CN107975566B - Conical needle gear precision cycloidal needle wheel speed reducer - Google Patents
Conical needle gear precision cycloidal needle wheel speed reducer Download PDFInfo
- Publication number
- CN107975566B CN107975566B CN201711451967.1A CN201711451967A CN107975566B CN 107975566 B CN107975566 B CN 107975566B CN 201711451967 A CN201711451967 A CN 201711451967A CN 107975566 B CN107975566 B CN 107975566B
- Authority
- CN
- China
- Prior art keywords
- rectangular
- input
- output flange
- cylindrical
- crankshaft
- 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.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 20
- 210000004907 gland Anatomy 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000003756 stirring Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 210000003781 tooth socket Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 208000032369 Primary transmission Diseases 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000002715 modification method Methods 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000006467 substitution reaction 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention provides a conical needle gear precision cycloidal pin gear speed reducer, which comprises: the device comprises an input crankshaft, cycloidal gears, a disc driving piece, an input supporting end, an output flange, pin teeth, a retainer ring spring and a shell; and the two ends of the input crankshaft are respectively supported on the input supporting end and the output flange by crankshaft supporting roller bearings, and cylindrical roller bearings are arranged on two eccentric excircles of the input crankshaft. The two retainer springs are respectively positioned at two ends of the needle teeth, one ends of the two cycloidal gears are respectively provided with two rectangular bosses, the two retainer springs are respectively connected with the rectangular holes of the disc driving piece, and one ends of the input support end and the output flange are also provided with two rectangular bosses which are respectively connected with the other two rectangular holes of the disc driving piece. The cycloidal pin gear speed reducer adopts the primary transmission mechanism, can make up for the gap defect between the cycloidal gear and the pin gear caused by manufacturing errors and working wear, and can keep all the pin gears in contact with the cycloidal gear, thereby remarkably prolonging the service life of the cycloidal pin gear speed reducer.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a novel tooth-shaped cycloidal pin gear speed reducer.
Background
The precise cycloidal pin gear speed reducer is one device for realizing power transmission with cycloidal gear and pin gear meshed. Geometrically, the cycloidal gear is in contact with all the pin teeth; from the mechanical aspect, half of the pin teeth participate in power transmission, so in theory, cycloidal pin wheel transmission has the advantages of large bearing capacity, high transmission precision, small device size and the like. Cycloidal pin gear transmission is mainly applied to the field of precise transmission, such as a speed reducer for an industrial robot joint, and main products include an RV speed reducer of Nabtesc corporation of Japan, an FA and FC series speed reducer of Sumitomo corporation of Japan, a Dojen speed reducer of Onvio corporation of America, and a Twainpin speed reducer of Stovek Spinea corporation.
However, due to manufacturing errors and working wear, not all the pin teeth in the actual cycloidal pin gear transmission can be in contact with the cycloidal gear, gaps exist between part of pin teeth and the cycloidal gear, and only a few pin teeth are in contact with the cycloidal gear to transmit power, so that the following defects are caused: (1) The pairs of mutually contacted gear teeth bear excessive load and are easy to break and fatigue failure; (2) The clearance generates impact collision between the needle teeth and the cycloidal gears, and noise is generated to cause vibration; (3) The gap reduces the precision and rigidity of cycloidal pin gear transmission; (4) The manufacturing precision requirement on the cycloidal gear is high, only part of pin teeth are meshed with the cycloidal gear, uneven stress is easily caused, abrasion is serious, the precision is low, and the service life is reduced.
Disclosure of Invention
The invention aims to provide a novel cycloidal pin gear speed reducer and a tooth form mode thereof aiming at the problems in the prior art, the shape modification method does not need cycloidal gear tooth profile modification, and the line modification method can enable all pin teeth in a cycloidal pin gear transmission device to keep contact with cycloidal gears, so that the bearing capacity and the transmission precision are remarkably improved, and the line modification method can be applied to cycloidal pin gear transmission in a high-precision speed reducer for industrial robot joints.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the conical pin gear precise cycloidal pin gear speed reducer comprises an input support end 1, an input crankshaft 2, a cylindrical roller bearing 3, a cycloidal gear 4, a shell 5, a tooth pin 6, a disc driving member 8, an output flange 9, a cylindrical crossed roller 10, a bearing gland 11, a crankshaft support roller bearing 12 and a retainer ring spring 20;
wherein, two ends of the input crankshaft 2 are respectively supported on the input supporting end 1 and the output flange 9 by crankshaft supporting roller bearings 12, and two cylindrical roller bearings 3 are arranged on an eccentric excircle in the middle of the input crankshaft 2; the two cycloid gears 4 are respectively sleeved on the outer sides of the two cylindrical roller bearings 3, the outer tooth surfaces of the cycloid gears are meshed with the pin teeth 6 in the shell 5, the two retainer springs 20 are respectively positioned at the two ends of the two pin teeth 6, the number of the springs uniformly distributed on the retainer springs is equal to that of the pin teeth, and each spring on the retainer springs is meshed with the corresponding pin tooth; two first rectangular bosses 401 are respectively arranged at one end of each of the two cycloid gears 4, the two first rectangular bosses 401 are connected with two rectangular holes on two disc driving pieces 8 respectively positioned at two sides of the two cycloid gears 4, the other two rectangular holes on the two disc driving pieces 8 are respectively connected with two second rectangular bosses 901 of an output flange and two third rectangular bosses 101 of an input support end 1, an input support end roller bearing 18 is sleeved at the outer side of the input support end 1, a shell 5 is sleeved at the outer side of the input support end roller bearing 18, and a cylindrical crossed roller 10 is sleeved on the output flange 9 and connected with the shell 5 and a bearing gland 11;
each rectangular hole of the disc transmission member 8 is provided with a plurality of cylindrical rollers 7, and the rectangular holes are in rolling fit with the first rectangular boss 401 of the cycloid gear 4, the second rectangular boss 901 of the output flange 9 and the third rectangular boss 101 of the input support end 1;
the number of teeth of the cycloid gear 4 is odd and is one less than the number of teeth of the pin gear 6 arranged on the shell 5, so that the cycloid gear 4, the shell 5 and the pin gear 6 do planetary deceleration motion with one less tooth difference;
the two cycloid gears 4, the two disc driving members 8, the cylindrical roller 7, the third rectangular boss 101 on the input support end 1 and the second rectangular boss 901 on the output flange 9 form two groups of completely symmetrical structures, and the planetary motion of the two cycloid gears 4 is stably converted into circular motion.
Further, four rectangular holes are symmetrically formed in the disc driving piece 8, wherein two rectangular holes connected with the first rectangular boss are symmetrically formed, and the other two rectangular holes connected with the second rectangular boss and the third rectangular boss are symmetrically formed; the first distance between two rectangular holes connected with the first rectangular boss and the axis is different from the second distance between the other two rectangular holes connected with the second rectangular boss and the third rectangular boss and the axis.
Further, the first distance is less than the second distance, wherein: ((second distance-first distance)/first distance) < locking threshold.
Further, two retainer springs 20 are oppositely arranged, the two retainer springs 20 are respectively located at the large ends of the two needle teeth 6, and needle tooth springs 2001 uniformly distributed on the retainer springs are respectively matched with the large ends of the needle teeth.
Further, the diameter of the large end of the needle tooth is phi 1, and the taper angle of the needle tooth2 degrees, satisfies the self-locking condition:mu is the friction coefficient of the contact surface of the needle tooth groove and the needle tooth.
Further, cylindrical rollers 7 are disposed inside the four rectangular holes on the disc driving member 8, the cylindrical rollers 7 are disposed on one set of symmetrical sides of the rectangular holes, and no cylindrical rollers 7 are disposed on the other set of symmetrical sides.
Further, an odd number of cylindrical rollers are provided inside each side.
Further, two skeleton oil seals 19 are respectively sleeved at both ends of the input crankshaft 2, and two crankshaft support roller bearings 12 are respectively assembled on the input support end 1 and the output flange 9.
Further, the inclination angle of the cylindrical surface of the pin tooth groove is equal to the taper of the pin tooth, and the diameter of an arc obtained at any position of the plane pin tooth groove perpendicular to the axis of the pin tooth groove is equal to the diameter of the corresponding pin tooth end.
Further, a rotating frame oil seal 14 is installed on the bearing cover 11.
Working principle and obvious effect:
the primary transmission mechanism is adopted, a motor shaft can drive an input crankshaft to rotate through a key slot, the rotation of the motor can be transmitted to the input crankshaft through a gear or a toothed belt, a crankshaft support roller bearing is supported on an input support end and an output flange, two cycloid gears are pushed by a cylindrical roller bearing to do planetary motion, one cycloid gear enables the output flange to rotate, and the other cycloid gear enables the input support end to rotate. In addition, the needle teeth of the invention adopt conical needle rollers, and have the advantages of high transmission precision, long service life, low processing requirement and low manufacturing cost.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a cross-sectional view of a conical needle tooth of the present invention;
FIG. 2 is a side view of a retainer spring of the present invention;
FIG. 3 is a schematic side view in partial cross-section of the housing of the present invention;
FIG. 4 is a schematic view of a retainer spring structure according to the present invention;
FIG. 5 is a schematic view of a disc drive of the present invention;
FIG. 6 is a schematic diagram of a cycloidal gear configuration according to the present invention;
FIG. 7 is a schematic view of the input support end structure of the present invention;
FIG. 8 is a schematic diagram of an output flange according to the present invention;
FIG. 9 is a schematic diagram of a combined structure of the present invention;
FIG. 10 is a schematic view of an exploded construction of the present invention;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Reference numerals in fig. 1-10: 1-an input support; 2-input crankshaft; 3-cylindrical roller bearings; 4-cycloidal gears; 5-a housing; 6-needle teeth; 7-cylindrical rollers; 8-a disc drive; 9-an output flange; 10-cylindrical crossed rollers; 11-bearing gland; 12-a crankshaft supporting roller bearing; 14-rotating a framework oil seal; 15-locking a bolt; 16-nut; 17-screws; 18-input support end roller bearings; 19-skeleton oil seal; 20-a retainer ring spring; 401-a first rectangular boss; 901-a second rectangular boss; 101-a third rectangular boss; 2001-needle tooth spring.
The invention discloses a conical needle gear precision cycloidal pin gear speed reducer, which comprises an input support end 1, an input crankshaft 2, a cylindrical roller bearing 3, a cycloidal gear 4, a shell 5, a tooth needle 6, a disc driving piece 8, an output flange 9, a cylindrical crossed roller 10, a bearing gland 11, a crankshaft support roller bearing 12 and a retainer spring 20;
wherein, two ends of the input crankshaft 2 are respectively supported on the input supporting end 1 and the output flange 9 by crankshaft supporting roller bearings 12, and two cylindrical roller bearings 3 are arranged on an eccentric excircle in the middle of the input crankshaft 2; the two cycloid gears 4 are respectively sleeved on the outer sides of the two cylindrical roller bearings 3, the outer tooth surfaces of the cycloid gears are meshed with the pin teeth 6 in the shell 5, the two retainer springs 20 are respectively positioned at the two ends of the two pin teeth 6, the number of the springs uniformly distributed on the retainer springs is equal to that of the pin teeth, and each spring on the retainer springs is matched with the corresponding pin tooth; two first rectangular bosses 401 are respectively arranged at one end of each of the two cycloid gears 4, the two first rectangular bosses 401 are connected with two rectangular holes on two disc driving pieces 8 which are respectively positioned at two sides of the two cycloid gears 4, and the other two rectangular holes on the two disc driving pieces 8 are respectively connected with two second rectangular bosses 901 of an output flange and two third rectangular bosses 101 of an input support end 1, an input support end roller bearing 18 is sleeved at the outer side of the input support end 1, a shell 5 is sleeved at the outer side of the input support end roller bearing 18, a cylindrical crossed roller 10 is sleeved on the output flange 9 and connected with the shell 5 and a bearing gland 11, so that the output flange can bear larger overturning moment; the bearing gland 11 is provided with a rotating framework oil seal 14, and the output flange 9 and the bearing gland 11 are connected with the shell 5 through a locking bolt 15, a nut 16 and a screw 17.
Preferably: cylindrical rollers 7 are arranged on the inner sides of four rectangular holes on the disc transmission piece 8, the cylindrical rollers 7 are arranged on one group of symmetrical edges on the rectangular holes, and the cylindrical rollers 7 are not arranged on the other group of symmetrical edges; preferably: an odd number of cylindrical rollers are provided inside each side, for example: 3;
preferably: the two cycloid gears 4 are oppositely arranged;
preferably: two first rectangular bosses 401 on the cycloid gear 4 are symmetrically arranged; rectangular holes on the disc driving piece 8 are symmetrically arranged; the second rectangular bosses 901 of the output flange are symmetrically arranged; the third rectangular boss 101 of the input support end 1 is symmetrically arranged; the symmetrical bosses form a couple and, by coupling with the disc drive 8, convert the planetary motion of the cycloidal gear 4 into a circular motion.
Preferably: the two disc driving members 8 are respectively arranged at the outer sides of the two cycloidal gears 4;
preferably: four rectangular holes are symmetrically formed in the disc transmission piece 8, wherein two rectangular holes connected with the first rectangular boss are symmetrically formed, and the other two rectangular holes connected with the second rectangular boss and the third rectangular boss are symmetrically formed; wherein: the first distance between two rectangular holes connected with the first rectangular boss and the axis is different from the second distance between the other two rectangular holes connected with the second rectangular boss and the third rectangular boss and the axis; preferably: the first distance is less than the second distance, wherein: ((second distance-first distance)/first distance) < locking threshold; the locking threshold is a preset value, for example: the locking threshold value is equal to 5% -15%; the load of the speed reducer is improved by the arrangement mode of unequal distances, and the load capacity of the disc rotating piece serving as an important component is improved without increasing the manufacturing difficulty;
preferably: the two retainer springs (20) are oppositely arranged, the two retainer springs (20) are respectively positioned at the large ends of the two needle teeth (6), and needle tooth springs (2001) uniformly distributed on the retainer springs are respectively matched with the large ends of the needle teeth;
preferably: the pin teeth (6) are truncated cone shapes with cone tops removed;
each rectangular hole of the disc transmission member 8 is provided with a plurality of cylindrical rollers 7, and the rectangular holes are in rolling fit with the first rectangular boss 401 of the cycloid gear 4, the second rectangular boss 901 of the output flange 9 and the third rectangular boss 101 of the input support end 1, so that friction resistance can be reduced, and the transmission efficiency of the speed reducer is effectively improved; the cylindrical rollers (7) form a sliding bearing 801 with a rectangular boss;
the number of teeth of the cycloid gear 4 is odd, and one less tooth number than the number of teeth of the needle teeth 6 arranged on the shell 5, so that the cycloid gear 4, the shell 5 and the needle teeth 6 do planetary deceleration motion with one less tooth difference.
As shown in fig. 1, the conicity of the needle teeth is 2 degrees, wherein the diameter of the large end of the needle teeth is phi 1;
preferably: taper angle of needle teeth2 degrees, satisfies the self-locking condition: />Mu is the friction coefficient of the contact surface of the needle tooth socket and the needle tooth;
as shown in fig. 2, the diameter of the big end of the needle tooth is represented by phi 1, the diameter of the needle tooth spring (2001) is represented by phi 2, wherein phi 1 is more than phi 2, so that the needle tooth spring (2001) is ensured to be only contacted with the bottom surface of the big end of the tooth needle (6) and can enter a needle tooth groove of the shell (5);
in the side partial cross-sectional configuration of the housing of FIG. 3, an enlarged partial view shows the configuration of the needle slot on the housing;
the included angle between the central line of the conical ruler groove of the shell and the horizontal line is 2 degrees, and the included angle between the generatrix of the conical ruler groove of the shell and the horizontal line is 4 degrees, so that the linear contact between the generatrix of the needle teeth and the contour line of the cycloid gear is ensured; the central holes of the two cycloidal gears are respectively sleeved on the outer sides of the cylindrical roller bearings, the outer tooth surfaces of the two cycloidal gears are respectively meshed with a group of pin teeth which are sleeved in the shell, the taper angle of the pin teeth is 2 degrees, self-locking can be realized, the inclination angle of the cylindrical surface of the pin tooth groove is 4 degrees, and the taper angle of the pin tooth groove is 2 times of that of the pin tooth.
In fig. 4 and 5, the inner diameter of the retainer spring (20) is represented by phi 3, and the diameter of the disc driving member 8 is represented by phi 4, so that the following conditions are satisfied: phi 4 is more than phi 3+2e, e is the eccentricity of the input crankshaft; so as to ensure that the disc driving piece 8 is positioned at the inner side of the inner hole of the retainer ring spring (20) in driving;
as shown in fig. 6-7, when in assembly, 4 prismatic bosses in the drawing pass through prismatic holes correspondingly arranged on the cycloid gear (4), and locking bolts (15) pass through the holes on the prismatic bosses;
as shown in fig. 8, when assembled, 4 prismatic bosses in the figure pass through the prismatic holes of the cycloid gear (4), and the locking bolts (15) pass through the holes on the prismatic bosses;
FIG. 9 shows the central bore of the input crankshaft (2) and the key way on the bore, which accomplishes the power input with the motor shaft by means of the key; the power output is completed through the connection with the flange hole on the output flange (9);
as shown in fig. 10, two skeleton oil seals (19) are respectively sleeved at two ends of the input crankshaft 2, and two crankshaft support roller bearings 12 are respectively assembled on the input support end (1) and the output flange (9);
preferably: the inclination angle of the cylindrical surface of the pin tooth groove is equal to the taper of the pin tooth, and the diameter of an arc obtained at any position of the plane pin tooth groove perpendicular to the axis of the pin tooth groove is equal to the diameter of the corresponding pin tooth end;
the bearing gland (11) is provided with a rotary framework oil seal (14);
the two cycloid gears 4, the two disc driving members 8, the cylindrical roller 7, the third rectangular boss 101 on the input support end 1 and the second rectangular boss 901 on the output flange 9 form two groups of completely symmetrical structures, and the planetary motion of the two cycloid gears 4 is stably converted into circular motion.
The outer side of the input support end 1 is sleeved with a support end roller bearing 18, the shell 5 is sleeved on the outer side of the input support end roller bearing 18, the outer side of the output flange 9 is sleeved with a cylindrical crossed roller 10, and the outer side of the cylindrical crossed roller 10 is sleeved on the bearing gland 11 and is connected with the shell 5 to form a built-in cylindrical crossed roller bearing. The bearing directly acts on the outer circle of the output flange 9, so that the output flange 9 obtains the strongest axial and radial loads and obtains larger anti-overturning force.
The present invention has cylindrical and circular rollers separated from each other to form one radial and axial output bearing structure, and the high speed element of the speed reducing mechanism is supported directly by the roller bearing inside the speed reducer.
Due to the adoption of the unique bearing structure, the cycloidal gear reducer can be manufactured into a reducer with the minimum diameter of 30mm, which is far smaller than the minimum diameter of 122mm of the existing cycloidal gear reducer.
The working principle of the invention is briefly described below: the motor shaft drives the input crankshaft 2 to rotate through a key slot, and the rotation of the motor can be transmitted to the input crankshaft 2 through a gear or a toothed belt, and two ends of the input crankshaft 2 are respectively supported on the input support end 1 and the output flange 9 through two crankshaft support roller bearings 12. After the input crankshaft 2 rotates, the cylindrical roller bearing 3 arranged on the eccentric circle of the input crankshaft 2 pushes the cycloid gear 4 to make the cycloid gear meshed with the conical pin teeth 6 arranged in the shell 5 to perform small tooth difference motion so as to form speed reduction. Two first rectangular bosses 401 on one cycloid gear 4 stir the disc driving piece 8 through the cylindrical rollers 7, and transmit rotation to a second rectangular boss 901 of the output flange 9, so that the output flange 9 rotates, the output flange 9, the cylindrical crossed rollers 10, the bearing gland 11 and the shell 5 form a built-in cylindrical crossed roller bearing, and the built-in cylindrical crossed roller bearing plays a role in supporting the output flange 9 axially and radially; two first rectangular bosses 401 on the other cycloid gear 4 stir the other disc driving piece 8 through the cylindrical roller 7, and transmit the rotation to the third rectangular boss 101 of the input support end 1, so that the input support end 1 rotates, the input support end 1 and the output flange 9 are connected into a whole through a locking bolt 15 and a nut, the output torque is balanced and increased, the input support end 1 is supported on the shell 5 through an input support end roller bearing 18, and a rotating skeleton oil seal 14 is mounted on the bearing gland 11 to play a sealing role on the output flange 9.
It is emphasized that: the above embodiments are only preferred embodiments of the present invention, and therefore, the scope of the present invention is not limited thereto, and all equivalent changes and modifications made by the present invention are included in the scope of the present invention, which is defined by the following claims, and the above embodiments are only for illustrating the technical scheme of the present invention, but not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (1)
1. A conical needle gear precision cycloidal needle gear speed reducer is characterized in that: the device comprises an input support end (1), an input crankshaft (2), a cylindrical roller bearing (3), a cycloid gear (4), a shell (5), pin teeth (6), a disc driving piece (8), an output flange (9), cylindrical crossed rollers (10), a bearing gland (11), a crankshaft support roller bearing (12) and a retainer ring spring (20);
two ends of an input crankshaft (2) are respectively supported on an input supporting end (1) and an output flange (9) by crankshaft supporting roller bearings (12), and two cylindrical roller bearings (3) are arranged on an eccentric excircle in the middle of the input crankshaft (2); the two cycloid gears (4) are respectively sleeved on the outer sides of the two cylindrical roller bearings (3), the outer tooth surfaces of the cycloid gears are meshed with the pin teeth (6) in the shell (5), the two retainer springs (20) are respectively positioned at the two ends of the two pin teeth (6), the number of the springs uniformly distributed on the retainer springs is equal to the number of the pin teeth, and each spring on the retainer springs is meshed with the corresponding pin tooth; one end of each cycloid gear (4) is provided with two first rectangular bosses (401), the two first rectangular bosses (401) are connected with two rectangular holes on two disc driving pieces (8) which are respectively positioned at two sides of the cycloid gears (4), the other two rectangular holes on the two disc driving pieces (8) are respectively connected with two second rectangular bosses (901) of an output flange and two third rectangular bosses (101) of an input support end (1), the outer side of the input support end (1) is sleeved with an input support end roller bearing (18), a shell (5) is sleeved at the outer side of the input support end roller bearing (18), and a cylindrical crossed roller (10) is sleeved on the output flange (9) and connected with the shell (5) and a bearing gland (11);
each rectangular hole of the disc transmission part (8) is provided with a plurality of cylindrical rollers (7), and the rectangular holes of the cylindrical rollers are in rolling fit with a first rectangular boss (401) of the cycloid gear (4), a second rectangular boss (901) of the output flange (9) and a third rectangular boss (101) of the input support end (1);
the number of teeth of the cycloid gear (4) is odd and is one less than that of the pin teeth (6) arranged on the shell (5), so that the cycloid gear (4) and the shell (5) and the pin teeth (6) do planetary deceleration motion with one less tooth difference;
the two cycloid gears (4), the two disc driving pieces (8), the cylindrical roller (7), the third rectangular boss (101) on the input support end (1) and the second rectangular boss (901) on the output flange (9) form two groups of completely symmetrical structures, and the planetary motion of the two cycloid gears (4) is stably converted into circular motion;
four rectangular holes are symmetrically formed in the disc transmission piece (8), wherein two rectangular holes connected with the first rectangular boss are symmetrically formed, and the other two rectangular holes connected with the second rectangular boss and the third rectangular boss are symmetrically formed; wherein: the first distance between two rectangular holes connected with the first rectangular boss and the axis is different from the second distance between the other two rectangular holes connected with the second rectangular boss and the third rectangular boss and the axis; the first distance is less than the second distance, wherein: ((second distance-first distance)/first distance) < locking threshold; the locking threshold value is equal to 5% -15%;
the two retainer springs (20) are oppositely arranged, the two retainer springs (20) are respectively positioned at the large ends of the two needle teeth (6), and needle tooth springs (2001) uniformly distributed on the retainer springs are respectively matched with the large ends of the needle teeth; the pin teeth (6) are truncated cone shapes with cone tops removed; each rectangular hole of the disc transmission part (8) is provided with a plurality of cylindrical rollers (7), and the rectangular holes of the cylindrical rollers are in rolling fit with a first rectangular boss (401) of the cycloid gear (4), a second rectangular boss (901) of the output flange (9) and a third rectangular boss (101) of the input support end (1);
the diameter of the big end of the needle tooth is phi 1, and the taper angle of the needle tooth2 degrees, satisfies the self-locking condition:
mu is the friction coefficient of the contact surface of the needle tooth socket and the needle tooth; the diameter of the large end of the needle tooth is represented by phi 1, the diameter of the needle tooth spring (2001) is represented by phi 2, wherein phi 1>Phi 2, thereby ensuring that the needle tooth spring (2001) is only in contact with the bottom surface of the big end of the needle tooth (6) and can enter the needle tooth groove of the shell (5);
the included angle between the central line of the conical ruler groove of the shell and the horizontal line is 2 degrees, and the included angle between the generatrix of the conical ruler groove of the shell and the horizontal line is 4 degrees, so that the linear contact between the generatrix of the needle teeth and the contour line of the cycloid gear is ensured; the central holes of the two cycloidal gears are respectively sleeved outside the cylindrical roller bearing, the outer tooth surfaces of the two cycloidal gears are respectively meshed with a group of annularly arranged pin teeth sleeved in the shell, the taper angle of the pin teeth is 2 degrees, self-locking can be realized, the inclination angle of the cylindrical surface of the pin tooth groove is 4 degrees, and is 2 times of the taper angle of the pin teeth; the inner diameter of the retainer spring (20) is represented by phi 3, the diameter of the disc driving piece (8) is represented by phi 4, and the requirements are satisfied: phi 4 is more than phi 3+2e, e is the eccentricity of the input crankshaft; so as to ensure that the disc driving piece (8) is positioned at the inner side of the inner hole of the retainer ring spring (20) in driving;
when in assembly, the 4 prismatic bosses penetrate through prismatic holes correspondingly arranged on the cycloid gear (4), and the locking bolts (15) penetrate through the holes on the prismatic bosses; the 4 prismatic bosses penetrate through prismatic holes of the cycloid gear (4), and the locking bolts (15) penetrate through holes in the prismatic bosses;
inputting a central hole of a crankshaft (2) and a key groove on the hole, wherein the central hole is used for finishing power input with a motor shaft through a key; the power output is completed through the connection with the flange hole on the output flange (9); two framework oil seals (19) are respectively sleeved at two ends of an input crankshaft (2), and two crankshaft support roller bearings (12) are respectively assembled on an input support end (1) and an output flange (9); the inclination angle of the cylindrical surface of the pin tooth groove is equal to the taper of the pin tooth, and the diameter of an arc obtained at any position of the plane pin tooth groove perpendicular to the axis of the pin tooth groove is equal to the diameter of the corresponding pin tooth end; the bearing gland (11) is provided with a rotary framework oil seal (14);
the two cycloid gears (4), the two disc driving pieces (8), the cylindrical roller (7), the third rectangular boss (101) on the input support end (1) and the second rectangular boss (901) on the output flange (9) form two groups of completely symmetrical structures, and the planetary motion of the two cycloid gears (4) is stably converted into circular motion; an input support end roller bearing (18) is sleeved on the outer side of the input support end (1), a shell (5) is sleeved on the outer side of the input support end roller bearing (18), a cylindrical crossed roller (10) is sleeved on the outer side of the output flange (9), and the outer side of the cylindrical crossed roller (10) is sleeved on a bearing gland (11) and connected with the shell (5) to form a built-in cylindrical crossed roller bearing; the bearing directly acts on the outer circle of the output flange (9), so that the output flange (9) obtains the strongest axial and radial loads and obtains larger anti-overturning force;
all parts are separated by cylindrical and circular table rollers, so that the radial and axial output bearing structure is formed, the radial and axial output bearing structure is formed into a combined bearing, a high-speed element of the speed reducing mechanism is directly supported by a roller bearing in the speed reducer, the input bearing is allowed to bear radial load from a gear set, and no additional bearing is needed between the speed reducer and a driving element for supporting;
in the working process, a motor shaft drives an input crankshaft (2) to rotate through a key slot, and the rotation of the motor can be transmitted to the input crankshaft (2) through a gear or a toothed belt, and two ends of the input crankshaft (2) are respectively supported on an input support end (1) and an output flange (9) through two crankshaft support roller bearings (12); after the input crankshaft (2) rotates, a cylindrical roller bearing (3) arranged on an eccentric circle of the input crankshaft (2) pushes a cycloid gear (4) to make the cycloid gear and a conical needle tooth (6) arranged in a shell (5) move in a meshing way, and a small tooth difference movement is performed to form speed reduction; two first rectangular bosses (401) on one cycloid gear (4) stir a disc driving part (8) through a cylindrical roller (7) to transmit rotation to a second rectangular boss (901) of an output flange (9), so that the output flange (9) rotates, the output flange (9), a cylindrical crossed roller (10), a bearing gland (11) and a shell (5) form a built-in cylindrical crossed roller bearing, and the built-in cylindrical crossed roller bearing plays a role in supporting the output flange (9) axially and radially; two first rectangular bosses (401) on the other cycloid gear (4) stir the other disc driving medium (8) through the cylindrical roller (7), transmit the rotation to a third rectangular boss (101) of the input support end (1), enable the input support end (1) to rotate, the input support end (1) and the output flange (9) are connected into a whole through a locking bolt (15) and a nut, balance and increase output torque, the input support end (1) is supported on the shell (5) through an input support end roller bearing (18), and a rotating skeleton oil seal (14) is installed on a bearing gland (11) to play a sealing role on the output flange (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451967.1A CN107975566B (en) | 2017-12-28 | 2017-12-28 | Conical needle gear precision cycloidal needle wheel speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451967.1A CN107975566B (en) | 2017-12-28 | 2017-12-28 | Conical needle gear precision cycloidal needle wheel speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107975566A CN107975566A (en) | 2018-05-01 |
| CN107975566B true CN107975566B (en) | 2024-01-09 |
Family
ID=62007873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711451967.1A Active CN107975566B (en) | 2017-12-28 | 2017-12-28 | Conical needle gear precision cycloidal needle wheel speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107975566B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110529559A (en) * | 2018-05-25 | 2019-12-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
| CN113090716B (en) * | 2021-03-25 | 2023-01-31 | 郑州爱丁宝机电科技有限公司 | Fluted disc fixed small tooth difference speed reduction transmission device |
| CN116221345A (en) * | 2023-04-04 | 2023-06-06 | 哈尔滨艾拓普科技有限公司 | Compact floating type precise cycloidal reducer |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1370475A1 (en) * | 1986-06-30 | 1988-01-30 | А.Е.Шаматурин | Equivalent of vibration-testing machine load |
| CN104696460A (en) * | 2015-01-15 | 2015-06-10 | 江苏联合传动设备有限公司 | Bearing speed reducer |
| CN104864040A (en) * | 2015-04-24 | 2015-08-26 | 江苏联合传动设备有限公司 | Speed reducer with planetary gears and cycloidal gear |
| CN105317933A (en) * | 2014-07-29 | 2016-02-10 | 江苏联合传动设备有限公司 | Single cycloidal gear reducer |
| CN106523599A (en) * | 2016-12-20 | 2017-03-22 | 同济大学 | Gear modification method for cycloidal pinwheel transmission device and cycloidal pinwheel transmission device |
| CN207864538U (en) * | 2017-12-28 | 2018-09-14 | 哈工大机器人（合肥）国际创新研究院 | A kind of taper needle tooth accurate cycloid pin gear retarder |
-
2017
- 2017-12-28 CN CN201711451967.1A patent/CN107975566B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1370475A1 (en) * | 1986-06-30 | 1988-01-30 | А.Е.Шаматурин | Equivalent of vibration-testing machine load |
| CN105317933A (en) * | 2014-07-29 | 2016-02-10 | 江苏联合传动设备有限公司 | Single cycloidal gear reducer |
| CN104696460A (en) * | 2015-01-15 | 2015-06-10 | 江苏联合传动设备有限公司 | Bearing speed reducer |
| CN104864040A (en) * | 2015-04-24 | 2015-08-26 | 江苏联合传动设备有限公司 | Speed reducer with planetary gears and cycloidal gear |
| CN106523599A (en) * | 2016-12-20 | 2017-03-22 | 同济大学 | Gear modification method for cycloidal pinwheel transmission device and cycloidal pinwheel transmission device |
| CN207864538U (en) * | 2017-12-28 | 2018-09-14 | 哈工大机器人（合肥）国际创新研究院 | A kind of taper needle tooth accurate cycloid pin gear retarder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107975566A (en) | 2018-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108253090B (en) | Eccentric swing speed reducer | |
| RU2435085C2 (en) | Transmission | |
| CN107975566B (en) | Conical needle gear precision cycloidal needle wheel speed reducer | |
| US20190331199A1 (en) | Multi-crankshaft cycloidal pin wheel reducer | |
| US11835113B2 (en) | Gear pair and nutation reducer | |
| RU2666482C1 (en) | Mechanism for power transmission | |
| CN108368933B (en) | Transmission and drive unit with transmission | |
| JP2018132188A (en) | Rolling element bearing transmission | |
| JP6169004B2 (en) | Eccentric rocking speed reducer | |
| US11168764B2 (en) | Planetary gearbox and associated robot joint and robot | |
| WO2022249700A1 (en) | Reducer | |
| CN114001125B (en) | Ultra-low speed ratio high-rigidity high-precision cycloidal pin gear planetary transmission speed reducer | |
| CN214661788U (en) | Base cycloidal speed reducer for industrial heavy-duty robot | |
| CN113324023B (en) | Zero back clearance cycloid planetary reducer with bidirectional pre-tightening clearance adjustment | |
| US20220373038A1 (en) | Coupling | |
| CN207864538U (en) | A kind of taper needle tooth accurate cycloid pin gear retarder | |
| CN100464089C (en) | New type annular plate type RV actuator | |
| WO2021016783A1 (en) | Planetary gearbox, assembly method thereof, associated robot joint and robot | |
| CN211423281U (en) | Two-stage right-angle planetary reducer | |
| CN219082192U (en) | Planetary gear transmission speed reducer with small tooth difference and internal teeth | |
| RU2725435C1 (en) | Planetary reduction gear | |
| CN117685342A (en) | Transmission mechanism | |
| GB1579380A (en) | Planetary gear mechanism | |
| JP2024092895A (en) | Internally meshing planetary gear device and robot joint device | |
| CN116480759A (en) | Speed reducer with three rows of roller bearings |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220715 Address after: Room 308, building 3, intelligent science park, No. 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province, 230000 Applicant after: Anhui Hagong Zhanlu Technology Equipment Co.,Ltd. Address before: 230601 Building 5, Qidi science and Technology City, Qinghua Road, economic development zone, Hefei City, Anhui Province Applicant before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |