CN107218356B - Elastic conversion speed reducer - Google Patents

Abstract

The invention provides an elastic conversion speed reducer which comprises an input shaft, an eccentric wheel, a cycloid disc, a pin gear shell, a plurality of pin gears, an output disc and an output shaft, and further comprises a plurality of steel wire ropes connected with the cycloid disc and the output disc in a transmission manner and a plurality of support columns positioned between the cycloid disc and the output disc to adjust the distance between the cycloid disc and the output disc. The elastic conversion speed reducer adopts a steel wire rope with certain elastic deformation capacity and a supporting column to connect the swinging wire disc with the output disc to form a movement mode conversion mechanism to replace a planet carrier in the RV speed reducer and a flexible wheel in the harmonic speed reducer. Because the steel wire rope has certain elasticity, the speed reducing part and the output part are not required to have accurate positioning relation, the process size chain of the whole speed reducer is greatly shortened, the precision requirement is greatly reduced, the components are not easy to damage, and the cost is greatly reduced.

Description

Elastic conversion speed reducer

Technical Field

The invention relates to the field of mechanical manufacturing, in particular to an elastic motion mode conversion speed reducer for an industrial robot, which is convenient to manufacture and low in cost.

Background

The decelerator is one of the most important components of the industrial robot. The speed reducer used by modern industrial robots mainly has two main types, namely a needle tooth cycloidal speed reducer represented by Japanese RV and a harmonic speed reducer. RV needle cycloid reducer has strong transmission capability, but complex structure and high processing precision requirement. The harmonic reducer is simple in structure, exquisite in action, high in manufacturing difficulty and easy to damage, and is only suitable for application in occasions with smaller transmission moment. The two reducers have the common characteristics of high processing difficulty and high manufacturing cost, so that the reducer with the advantages of both the two reducers is highly expected to be in practical production, the weaknesses of the reducer are avoided, the manufacturing is convenient, and the cost is low. However, in the current development situation, although patent inventions of two types of reducers are not fully invented for decades, the basic situation is not changed obviously.

In theory, it is thought that the RV pin cycloidal reducer and the harmonic reducer are composed of three functional parts. First, the deceleration portion converts the high-rotation-speed motion input by the motor into low-rotation-speed motion. Although the tooth forms can be different, a set of internal and external gear pairs is actually adopted. An internal gear is arranged in the fixed casing, and an external gear rolling body with the same tooth shape but a little less number of teeth (one or two less teeth) rolls in the internal gear. In RV reducers, this rolling element is called a wobble plate, and in harmonic reducers, it is called a flexspline. Because the number of teeth differs by one or two teeth, the rolling body rotates by a small angle after rolling along the outer raceway, thus the purpose of reducing the rotating speed is achieved. This movement of the external gear rolling bodies on the external raceway is different from the movement of gears which typically have fixed shafts; it has both rotation about its own axis and rotation about the outer raceway center; this particular form of gear movement is called wobble, which can transmit strong moments with a large reduction ratio.

The second part of the reducer is the output part. Unlike the deceleration section, the output section is simple. Only one rotational movement of lower speed is output, outwardly from the output shaft.

The third part is also an essential component for joining the first two. Since the output part only receives a simple rotational movement and the deceleration part provides a swinging movement, it has to be converted into a simple rotational movement to form a complete movement chain. This part may be referred to as a motion mode conversion part and functions to remove all other parts than the rotational motion, leaving only the rotational part. The planet carrier plays this role in the RV reducer and the flexspline plays this role in the harmonic reducer.

The planet carrier makes the RV reducer become a highly complex static indefinite structure, and a plurality of bearings and gear parts can mutually interfere, even can cause complex and changeable internal stress, and is the part which is most difficult to process and assemble in the RV reducer.

One end of the flexible gear in the harmonic reducer is required to be processed into a tooth shape for deceleration; the cylinder body needs to be repeatedly deformed and flattened for a while and stretched out for a while; the other end is a firm output shaft. It is not really easy for a metal object to do such a complex movement. No details can be found in any of the materials selection, processing, and heat treatment.

In view of this, there is a need for improvements to existing retarders to address the above-described issues.

Disclosure of Invention

The invention aims to provide the elastic motion mode conversion speed reducer for the industrial robot, which is convenient to manufacture and low in cost.

The invention provides an elastic conversion speed reducer which comprises an input shaft, an eccentric wheel matched with the input shaft, a cycloid disc matched with the eccentric wheel, a pin gear shell, a pin gear assembly arranged between the cycloid disc and the pin gear shell, an output disc arranged in parallel with the cycloid disc, and an output shaft fixedly connected with the output disc, and further comprises a plurality of steel wire ropes connected with the cycloid disc and the output disc in a transmission manner, and a plurality of support columns positioned between the cycloid disc and the output disc to adjust the distance between the cycloid disc and the output disc.

As a further improvement of the invention, the plurality of steel wire ropes comprise a plurality of groups of steel wire rope pairs which are arranged in a crossing way, and the plurality of groups of steel wire rope pairs are sequentially arranged in a circle along the circumferential direction of the cycloid disc and the circumferential direction of the output disc.

As a further improvement of the invention, the inclination angle α of the wire rope with respect to the wobble plate or the output plate is equal.

As a further improvement of the invention, the inclination angles alpha of the steel wire rope relative to the swinging wire disc and the output disc are all 30-60 degrees.

As a further improvement of the invention, the steel wire rope is formed by winding a plurality of high-strength spring steel wires with diameters of 0.5 mm-0.8 mm.

As a further development of the invention, the support column is located inside the steel cord.

As a further improvement of the invention, the output disc and the swaying disc are respectively provided with a supporting bottom hole, and two ends of the supporting column are respectively positioned in the supporting bottom holes on the output disc and the swaying disc.

As a further improvement of the invention, at least one of the output disc or the wobble plate is provided with a plurality of screw holes and an adjusting screw which is positioned in the screw holes and can move along the axial direction of the output disc or the wobble plate, and the supporting bottom hole is arranged on the adjusting screw.

As a further improvement of the invention, the axis of the cycloid disc is provided with an eccentric amount e relative to the axis of the output disc, and the distance between the cycloid disc and the output disc is 10-15 times of the eccentric amount e.

As a further development of the invention, the eccentric is fixed to the input shaft.

As a further improvement of the present invention, said elastically translating reduction gear has one piece of said cycloidal discs; or the elastic conversion speed reducer is provided with two cycloid discs, and only cycloid discs close to the output disc are connected with the output disc in a matched manner through the steel wire rope and the support column.

As a further improvement of the invention, the steel wire rope is fixed with the cycloid disc and the output disc by adopting machinery or brazing.

The beneficial effects of the invention are as follows: the elastic conversion speed reducer adopts the steel wire rope with certain elastic deformation capacity and the supporting column to connect the swinging wire disc with the output disc to form a movement mode conversion mechanism to replace a planet carrier in the RV speed reducer and a flexible wheel in the harmonic speed reducer. Because the steel wire rope has certain elasticity, the speed reducing part and the output part are not required to have accurate positioning relation, the process size chain of the whole speed reducer is greatly shortened, the precision requirement is greatly reduced, the components are not easy to damage, and the cost is greatly reduced.

Drawings

FIG. 1 is a schematic structural view of an elastically translating reduction gear of the present invention;

FIG. 2 is an AA' directional view of the elastically translating reduction gear illustrated in FIG. 1;

FIG. 3 is a BB' direction view of the elastic-conversion speed reducer shown in FIG. 1;

FIG. 4 is a schematic view of a movement pattern switching mechanism of the elastic switching reduction gear shown in FIG. 1;

FIG. 5 is an enlarged view of a portion of the dashed box of FIG. 4;

fig. 6 is a structural view of the support column of the elastic conversion speed reducer shown in fig. 1, matched with a wobble plate and an output plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 6, the elastic conversion speed reducer of the present invention includes a speed reducing portion 2, an output portion 3, and a movement mode conversion mechanism 4 connecting the speed reducing portion 2 and the output portion 3.

Specifically, the elastic conversion speed reducer comprises an input shaft 22, an eccentric wheel 23 matched with the input shaft 22, a cycloid disc 25 matched with the eccentric wheel 23, a pin gear housing 26, a pin gear assembly arranged between the cycloid disc 25 and the pin gear housing 26, an output disc 33 parallel to the cycloid disc 25 and an output shaft 32 fixedly connected with the output disc 33, and further comprises a plurality of steel wires 41 in transmission connection with the cycloid disc 25 and the output disc 33, and a plurality of support columns 42 arranged between the cycloid disc 25 and the output disc 33 for adjusting the distance between the cycloid disc 25 and the output disc 33.

The elastic conversion speed reducer of the invention adopts a steel wire rope 41 with certain elastic deformation capability and a supporting column 42 to connect the cycloidal disc 25 and the output disc 33 to form a movement mode conversion mechanism to replace a planet carrier in the RV speed reducer and a flexspline in the harmonic speed reducer. The wire rope 41 can tightly couple the cycloid discs 25 and the output discs 33 together in the rotation direction, and the support rods can tightly support the wire rope 41, so that the wire rope 41 can reliably transmit tensile force to drive the output discs 33 to rotate. Because the steel wire rope 41 has certain elasticity, the speed reducing part 2 and the output part 3 are not required to have accurate positioning relation, so that the process size chain of the whole speed reducer is greatly shortened, the precision requirement is greatly reduced, the components are not easy to damage, and the cost is greatly reduced. Due to the characteristics of this structure, the elastic conversion speed reducer of the present invention can be referred to as an elastic motion mode conversion speed reducer.

Referring to fig. 1 in detail, in this embodiment, the elastic conversion speed reducer further includes a base housing 1, and the pin gear housing 26 is located on the base housing 1. The speed reducing portion 2 specifically includes an input bearing group 21 provided at one end of the base housing 1, an input shaft 22 which is provided in the input bearing group 21 and is rotatable freely on the input bearing group 21, an eccentric wheel 23, a cycloid disc 25 provided in cooperation with the input shaft 22, an eccentric bearing 24 provided in cooperation between the eccentric wheel 23 and the cycloid disc 25, and a pin housing 26. Wherein the eccentric 23 is fixed to the input shaft 22. In other embodiments, the decelerating portion 2 may further include a planetary gear set, etc. cooperatively disposed.

The outer circumference of the wobble plate 25 is evenly provided with outer teeth 251, which outer teeth 251 may be of various tooth shapes suitable for a wobble movement, in this embodiment illustrated by the cycloidal tooth shape in an RV reducer. Accordingly, the inner circumference of the pin housing 26 is uniformly provided with pin grooves 261, and pin teeth 262 capable of engaging with the cycloidal discs 25 are located in the pin grooves 261. The cycloidal disc 25 is positioned in the pin gear housing 26, and the cycloidal disc 25 is driven by the eccentric wheel 23 to roll on the pin gear housing 26 so as to realize a speed reduction function.

The output portion 3 specifically includes an output bearing group 31 provided at the other end of the base housing 1 opposite to the input bearing group 21, an output shaft 32 fixed in the output bearing group 31, and an output disk 33 fixed to an end of the output shaft 32 toward the cycloid disk 25. The output shaft 32 and the output disc 33 as a whole are freely rotatable on the output bearing set 31.

Referring to fig. 1 and fig. 4 to fig. 6 in detail, the cycloid disc 25 drives the output disc 33 to rotate through a plurality of steel wire ropes 41, and two ends of a plurality of support columns 42 respectively abut against opposite sides of the cycloid disc 25 and the output disc 33, so that the cycloid disc 25 and the output disc 33 always keep a certain distance in the use process, and the steel wire ropes 41 keep a tightly-supported state in the working process, so that the output disc can be driven to rotate better.

It should be noted that, in fig. 1 and 4, only the front part of the wire rope 41 is shown in order to avoid confusion, and the rear part is not shown, while the wire rope 41 is disposed between the cycloid discs 25 and the output disc 33; while fig. 5 shows a partial case within the dashed box in fig. 4, only the arrangement or fixation of the wire ropes 41 is schematically illustrated by two adjacent wire ropes 41.

The connection between the wire rope 41 and the cycloid discs 25 and the output disc 33 can be fixed mechanically, by brazing, etc. For example, the cycloid disc 25 is provided with a plurality of first fixing holes 252 for fixing the steel wire rope 41, and one end of the steel wire rope 41 passes through the first fixing holes 252 from one side of the cycloid disc 25 toward the output disc 33 to the other side and is fixed on the side of the cycloid disc 25 away from the output disc 33. The plurality of first fixing holes 252 are uniformly distributed on the same circumference and are arranged close to the outer periphery of the wobble plate 25, and adjacent ends of two adjacent steel wire ropes 41 are located in the same first fixing hole 252. Or each of the first fixing holes 252 is composed of two sub first fixing holes 252 closely adjacent to each other, and adjacent ends of two adjacent wire ropes 41 are positioned in the two sub first fixing holes 252.

Correspondingly, the output disc 33 is provided with a plurality of second fixing holes 331 for fixing the steel wire ropes 41, and the other ends of the steel wire ropes 41 pass through the second fixing holes 331 from one side of the output disc 33 facing the cycloid disc 25 to the other side and are fixed on one side of the output disc 33 facing away from the cycloid disc 25. The second fixing holes 331 are uniformly distributed on the same circumference and are disposed near the outer periphery of the output disc 33, and adjacent ends of two adjacent steel wire ropes 41 are located in the same second fixing hole 331. Or each second fixing hole 331 is composed of two sub second fixing holes 331 closely adjacent to each other, and adjacent ends of two adjacent steel wire ropes 41 are located in the two sub second fixing holes 331.

Further, as shown in fig. 1 or fig. 4, the plurality of steel wire ropes 41 include a plurality of sets of steel wire rope pairs arranged in a crossing manner, and the plurality of sets of steel wire rope pairs are sequentially arranged in a circle along the circumferential direction of the cycloid disc 25; it is also understood that the plurality of steel wire ropes 41 includes two groups of steel wire ropes 41 which are obliquely arranged in different directions, and the two groups of steel wire ropes 41 are arranged in a crossing manner; so that the output disk 33 can be driven to rotate in the corresponding direction when the input shaft 22 rotates forward or backward.

Further, as shown in fig. 5, the inclination angles α of the wire ropes 41 with respect to the cycloid discs 25 and the output discs 33 are equal, so that the power for driving the output discs 33 to rotate is the same and the rotation speed of the output discs 33 is the same when the input shafts 22 are rotated forward or backward with the same power.

Comprehensively considering the magnitude of the component forces of the pulling force of the steel wire rope 41 on the output disc 33 in the normal direction and the tangential direction of the output disc 33 and whether the rotation direction of the output shaft 32 can be timely adjusted when the rotation direction of the input shaft 22 is changed; the inclination angle α of the wire rope 41 with respect to the cycloid discs 25 and the output disc 33 is 30 ° to 60 °, preferably about 45 °.

It will be appreciated by those skilled in the art that the description of the direction of inclination of the wire rope 41 and the description of the magnitude of the aforementioned angle of inclination α are described in terms of the wire rope 41 being in a tightly-braced state and the cycloid discs 25 and the output discs 33 being unrotated.

In addition, since the wire rope 41 is repeatedly tensioned and released, a thin high strength spring wire, such as a wire having a diameter of 0.5mm to 0.8mm, is selected, and a plurality of strands are wound together.

The two ends of the supporting columns 42 respectively abut against opposite sides of the wobble plate 25 and the output plate 33, specifically: the output disc 33 and the wobble plate 25 are respectively provided with a supporting bottom hole 421, and two ends of the supporting column 42 are respectively positioned in the supporting bottom holes of the output disc 33 and the wobble plate 25, so that the two ends of the supporting column 42 cannot slip off the output disc 33 or the wobble plate 25; and the two ends of the supporting column 42 are smooth arc surfaces, so that the angle adjustment of the supporting column 42 is facilitated.

Further, at least one of the output disc 33 or the cycloid disc 25 is provided with a plurality of screw holes 332, and an adjusting screw 333 which is positioned in the screw holes 332 and can move along the axial direction of the output disc 33 or the cycloid disc 25; when the adjusting screw 333 is provided, the supporting bottom hole 421 is provided on the adjusting screw 333, and the distance between the swinging wire disc 25 and the output disc 33 can be adjusted by adjusting the adjusting screw 333, so that the wire rope 41 is in a tightened state, i.e. the wire rope 41 is in an optimal state during operation.

Taking the example that only the output disc 33 is provided with a plurality of screw holes 332 and an adjusting screw 333 which is positioned in the screw holes 332 and can be close to or far from the cycloid disc 25, the supporting bottom hole positioned on the output disc 33 is positioned on one side of the adjusting screw 333 facing the cycloid disc 25, and one end of the supporting column 42 is propped against the adjusting screw 333, and the other end is propped against the cycloid disc 25. When the adjustment screw 333 moves toward the cycloid disc 25, the distance of the cycloid disc 25 from the output disc 33 increases; conversely, when the adjustment screw 333 moves away from the cycloid disc 25, the distance of the cycloid disc 25 from the output disc 33 decreases.

In this embodiment, the plurality of supporting bottom holes on the cycloid disc 25 are located in the plurality of first fixing holes 252, that is, the distribution circle diameter of the plurality of supporting bottom holes 421 is smaller than the distribution circle diameter of the plurality of first fixing holes 252; correspondingly, the supporting bottom holes on the output disc 33 are located in the second fixing holes 331, that is, the distribution circle diameter of the supporting bottom holes 421 is smaller than the distribution circle diameter of the second fixing holes 331; thus, a plurality of the support columns 42 are located inside a plurality of the wire ropes 41.

Further, the elastic conversion speed reducer has one or two pieces of the cycloidal discs 25. When the power to be transferred is relatively large, the elastic conversion speed reducer has two cycloid discs 25, and only the cycloid disc 25 near the output disc 33 is connected with the output disc 33 through the motion mode conversion mechanism 4, and the other cycloid disc 25 provides balance force. And when two such cycloid discs 25 are employed, it is preferable to employ two cycloid discs 25 having a phase difference of 180 °. The present invention is more suitable for use in a resiliently translating reduction gear having a relatively low output power, and therefore a cycloidal disk 25 is generally preferred.

In addition, in order to achieve a larger reduction ratio, the industrial robot elastic conversion speed reducer generally adopts more teeth and smaller eccentric amount. As will be appreciated by those skilled in the art, as shown in fig. 2 and 4, the axis O' of the eccentric 23 has an eccentric amount e with respect to the axis O of the input shaft 22; the cycloid disc 25 is matched with the eccentric wheel 23 through an eccentric bearing 24, so that the axis of the cycloid disc 25 has an eccentric amount e relative to the axis of the input shaft 22; it will also be appreciated that the axis O of the input shaft 22 is on the same axis as the axis O "of the output disk 33, so that the axis of the cycloid disk 25 is also eccentric by an amount e with respect to the axis O" of the output disk 33. In order to keep the distance between the cycloid discs 25 and the output disc 33 small, the support columns 42 remain always in a position close to perpendicular to said cycloid discs 25 and output disc 33; the distance between the wobble plate 25 and the output plate 33 should be kept around 10 to 15 times the eccentricity. The eccentric amount is generally 0.8mm to 1.5mm, and the distance between the cycloid disk 25 and the output disk 33 should be about 8mm to 22.5mm with respect to the eccentric amount.

The operation principle of the elastic conversion speed reducer of the present invention will be specifically described below. As shown in fig. 2, when the input shaft 22 rotates, the eccentric 23 pushes the wobble plate 25 to one side, so that the external teeth 251 of the wobble plate 25, which are close to the pin housing 26, are engaged with the pin teeth 262 of the pin housing 26, and the external teeth 251 of the wobble plate 25, which are far from the pin housing 26, are completely disengaged from the pin teeth 262. When the eccentric wheel 23 rotates clockwise, the cycloidal disc 25 is driven by the eccentric wheel 23 to change the meshing position of the cycloidal disc and the needle gear housing 26. Although in this engagement mode, a plurality of teeth are engaged at the same time, i.e., a plurality of teeth are engaged in transmitting torque, the engagement area is always changed in response to the change in the direction in which the eccentric cam 23 eccentrically protrudes; this causes the cycloidal disc 25 to oscillate within the pin housing 26.

The eccentric 23 rotates once and the cycloid disk 25 also swings almost once. However, since the number of teeth of the pin 262 is one more than the number of teeth of the cycloid disk 25, each tooth of the cycloid disk 25 is not in place but one tooth after one rotation of the eccentric 23. If there are N teeth on the pin housing 26, the eccentric 23 is turned N times, the teeth on the cycloid disk 25 return to their original position, i.e. the cycloid disk 25 is rotated one turn. If N is large, such as 50 or 100, the eccentric 23 is rotated 50 or 100 turns and the cycloid disk 25 is rotated one turn, thus achieving a reduction with a reduction ratio of 50 or 100.

When the cycloid disc 25 swings as described above, the first fixing hole 252 formed at the cycloid disc 25 is naturally moved together with it, thereby moving the wire rope 41 connected thereto. The other end of the steel wire rope 41 is connected to the output disc 33, and the steel wire rope 41 drives the output disc 33 to move. Since the two adjacent steel wires 41 are arranged obliquely to each other, like only two steel wires 41 in a small box in fig. 4 shown in fig. 5, if the wobble plate 25 is moved upward in the figure with respect to the output plate 33, the upper steel wire 41 in the figure drives the output plate 33 to move upward together; conversely, if the cycloid disc 25 is to be moved downward, the lower wire 41 will drive the output disc 33 downward; that is, the wobble plate 25 moves the output plate 33 together in the same direction by the wire rope 41.

Since several of the wire ropes 41 are arranged obliquely crosswise, practically all the same direction as the wire rope 41 above in fig. 5 will participate in the work together over the entire circumference when the cycloid discs 25 in fig. 5 are moved upwards, while the other wire ropes 41 crossing them are in a relaxed state and vice versa. Since the central axis of the wobble plate 25 and the axis of the output plate 33 have an eccentricity e, typically about 1mm, and the distance between the two plates is selected to be 10mm to 15mm, the length variation of the wire rope 41 between tightening and loosening is small. The main appearance is that when being strained, the shape is close to a straight line, and when being relaxed, some arc curves are formed. In order to ensure a distance between the two discs, so that the wire rope 41 can accurately transmit tension when being tensioned, it can be seen in fig. 6 that there is a support column 42 between the cycloid discs 25 and the output disc 33.

Although the cycloid discs 25 perform complex oscillating movements, the trajectory taken by each point on the cycloid disc 25, such as the first stationary bore 252, can be quite complex, but the point's movement at any one instant can be divided into tangential movement about the axis of the output shaft 32 and normal movement perpendicular to that direction through that axis. The output disc 33 and the output shaft 32 are driven to rotate by the steel wire rope 41 in the tangential direction, and the steel wire rope 41 can only shake up and down in the normal direction, so that the output disc 33 and the output shaft 32 are not driven to rotate. It follows that although the movement of the wobble plate 25 is complex, the output plate 33 only accepts its rotating component. The elastic assembly, mainly composed of steel cords 41, including the necessary support columns 42, constitutes a movement pattern switching mechanism 4, of which both the cycloid discs 25 and the output discs 33 are part.

As long as the proper adjustment is made, the proper wire rope 41 is selected, the inclination angle is arranged, the distance between the cycloid discs 25 and the output discs 33 is kept, and then the rotation of the cycloid discs 25 in any direction at any position is tensioned by some wire rope 41 and the output discs 33. As if two gears are tightly meshed, no back clearance exists, so that the working accuracy of the gear is ensured.

In summary, the elastic conversion speed reducer of the present invention adopts the steel wire rope 41 and the support column 42 with a certain elastic deformation capability to connect the cycloidal disc 25 and the output disc 33 to form a movement mode conversion mechanism, so as to replace the planet carrier in the RV speed reducer and the flexspline in the RV speed reducer. Because the steel wire rope 41 has certain elasticity, the speed reducing part 2 and the output part 3 are not required to have accurate positioning relation, so that the process size chain of the whole speed reducer is greatly shortened, the precision requirement is greatly reduced, the components are not easy to damage, and the cost is greatly reduced.

The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.

Any reference in this specification to "this embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment comprises at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment. Further, a particular feature, structure, or characteristic described in connection with any embodiment is submitted with the understanding that it is within the purview of one skilled in the art to effect such feature, structure, or characteristic in connection with other ones of the embodiments.

Claims (11)

1. The utility model provides an elastic conversion reduction gear, includes the input shaft, with the eccentric wheel of input shaft cooperation setting, with the cycloid dish, needle tooth shell that the eccentric wheel cooperation set up, locate the cycloid dish with needle tooth subassembly between the needle tooth shell, with cycloid dish parallel arrangement's output dish and with output dish fixed connection's output shaft, its characterized in that: the elastic conversion speed reducer further comprises a plurality of steel wire ropes connected with the cycloid disc and the output disc in a transmission way and a plurality of support columns positioned between the cycloid disc and the output disc to adjust the distance between the cycloid disc and the output disc; the output disc and the swinging disc are respectively provided with a supporting bottom hole, and two ends of the supporting column are respectively positioned in the supporting bottom holes on the output disc and the swinging disc; the two ends of the support column are smooth arc surfaces.

2. The elastic conversion speed reducer according to claim 1, wherein: the plurality of steel wire ropes comprise a plurality of groups of steel wire rope pairs which are arranged in a crossing manner, and the plurality of groups of steel wire rope pairs are sequentially arranged in a circle along the circumferential direction of the cycloid disc and the circumferential direction of the output disc.

3. The elastic conversion speed reducer according to claim 1, wherein: the angle of inclination α of the wire rope with respect to the wobble plate or the output plate is equal.

4. The elastic conversion speed reducer according to claim 1, wherein: the inclination angles alpha of the steel wire ropes relative to the swinging wire disc and the output disc are all 30-60 degrees.

5. The elastic conversion speed reducer according to claim 1, wherein: the steel wire rope is formed by winding a plurality of high-strength spring steel wires with the diameters of 0.5-0.8 mm.

6. The elastic conversion speed reducer according to claim 1, wherein: the support column is located inside the steel wire rope.

7. The elastic conversion speed reducer according to claim 1, wherein: the output disc or at least one of the swing wire discs is provided with a plurality of screw holes and adjusting screws which are positioned in the screw holes and can move along the axial direction of the output disc or the swing wire disc, and the supporting bottom holes are formed in the adjusting screws.

8. The elastic conversion speed reducer according to claim 1, wherein: the axis of the cycloid disc is provided with an eccentric amount e relative to the axis of the output disc, and the distance between the cycloid disc and the output disc is 10-15 times of the eccentric amount e.

9. The elastic conversion speed reducer according to claim 1, wherein: the eccentric wheel is fixed on the input shaft.

10. The elastic conversion speed reducer according to claim 1, wherein: said elastically translating decelerator having a piece of said cycloidal disk; or the elastic conversion speed reducer is provided with two cycloid discs, and only cycloid discs close to the output disc are connected with the output disc in a matched manner through the steel wire rope and the support column.

11. The elastic conversion speed reducer according to claim 1, wherein: the steel wire rope is fixed with the cycloid disc and the output disc by adopting machinery or brazing.