (5) is fixed outside output end (S), prevent bearing block (4) from rotating.
Gear range：39-199.Refer to following detail list：
Architectural feature and applicable performance detail list
1. note：During primary transmission, centering movement parts are, without planetary motion part.Secondary transmission compares scope：Minimum value 10 ×
4-1=39；
20 × 10-1=199 of maximum.Preferred value, it is only for reference, if necessary, it is not limited.
In sum, epicyclic speed reducer of the present invention, driving-chain is most short, and without sideshake, can improve motion rigidity and determine
Position precision.Number of parts is minimum, simple shape, and size is thick, fertile, short, thickness, numerically-controlled milking composite machine tool is suitable at present and is added
Work, future is also suitable for the technique of 3D printing technique, realizes high accuracy, the production requirement of high efficiency.
Meanwhile, with auto-lock function, exempt to fill electricity loss brake.The few equipment volumes in terms of electrical equipment of Minus, fund and long-term
The electricity charge for using.To adapt to the special reduction gear of industrial robot, extremely beneficial excellent condition is created.
The foregoing is only the preferred embodiments of the present invention, it is noted that for the person of ordinary skill of the art,
Under the premise without departing from the principles of the invention, some deformations and improvement made, such as increase as three-level is driven secondary transmission,
Also should be regarded as belonging to the protection domain of patent right of the present invention.
Claims (4)
1. epicyclic speed reducer, it is characterised in that using cycloid wheel assembly and curved bar composition Meshing Pair, by secondary transmission come
Constitute deceleration；Ji Ti one-level curved bars (Q by its input shaft1) position differs with the layout of center O points, be divided into：' middle reality
Type ' and two kinds of ' hollow type '；When it is ' solid type '：
1. first order curved bar (Q1) be arranged on center O points and make centering rotation；
2. second level cycloid wheel assembly (B2) it is ring gear, by straight pin (10) and shell flange disk (K1) it is connected as static element；
3. first order cycloid wheel assembly (B1) and second level curved bar (Q2) it is arranged in first order curved bar (Q1) and second level Cycloidal Wheel it is total
Into (B2) between the two, make planetary motion；
4. covered and lower cover (S in output end1、S2) whole planetary motion parts are connected by bearing (2,3), realize the π's of anglec of rotation ＞ 2
Low speed rotation.
2. the epicyclic speed reducer as described in claim 1, it is characterised in that when it is ' hollow type '：
1. second level cycloid wheel assembly (B2) it is ring gear, by straight pin (10) and shell flange disk (K1) it is affixed be static element；
2. first and second grade of curved bar (Q1、Q2) and first order cycloid wheel assembly (B1) it is arranged in center O points and second level Cycloidal Wheel
Assembly (B2) between, make planetary motion.
3. covered and lower cover (S in output end1、S2) whole planetary motion parts are connected by bearing (2,3), realize the anglec of rotation≤2 π models
Enclose interior low speed rotation.
3. the epicyclic speed reducer as described in claim 1 or 2, it is characterised in that first and second grade of curved bar (Q1、Q2) in the middle part of
On two disks, zanjon bearing (2) is installed, in bearing outer ring near cycloid wheel assembly (B1、B2) one side leave gap,
Bearing outer ring deviates from cycloid wheel assembly (B1、B2) one side be equipped with bearing block (4), bearing block section originally be arch, but to its two
Individual wedge angle is processed as the Ping Mian that are parallel to each other；And the inside dimension of arc insert (5) outside it is in, just with bearing block
(4) Outside Dimensions match；It is output end (S) outside arc insert (5)；There is bolt (7) by arc outside output end (S)
Insert (5) is fixed, prevents bearing block (4) from rotating.
4. the epicyclic speed reducer as described in claim 1 or 2, it is characterised in that gear range：39-199.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029831.5A CN106838135A (en) | 2017-01-17 | 2017-01-17 | Epicyclic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029831.5A CN106838135A (en) | 2017-01-17 | 2017-01-17 | Epicyclic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106838135A true CN106838135A (en) | 2017-06-13 |
Family
ID=59124191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710029831.5A Pending CN106838135A (en) | 2017-01-17 | 2017-01-17 | Epicyclic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106838135A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050210A (en) * | 2017-12-14 | 2018-05-18 | 广西柳工机械股份有限公司 | Planetary reduction gear |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1048253A (en) * | 1990-03-20 | 1991-01-02 | 袁正敏 | Bent lever cycloidal toothed gearing |
| CN103016634A (en) * | 2012-12-17 | 2013-04-03 | 哈尔滨理工大学 | RV (rotate vector) double-cycloidal pin gear speed reducer |
| WO2014087315A2 (en) * | 2012-12-05 | 2014-06-12 | Maurizio Liverani | Hypocycloidal drive mechanism |
| CN104534031A (en) * | 2015-01-05 | 2015-04-22 | 西北工业大学 | Transmission device for robot joint |
| CN104565249A (en) * | 2015-01-12 | 2015-04-29 | 袁正敏 | Cycloid pin type reducer |
| CN105003630A (en) * | 2015-07-22 | 2015-10-28 | 袁正敏 | Cycloidal gear reducer provided with incomplete bearings |
| CN105202155A (en) * | 2015-10-21 | 2015-12-30 | 袁正敏 | Series-parallel cycloidal gear reducer |
-
2017
- 2017-01-17 CN CN201710029831.5A patent/CN106838135A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1048253A (en) * | 1990-03-20 | 1991-01-02 | 袁正敏 | Bent lever cycloidal toothed gearing |
| WO2014087315A2 (en) * | 2012-12-05 | 2014-06-12 | Maurizio Liverani | Hypocycloidal drive mechanism |
| CN103016634A (en) * | 2012-12-17 | 2013-04-03 | 哈尔滨理工大学 | RV (rotate vector) double-cycloidal pin gear speed reducer |
| CN104534031A (en) * | 2015-01-05 | 2015-04-22 | 西北工业大学 | Transmission device for robot joint |
| CN104565249A (en) * | 2015-01-12 | 2015-04-29 | 袁正敏 | Cycloid pin type reducer |
| CN105003630A (en) * | 2015-07-22 | 2015-10-28 | 袁正敏 | Cycloidal gear reducer provided with incomplete bearings |
| CN105202155A (en) * | 2015-10-21 | 2015-12-30 | 袁正敏 | Series-parallel cycloidal gear reducer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108050210A (en) * | 2017-12-14 | 2018-05-18 | 广西柳工机械股份有限公司 | Planetary reduction gear |
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Application publication date: 20170613 |