CN107178601A - A kind of Eccentrically swinging gear device - Google Patents

A kind of Eccentrically swinging gear device Download PDF

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Publication number
CN107178601A
CN107178601A CN201710470510.9A CN201710470510A CN107178601A CN 107178601 A CN107178601 A CN 107178601A CN 201710470510 A CN201710470510 A CN 201710470510A CN 107178601 A CN107178601 A CN 107178601A
Authority
CN
China
Prior art keywords
pin
gear
wheel housing
tooth
planet carrier
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.)
Pending
Application number
CN201710470510.9A
Other languages
Chinese (zh)
Inventor
吴鑫辉
刘珂荧
何卫东
李文龙
马庆龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Minzu University
Original Assignee
Dalian Nationalities University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dalian Nationalities University filed Critical Dalian Nationalities University
Priority to CN201710470510.9A priority Critical patent/CN107178601A/en
Publication of CN107178601A publication Critical patent/CN107178601A/en
Priority to PCT/CN2018/081740 priority patent/WO2018233345A1/en
Pending legal-status Critical Current

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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16N—LUBRICATING
    • F16N1/00—Constructional modifications of parts of machines or apparatus for the purpose of lubrication
    • 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
    • F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
    • 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
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications

Abstract

The invention discloses a kind of Eccentrically swinging gear device, the diameter dimension in its gear pin hole is more than the diameter dimension of pin tooth, gear pin hole central distribution circular diameter size is less than pin tooth central distribution circular diameter size, on the one hand it is easy to pin tooth to lubricate, on the other hand, it is easy to the grinding of gear pin hole, improves processing efficiency.Including pin wheel housing, the pin wheel housing has gear pin hole in its inner circumferential, and the gear pin hole is built with pin tooth；Planet carrier, it can be free rotatably mounted on pin wheel housing；A pair of base bearings, it includes roller and ring body, and the ring body is used to support roller；A pair of base bearings are placed between the periphery of planet carrier and the inner circumferential of pin wheel housing；Crank axle, it can be free rotatably mounted on planet carrier；Cycloidal Wheel, cycloidal gear teeth is engaged with pin tooth, is placed on the crank section of crank axle between the pair of base bearing；Cause the Cycloidal Wheel to carry out eccentric swing motion by the rotation of crank axle, rotation output is obtained from pin wheel housing or planet carrier.

Description

A kind of Eccentrically swinging gear device
Technical field
The present invention relates to a kind of geared system, specifically a kind of Eccentrically swinging gear device.
Background technology
Eccentrically swinging gear device is used for the arm member for driving robot, and the arm member is located at industrial robot joint portion Point.Existing Eccentrically swinging gear device, wherein, external gear is cycloid gear, and internal gear is pinwheel, in the eccentric oscillating-type In geared system, pin wheel housing upper pin gear pin-and-hole diameter dimension is identical with gear pin diameter size, gear pin hole central distribution circular diameter It is equal with pin tooth central distribution circular diameter, though this structure can cause pin tooth to be contacted with Cycloidal Wheel conjugation, meet eccentric oscillating-type tooth The requirement of the high transmission accuracy of wheel apparatus, but be due to gap very little between pin tooth and gear pin hole, the oil film of formation is very thin, unfavorable In pin tooth lubrication, in addition, in order to reduce the friction between pin tooth and gear pin hole, it is necessary to be refined to gear pin hole and pin tooth Processing, shows, pin tooth is easily worked according to actual finding, and size uniformity is fine, and gear pin hole forming grinding During, the abrasion of emery wheel is very serious, and the often gear pin hole grinding on a pin wheel housing is not completed, and emery wheel is just serious Abrasion so not only reduces production efficiency, while also increasing processing cost, it is necessary to redress.
The content of the invention
In view of the above-mentioned problems existing in the prior art, this application provides a kind of Eccentrically swinging gear device, the present apparatus On the premise of being contacted ensureing pin tooth with Cycloidal Wheel conjugation, the oil film thickness between increase pin tooth and gear pin hole is beneficial to Lubrication, improves the efficiency of gear pin hole grinding, reduces processing cost.
To achieve the above object, the technical scheme of the application use is：A kind of Eccentrically swinging gear device, including：
Pin wheel housing, the pin wheel housing has gear pin hole in its inner circumferential, and the gear pin hole is built with pin tooth；
Planet carrier, it can be free rotatably mounted on pin wheel housing；
A pair of base bearings, it includes roller and ring body, and the ring body is used to support roller；A pair of main shaft bearings Between the periphery of planet carrier and the inner circumferential of pin wheel housing；
Crank axle, it can be free rotatably mounted on planet carrier；
Cycloidal Wheel, cycloidal gear teeth is engaged with pin tooth, and the pair of main shaft is placed on the crank section of crank axle Between holding；Cause the Cycloidal Wheel to carry out eccentric swing motion by the rotation of crank axle, rotation is obtained from pin wheel housing or planet carrier Output.
Further, the gear pin bore dia size of the pin wheel housing is more than gear pin diameter size.
Further, the pin wheel housing upper pin gear pin-and-hole central distribution circular diameter size is less than pin tooth central distribution circular diameter Size.
Further, planet carrier is provided with block, multiple pillars and end plectane；The multiple pillar is placed in Cycloidal Wheel In multiple trapezoidal holes, the end plectane is bolted on multiple pillars by multiple.
Further, two ends of crank axle by taper roll bearing by block and end plectane rotatably Support；One of taper roll bearing is fixed on block by locating ring, and another taper roll bearing is fixed by locating ring Onto end plectane.
Further, planetary gear is fixed on an axial end portion in multiple crank axles by locating ring.
Further, through possessing and planetary gear meshed gears on the input shaft of hollow hole.
The present invention can obtain following technique effect due to using above technical scheme：According to the eccentric pendulum of the present invention Ejector half geared system, pin wheel housing upper pin gear pin-and-hole diameter dimension is more than gear pin diameter size, gear pin hole central distribution circular diameter Size is less than pin tooth central distribution circular diameter size, under conditions of ensureing that cycloidal gear teeth is engaged with pin tooth conjugation, improves pin The processing efficiency in alligator hole, reduces processing cost, and make it that pin tooth lubrication is good, and temperature rise reduction, transmission efficiency is improved.
Brief description of the drawings
The shared width of accompanying drawing 3 of the present invention：
Fig. 1 is Eccentrically swinging gear device structural representation；
Fig. 2 is pin tooth and gear pin hole site relation enlarged drawing；
Fig. 3 is that central distribution circle in gear pin hole is compared figure with pin tooth central distribution circular diameter；
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair The present invention is described in detail.
Embodiment 1
As shown in figure 1, this practicality provides a kind of Eccentrically swinging gear device, including pin wheel housing 1, planet carrier, a pair of masters Bearing 4,17, multiple crank axles 10 and Cycloidal Wheel 15,16, oil sealing 2；Wherein, the pin wheel housing 1, which has, is formed within circumferential portion In multiple gear pin holes (referring to Fig. 3) and multiple pin teeth 18 for being placed in corresponding gear pin hole, the planet carrier 3 can be relative to Pin wheel housing is rotated, and the pair of base bearing 4,17 is made up of taper roll bearing, its periphery for setting planet carrier 3 and pin wheel housing Between 1 inner circumferential, the multiple crank axle 10 is rotatably supported by planet carrier 3, the cycloid gear 15,16 and pin tooth 18 engagements, they, which are installed on crank section 10a, 10b of crank axle 10, is placed between a pair of base bearings 4,17.Cycloidal Wheel 15th, 16 supported by crank section 10a, 10b of multiple crank axles 10, eccentric swing motion is carried out by the rotation of crank axle 10；
Planet carrier is provided with block 3a, multiple pillar 3b and end plectane 3c, wherein, the multiple pillar 3b is placed in Cycloidal Wheel 15th, in multiple trapezoidal holes 5 in 16, the end plectane 3c is connected on multiple pillar 3b by multiple bolt 3d.
Planet carrier 3 is rotatably connected on pin wheel housing 1 by base bearing 4,17, and two ends of crank axle 10 Rotatably supported by block 3a and end plectane 3c by taper roll bearing 11,13.Taper roll bearing 11 is by fixed Position ring 14b is fixed on block, and taper roll bearing 13 is fixed on the plectane of end by locating ring 14a.
Planetary gear 8 is fixed on an axial end portion in multiple crank axles 10 by locating ring 9.Input shaft 7 passes through shape Into hollow hole 6 possess with the meshed gears of planetary gear 8 so that through planet carrier 3 and the approximate centre of Cycloidal Wheel 15,16.
Revolving force can pass to crank axle 10 from external motors etc. by planetary gear 8, and crank axle 10 is rotated, therefore rotation Turn the pin tooth 18 that power passes to cycloid gear 15,16 and pinwheel from external motors etc. by the axle of crank axle 10.In addition, oil sealing 2 is put Between block 3a near the pin wheel housing 1 and base bearing 4.
With reference to Fig. 2,3 explanation gear pin hole A diameter dimensions, pin tooth B diameter dimensions and gear pin hole central distribution circle C diameters Influence of the change of size to Eccentrically swinging gear device.As shown in Fig. 2 gear pin hole A diameter dimensions are more than pin tooth B diameters Size, so increases gear pin bore dia, can increase in the size of emery wheel, process, with the abrasion of emery wheel, process Gear pin hole be already to meet design requirement, reduce the amendment of emery wheel, extend emery wheel process time, improve production efficiency, Reduce production cost.In addition, wedge-shaped opening increases between pin tooth and gear pin hole, lubricating oil between pin tooth and gear pin hole is conducive to enter Enter, make pin tooth lubrication good, reduce temperature rise, improve transmission efficiency.As shown in figure 3, gear pin hole central distribution justifies C diameter dimensions Justify D diameter dimensions less than pin tooth central distribution, gear pin hole central distribution circular diameter size is reduced, it is ensured that Zhen Chi centers point Cloth circular diameter size constancy, pin tooth can be conjugated with cycloidal gear teeth and contact.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.

Claims (3)

1. a kind of Eccentrically swinging gear device, it is characterised in that including：
Pin wheel housing, the pin wheel housing has gear pin hole in its inner circumferential, and the gear pin hole is built with pin tooth；
Planet carrier, it can be free rotatably mounted on pin wheel housing；
A pair of base bearings, it includes roller and ring body, and the ring body is used to support roller；A pair of base bearings are placed in row Between the periphery of carrier and the inner circumferential of pin wheel housing；
Crank axle, it can be free rotatably mounted on planet carrier；
Cycloidal Wheel, cycloidal gear teeth is engaged with pin tooth, be placed on the crank section of crank axle the pair of base bearing it Between；Cause the Cycloidal Wheel to carry out eccentric swing motion by the rotation of crank axle, rotation output is obtained from pin wheel housing or planet carrier.
2. a kind of Eccentrically swinging gear device according to claim 1, it is characterised in that the gear pin hole of the pin wheel housing Diameter dimension is more than gear pin diameter size.
3. a kind of Eccentrically swinging gear device according to claim 1 or claim 2, it is characterised in that the pin wheel housing upper pin gear Pin-and-hole central distribution circular diameter size is less than pin tooth central distribution circular diameter size.
CN201710470510.9A 2017-06-20 2017-06-20 A kind of Eccentrically swinging gear device Pending CN107178601A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710470510.9A CN107178601A (en) 2017-06-20 2017-06-20 A kind of Eccentrically swinging gear device
PCT/CN2018/081740 WO2018233345A1 (en) 2017-06-20 2018-04-03 Eccentric swinging type gear apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710470510.9A CN107178601A (en) 2017-06-20 2017-06-20 A kind of Eccentrically swinging gear device

Publications (1)

Publication Number Publication Date
CN107178601A true CN107178601A (en) 2017-09-19

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ID=59844338

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710470510.9A Pending CN107178601A (en) 2017-06-20 2017-06-20 A kind of Eccentrically swinging gear device

Country Status (2)

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CN (1) CN107178601A (en)
WO (1) WO2018233345A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018233345A1 (en) * 2017-06-20 2018-12-27 大连民族大学 Eccentric swinging type gear apparatus

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109899456A (en) * 2019-04-01 2019-06-18 中能（天津）智能传动设备有限公司 A kind of precision drive speed reducer

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Publication number Priority date Publication date Assignee Title
JPS61244940A (en) * 1985-04-24 1986-10-31 Sumitomo Heavy Ind Ltd Internal gear equipment in planetary gear mechanism
JP2008138765A (en) * 2006-12-01 2008-06-19 Ogino Kogyo Kk Rocking gear device
CN101806334A (en) * 2010-04-27 2010-08-18 宏达博能自动化设备(江苏)有限公司 Multitooth-meshed driving device for transmitting power by eccentric bearing
CN202165527U (en) * 2011-07-15 2012-03-14 南通振康焊接机电有限公司 Cycloid pin gear type reducer
CN202441817U (en) * 2012-02-06 2012-09-19 浙江顺天减速机制造有限公司 Robot joint
CN204828503U (en) * 2015-07-06 2015-12-02 上海大学 Double pendulum line RV reduction gear for robot

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US4671134A (en) * 1985-09-19 1987-06-09 Industrial Technology Research Institute Automatic transmission for motorcycles
CN2826081Y (en) * 2005-10-10 2006-10-11 张向荣 Input shaft built-in type cycloid pin gear planet speed reducer
CN203686041U (en) * 2014-01-23 2014-07-02 天津职业技术师范大学 Precision 2K-V-type speed reducer
CN105020344A (en) * 2014-04-21 2015-11-04 天津职业技术师范大学 Precision 2K-V transmission device
CN106015468A (en) * 2016-07-25 2016-10-12 广州市昊志机电股份有限公司 RV speed reducer with crossed roller bearings
CN107178601A (en) * 2017-06-20 2017-09-19 大连民族大学 A kind of Eccentrically swinging gear device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61244940A (en) * 1985-04-24 1986-10-31 Sumitomo Heavy Ind Ltd Internal gear equipment in planetary gear mechanism
JP2008138765A (en) * 2006-12-01 2008-06-19 Ogino Kogyo Kk Rocking gear device
CN101806334A (en) * 2010-04-27 2010-08-18 宏达博能自动化设备(江苏)有限公司 Multitooth-meshed driving device for transmitting power by eccentric bearing
CN202165527U (en) * 2011-07-15 2012-03-14 南通振康焊接机电有限公司 Cycloid pin gear type reducer
CN202441817U (en) * 2012-02-06 2012-09-19 浙江顺天减速机制造有限公司 Robot joint
CN204828503U (en) * 2015-07-06 2015-12-02 上海大学 Double pendulum line RV reduction gear for robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018233345A1 (en) * 2017-06-20 2018-12-27 大连民族大学 Eccentric swinging type gear apparatus

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SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20170919

RJ01 Rejection of invention patent application after publication