CN108019470A - Combined type cycloid planetary speed reducer - Google Patents

Combined type cycloid planetary speed reducer Download PDF

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CN108019470A
CN108019470A CN201711436001.0A CN201711436001A CN108019470A CN 108019470 A CN108019470 A CN 108019470A CN 201711436001 A CN201711436001 A CN 201711436001A CN 108019470 A CN108019470 A CN 108019470A
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pin
teeth
cycloidal
hole
pin tooth
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毛贺
王钰堃
何凯
柳冠伊
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • F16H2001/323Toothed 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

本发明属于减速器技术领域,尤其涉及一种复合式摆线行星减速器,包括输入轴、曲柄轴、针齿保持架、行星架、输出盘和摆线外壳,针齿保持架设有针齿、中心通孔和偏心轴孔;输入轴设有主动齿轮且穿过中心通孔;曲柄轴设有行星齿轮和偏心轴,偏心轴穿过偏心轴孔与偏心轴孔的孔壁之间设有第一轴承,行星齿轮与主动齿轮相啮合传动;行星架和输出盘均套设于输入轴外,行星架通过第二轴承与曲柄轴连接,输出盘通过第三轴承与曲柄轴连接;摆线外壳设于针齿保持架外并分别通过第四轴承和第五轴承与行星架和输出盘连接,摆线外壳上设有与针齿啮合连接的摆线轮齿。本发明的复合式摆线行星减速器具有传动效率高、装配维护方便以及加工成本低的优点。

The invention belongs to the technical field of reducers, and in particular relates to a composite cycloidal planetary reducer, which includes an input shaft, a crankshaft, a pin tooth cage, a planetary frame, an output disc and a cycloid housing, and the pin tooth cage is provided with pin teeth, The central through hole and the eccentric shaft hole; the input shaft is provided with a driving gear and passes through the central through hole; the crank shaft is provided with a planetary gear and an eccentric shaft, and the eccentric shaft passes through the eccentric shaft hole and a second hole is provided between the wall of the eccentric shaft hole. One bearing, the planetary gear and the driving gear are meshed for transmission; the planet carrier and the output disc are both sleeved outside the input shaft, the planet carrier is connected to the crank shaft through the second bearing, and the output disc is connected to the crank shaft through the third bearing; the cycloidal shell It is arranged outside the pin-tooth cage and connected to the planetary carrier and the output disk through the fourth bearing and the fifth bearing respectively. The cycloidal housing is provided with cycloid gear teeth meshing with the pin-tooth. The compound cycloidal planetary reducer of the present invention has the advantages of high transmission efficiency, convenient assembly and maintenance, and low processing cost.

Description

复合式摆线行星减速器Compound cycloidal planetary reducer

技术领域technical field

本发明属于减速器技术领域,尤其涉及一种复合式摆线行星减速器。The invention belongs to the technical field of reducers, in particular to a compound cycloidal planetary reducer.

背景技术Background technique

齿轮减速器是一种传动装置,常用于原动机和工作机或执行机构之间,起着降低转速或增大扭矩的作用,在现代机械中应用极为广泛。齿轮减速器一般由齿轮、轴、轴承及箱体组成,其性能的优劣与功效的高低直接影响整个机器的运转。减小减速器体积,增大其承载能力一直是减速器设计的重要目标。当前,迅速发展的机器人、数控机床、医疗设备、军工及自动化设备等领域对减速器提出了更高的要求,高承载能力、高精度、高速度、高可靠性、高传动效率、低噪声、低成本,长寿命的减速器越来越受到这些行业的青睐。The gear reducer is a transmission device, which is often used between the prime mover and the working machine or the actuator to reduce the speed or increase the torque. It is widely used in modern machinery. Gear reducers are generally composed of gears, shafts, bearings and boxes, and their performance and efficacy directly affect the operation of the entire machine. Reducing the volume of the reducer and increasing its carrying capacity has always been an important goal in the design of the reducer. At present, the rapid development of robots, CNC machine tools, medical equipment, military and automation equipment and other fields put forward higher requirements for reducers, high load capacity, high precision, high speed, high reliability, high transmission efficiency, low noise, Low-cost, long-life reducers are increasingly favored by these industries.

摆线行星减速器主要采用减速器中间的外摆线轮与针齿壳内侧的针齿(或者是针齿保持架固定的针齿)进行啮合实现偏心行星传动。具有传动比范围大、运动精度高、回差小、刚度大、抗冲击能力强、体积小、结构紧凑及传动效率高等优异性能。目前,摆线轮是摆线行星减速器的关键零部件。摆线轮的精度和性能直接决定整个减速器的性能。但是摆线轮的加工要求极高,传统的摆线针轮行星减速器中摆线型齿轮位于减速器壳体内,尺寸比较小,加工困难;并且加工的是摆线轮的外齿廓,加工时装夹和定位比较困难。摆线轮的加工难度大,就无法做成标准件,不能很好地系列化和标准化,从而不利于摆线针轮行星减速器的模块化设计,限制了减速器的更新和改进。The cycloid planetary reducer mainly uses the epicycloid wheel in the middle of the reducer to mesh with the pin teeth inside the pin gear housing (or the pin teeth fixed by the pin tooth cage) to realize eccentric planetary transmission. It has excellent performances such as large transmission ratio range, high motion precision, small hysteresis, high rigidity, strong impact resistance, small volume, compact structure and high transmission efficiency. At present, the cycloid wheel is the key component of the cycloid planetary reducer. The accuracy and performance of the cycloidal wheel directly determine the performance of the entire reducer. However, the processing requirements of the cycloidal wheel are extremely high. In the traditional cycloidal pin wheel planetary reducer, the cycloidal gear is located in the reducer housing, the size is relatively small, and processing is difficult; and the external tooth profile of the cycloidal wheel is processed. Processing Fashion clips and positioning are more difficult. Cycloidal wheels are difficult to process, so they cannot be made into standard parts, and cannot be well serialized and standardized, which is not conducive to the modular design of cycloidal pin wheel planetary reducers, and limits the update and improvement of reducers.

目前,市面上主流的摆线行星减速器主要是通过摆线轮和针轮之间的啮合,通过摆线针轮行星传动原理降低转速、增大扭矩。主流的摆线行星减速器主要是通过装在曲柄轴(或者偏心套)上的两个成180°错位的摆线轮与安装在针齿壳(或者针齿套)上的针齿相啮合来实现传动和减速的。当曲柄轴(或者偏心套)旋转一周时,由于摆线齿廓受到针齿壳上针齿的限制,摆线轮的运动在其运动平面内既有公转又有自传。当曲柄轴(或者偏心套)顺时针旋转一周时,摆线轮于相反方向转过一个齿从而实现减速。At present, the mainstream cycloid planetary reducer on the market mainly reduces the speed and increases the torque through the meshing between the cycloid wheel and the pin wheel, and through the principle of cycloid pin wheel planetary transmission. The mainstream cycloidal planetary reducer is mainly achieved by meshing two 180° misaligned cycloidal wheels mounted on the crankshaft (or eccentric sleeve) with the pin teeth installed on the pin gear housing (or pin gear sleeve). Realize transmission and deceleration. When the crankshaft (or eccentric sleeve) rotates once, because the cycloid profile is limited by the pin teeth on the pin gear housing, the motion of the cycloid wheel has both revolution and autotransmission in its motion plane. When the crankshaft (or eccentric sleeve) rotates clockwise for one revolution, the cycloid rotates one tooth in the opposite direction to achieve deceleration.

目前主流摆线减速器主要存在以下缺点:(1)传统的摆线针轮行星减速器中摆线型齿轮位于减速器壳体内,摆线轮整体尺寸比较小,加工困难;并且在加工摆线轮的外齿廓时,装夹和定位比较困难。其次,不同型号的减速器对应不同尺寸的摆线轮,难以形成系列化,减速器关键部件摆线轮的互换性差,标准化困难,不利于减速器的模块化设计,从而限制了减速器的更新设计。(2)摆线行星传动是通过摆线轮与针齿壳内侧沟槽内针齿的啮合摩擦实现的传动。传动过程是通过摆线轮与针齿之间的滚动摩擦和针齿与针齿壳内侧沟槽之间的滑动摩擦实现传动。啮合传动过程既存在滑动摩擦又存在滚动摩擦,由于摩擦耗能而影响摆线减速器的传动效率。(3)由于针齿是在针齿壳上的内侧沟槽内转动的,两者之间做纯滑动摩擦,所以针齿外表面和针齿壳内侧沟槽的加工精度将严重影响整个传动过程中的摩擦力和效率。因此针齿和针齿壳内侧沟槽需要较高的加工精度,加工精度的提高必然会提高整个减速机的加工成本。(4)由于针齿在针齿壳内侧沟槽内滑动,所以必然存在间隙。间隙的存在又导致高速转动的摆线轮与针齿啮合时产生碰撞,从而导致振动和噪声。在理论研究中还发现因为间隙和碰撞而导致针齿出现应力峰值,容易造成针齿的破损,最终导致减速器的损坏。At present, the mainstream cycloidal reducer mainly has the following disadvantages: (1) The cycloidal gear in the traditional cycloidal pin wheel planetary reducer is located in the reducer housing, the overall size of the cycloidal wheel is relatively small, and it is difficult to process; When the outer tooth profile of the wheel is used, the clamping and positioning are more difficult. Secondly, different types of reducers correspond to different sizes of cycloidal wheels, which is difficult to form serialization. The interchangeability of the key components of the reducer is poor, and standardization is difficult, which is not conducive to the modular design of the reducer, thus limiting the use of the reducer. Updated design. (2) Cycloidal planetary transmission is a transmission realized by the meshing friction between the cycloidal wheel and the pin teeth in the inner groove of the pin gear housing. The transmission process is realized through the rolling friction between the cycloidal wheel and the pin teeth and the sliding friction between the pin teeth and the inner groove of the pin gear housing. There are both sliding friction and rolling friction in the meshing transmission process, which affects the transmission efficiency of the cycloid reducer due to frictional energy consumption. (3) Since the pin teeth rotate in the inner groove on the pin gear housing, there is pure sliding friction between the two, so the machining accuracy of the outer surface of the pin gear and the inner groove of the pin gear housing will seriously affect the entire transmission process Friction and efficiency in . Therefore, the pin teeth and the inner groove of the pin gear housing require higher machining accuracy, and the improvement of machining accuracy will inevitably increase the machining cost of the entire reducer. (4) Since the pin teeth slide in the groove inside the pin gear housing, there must be a gap. The existence of the gap causes the high-speed rotating cycloidal wheel to collide with the pin teeth, resulting in vibration and noise. In the theoretical research, it is also found that the pin teeth have stress peaks due to gaps and collisions, which are easy to cause damage to the pin teeth, and eventually lead to damage to the reducer.

发明内容Contents of the invention

本发明的目的在于提供一种复合式摆线行星减速器,旨在解决现有技术中的摆线减速器存在传动效率低、装配维护不便以及加工成本高的技术问题。The object of the present invention is to provide a compound cycloidal planetary reducer, aiming at solving the technical problems of low transmission efficiency, inconvenient assembly and maintenance and high processing cost in the prior art.

为实现上述目的,本发明采用的技术方案是:一种复合式摆线行星减速器,包括输入轴、曲柄轴、针齿保持架、行星架、输出盘和摆线外壳,所述针齿保持架的外圆周壁上设有若干环形均布的针齿,且所述针齿保持架上设有中心通孔和偏心轴孔;所述输入轴上设有主动齿轮,所述输入轴穿过所述中心通孔并与所述中心通孔之间形成运动间隙;所述曲柄轴上设有行星齿轮和相对于所述曲柄轴的中心轴线偏心设置的偏心轴,所述偏心轴穿过所述偏心轴孔,且所述偏心轴与所述偏心轴孔的孔壁之间设有第一轴承,所述行星齿轮与所述主动齿轮相啮合传动;In order to achieve the above purpose, the technical solution adopted by the present invention is: a compound cycloidal planetary reducer, including an input shaft, a crankshaft, a pin tooth cage, a planetary carrier, an output disc and a cycloid housing, and the pin teeth hold The outer peripheral wall of the frame is provided with a number of ring-shaped evenly distributed pin teeth, and the pin tooth holder is provided with a central through hole and an eccentric shaft hole; the input shaft is provided with a driving gear, and the input shaft passes through The central through hole forms a movement gap with the central through hole; the crank shaft is provided with a planetary gear and an eccentric shaft eccentrically arranged with respect to the central axis of the crank shaft, and the eccentric shaft passes through the The eccentric shaft hole, and a first bearing is provided between the eccentric shaft and the hole wall of the eccentric shaft hole, and the planetary gear is meshed with the driving gear for transmission;

所述行星架和所述输出盘均套设于所述输入轴之外,且所述行星架与所述输出盘固定连接并分别位于所述摆线外壳的相对两侧,所述行星架通过第二轴承与所述曲柄轴连接,所述输出盘通过第三轴承与所述曲柄轴连接;Both the planet carrier and the output disk are sleeved outside the input shaft, and the planet carrier is fixedly connected to the output disk and are respectively located on opposite sides of the cycloid housing, and the planet carrier passes through the second bearing is connected to the crankshaft, and the output disc is connected to the crankshaft through a third bearing;

所述摆线外壳设于所述针齿保持架外并分别通过第四轴承和第五轴承与所述行星架和所述输出盘连接,且所述摆线外壳的内圆周壁上设有若干与各所述针齿啮合连接的摆线轮齿。The cycloid housing is arranged outside the pin tooth cage and is respectively connected to the planet carrier and the output disk through the fourth bearing and the fifth bearing, and the inner peripheral wall of the cycloid housing is provided with several Cycloid gear teeth meshingly connected with each of the needle teeth.

优选地,所述针齿保持架的外圆周壁上设有若干环形均布的针齿槽,各所述针齿分别容置于各所述针齿槽内。Preferably, the outer peripheral wall of the pin tooth holder is provided with a plurality of annular and evenly distributed pin tooth slots, and each of the pin teeth is respectively accommodated in each of the pin tooth slots.

优选地,各所述针齿与所述针齿保持架一体成型。Preferably, each of the pin teeth is integrally formed with the pin tooth holder.

优选地,各所述针齿为所述针齿保持架的外圆周壁上形成的呈摆线形的弧形凸起。Preferably, each of the pin teeth is a cycloidal arc-shaped protrusion formed on the outer peripheral wall of the pin tooth holder.

优选地,各所述针齿均设于所述针齿保持架的外圆周壁上并间隔均布,且各所述针齿均通过销轴与所述针齿保持架滚动连接。Preferably, each of the pin teeth is arranged on the outer peripheral wall of the pin tooth cage and spaced evenly, and each of the pin teeth is rollingly connected with the pin tooth cage through a pin shaft.

优选地,所述曲柄轴上设有渐开线花键轴,所述行星齿轮上设有渐开线花键毂,所述行星齿轮与所述曲柄轴通过所述渐开线花键毂与所述渐开线花键轴的配合实现连接。Preferably, the crankshaft is provided with an involute spline shaft, and the planetary gear is provided with an involute spline hub, and the planetary gear and the crankshaft are connected through the involute spline hub and The cooperation of the involute spline shaft realizes the connection.

优选地,所述曲柄轴的数量为多个,且多个所述曲柄轴绕所述输入轴的中心轴线呈圆周均匀分布。Preferably, there are multiple crankshafts, and the crankshafts are evenly distributed around the central axis of the input shaft.

优选地,所述曲柄轴的数量为两个,两个所述曲柄轴相对于所述输入轴的中心轴线对称设置。Preferably, there are two crankshafts, and the two crankshafts are arranged symmetrically with respect to the central axis of the input shaft.

优选地,各所述曲柄轴上均设置有两个所述偏心轴,且各所述曲柄轴上的两个所述偏心轴的偏心方向呈180°背离,所述针齿保持架的数量为两个,各所述曲柄轴上的两个所述偏心轴分别穿过两个所述针齿保持架的所述偏心轴孔对应。Preferably, two eccentric shafts are arranged on each of the crank shafts, and the eccentric directions of the two eccentric shafts on each of the crank shafts deviate from each other by 180°, and the number of the pin tooth cages is Two, the two eccentric shafts on each of the crankshafts respectively pass through the eccentric shaft holes of the two pin tooth cages.

优选地,所述行星架上设有多个连接孔柱,所述输出盘上设有多个连接通孔,所述针齿保持架上设有多个避让通孔,各所述连接孔柱一一对应地穿过各所述避让通孔,且各所述连接孔柱与各所述连接通孔一一对应并通过连接螺栓穿过所述连接通孔与所述连接孔柱锁紧连接。Preferably, the planet carrier is provided with a plurality of connection holes, the output disk is provided with a plurality of connection through holes, and the pin tooth cage is provided with a plurality of avoidance through holes, each of the connection holes One-to-one correspondence passes through each of the avoidance through holes, and each of the connecting hole posts corresponds to each of the connecting through holes, and the connecting bolts pass through the connecting through holes and are locked and connected with the connecting hole posts.

本发明的有益效果:本发明的复合式摆线行星减速器,输入轴输入转速和转矩带动输入轴转动,从而带动主动齿轮转动,主动齿轮啮合传动曲柄轴上的行星齿轮,由于行星齿轮与主动齿轮之间的传动比大于1,即行星齿轮的齿数大于主动齿轮的齿数,从而主动齿轮与行星齿轮之间实现第一级减速,然后行星齿轮带动曲柄轴绕自身中心轴线自转,在曲柄轴自转过程中,则曲柄轴上的偏心轴绕曲柄轴的中心轴线自转,由于偏心轴的自转运动,且偏心轴通过第一轴承与针齿保持架连接,从而带动针齿保持架绕输入轴的中心轴线在预定的轨迹上实现偏心公转,此时,在针齿保持架进行偏心公转的过程中,针齿保持架上设置的针齿在偏心的方向上与摆线外壳上设置的相应的摆线轮齿相啮合,啮合过程产生作用力和反作用力,实现针齿保持架和针齿在输入轴的中轴线的自转和公转,并将针齿保持架的自转通过曲柄轴的偏心轴传递到输出盘和行星架,实现第二级行星减速。Beneficial effects of the present invention: In the composite cycloidal planetary reducer of the present invention, the input shaft input speed and torque drive the input shaft to rotate, thereby driving the driving gear to rotate, and the driving gear meshes with the planetary gear on the drive crank shaft. The transmission ratio between the driving gears is greater than 1, that is, the number of teeth of the planetary gear is greater than the number of teeth of the driving gear, so that the first stage of deceleration is realized between the driving gear and the planetary gear, and then the planetary gear drives the crankshaft to rotate around its own central axis. During the rotation process, the eccentric shaft on the crankshaft rotates around the central axis of the crankshaft. Due to the rotation movement of the eccentric shaft, and the eccentric shaft is connected with the pin tooth cage through the first bearing, it drives the pin tooth cage around the input shaft. The central axis realizes the eccentric revolution on the predetermined trajectory. At this time, during the eccentric revolution of the pin tooth cage, the pin teeth set on the pin tooth cage will align with the corresponding pendulum set on the cycloid housing in the eccentric direction. The wire gear teeth are meshed, and the meshing process produces action force and reaction force to realize the rotation and revolution of the pin tooth cage and the pin teeth on the central axis of the input shaft, and transmit the rotation of the pin tooth cage to the crank shaft through the eccentric shaft of the crankshaft The output disk and the planet carrier realize the second-stage planetary reduction.

本发明的复合式摆线行星减速器,其第一级为渐开线行星齿轮传动机构,第二级为针齿保持架的针齿和摆线外壳的摆线轮齿的啮合传动机构,如此形成两级传动减速,传动效率高,并且整个减速器在设计制造中可以形成系列化、标准化和模块化,便于安装、装配和维护,大大地将其加工成本。In the composite cycloidal planetary reducer of the present invention, the first stage is the involute planetary gear transmission mechanism, and the second stage is the meshing transmission mechanism between the pin teeth of the pin tooth cage and the cycloid gear teeth of the cycloid housing, so Two-stage transmission reduction is formed, the transmission efficiency is high, and the design and manufacture of the entire reducer can be serialized, standardized and modularized, which is convenient for installation, assembly and maintenance, and greatly reduces its processing cost.

附图说明Description of drawings

为了更清楚地说明本发明实施例中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

图1为本发明实施例提供的复合式摆线行星减速器的轴测图。Fig. 1 is an axonometric view of a compound cycloidal planetary reducer provided by an embodiment of the present invention.

图2为本发明实施例提供的复合式摆线行星减速器的四分之一剖视图。Fig. 2 is a quarter sectional view of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图3为本发明实施例提供的复合式摆线行星减速器的结构分解示意图。Fig. 3 is an exploded schematic diagram of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图4为本发明实施例提供的复合式摆线行星减速器的主视图。Fig. 4 is a front view of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图5为沿图4中A-A线的剖视图。Fig. 5 is a sectional view along line A-A in Fig. 4 .

图6为本发明实施例提供的复合式摆线行星减速器的侧视图。Fig. 6 is a side view of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图7为沿图6中B-B线的剖视图。Fig. 7 is a sectional view along line B-B in Fig. 6 .

图8为沿图6中C-C线的剖视图。Fig. 8 is a sectional view along line C-C in Fig. 6 .

图9为本发明实施例提供的复合式摆线行星减速器的摆线外壳的结构示意图。Fig. 9 is a schematic structural view of the cycloid housing of the compound cycloid planetary reducer provided by the embodiment of the present invention.

图10为本发明实施例提供的复合式摆线行星减速器的行星架的结构示意图。Fig. 10 is a schematic structural view of the planet carrier of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图11为本发明实施例提供的复合式摆线行星减速器的输出盘的结构示意图。Fig. 11 is a schematic structural view of the output disc of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图12为本发明实施例提供的复合式摆线行星减速器的输入轴的结构示意图。Fig. 12 is a schematic structural view of the input shaft of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图13为本发明实施例提供的复合式摆线行星减速器的曲柄轴的结构示意图。Fig. 13 is a schematic structural view of the crankshaft of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图14为本发明实施例提供的复合式摆线行星减速器的行星齿轮的结构示意图。Fig. 14 is a structural schematic diagram of the planetary gear of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图15为本发明实施例提供的复合式摆线行星减速器的针齿保持架的第一种实施方式的结构示意图。Fig. 15 is a schematic structural view of the first embodiment of the pin tooth cage of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图16为本发明实施例提供的复合式摆线行星减速器的针齿保持架的第二种实施方式的结构示意图。Fig. 16 is a schematic structural view of the second embodiment of the pin tooth cage of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

图17为本发明实施例提供的复合式摆线行星减速器的针齿保持架的第三种实施方式的结构示意图。Fig. 17 is a schematic structural view of the third implementation of the pin tooth cage of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

其中,图中各附图标记:Wherein, each reference sign in the figure:

1—第一轴承 2—第二轴承 3—第三轴承1—First bearing 2—Second bearing 3—Third bearing

4—第四轴承 5—第五轴承 10—输入轴4—fourth bearing 5—fifth bearing 10—input shaft

11—主动齿轮 20—曲柄轴 21—渐开线花键轴11—drive gear 20—crank shaft 21—involute spline shaft

22—偏心轴 30—针齿保持架 31—针齿槽22—eccentric shaft 30—needle cage 31—needle groove

32—销轴 33—中心通孔 34—偏心轴孔32—pin shaft 33—center through hole 34—eccentric shaft hole

35—避让通孔 40—行星架 41—连接孔柱35—avoidance through hole 40—planet carrier 41—connecting hole column

42—行星架轴孔 43—主动齿轮腔 44—行星架轴承孔42—Planet carrier shaft hole 43—Drive gear cavity 44—Planet carrier bearing hole

45—行星齿轮腔 50—输出盘 51—输出盘轴孔45—planetary gear cavity 50—output disc 51—output disc shaft hole

52—输出盘轴承孔 53—连接通孔 60—摆线外壳52—Output plate bearing hole 53—Connection through hole 60—Cycloid housing

61—摆线轮齿 70—针齿 80—行星齿轮61—cycloid gear 70—needle 80—planetary gear

81—渐开线花键毂 90—密封圈 91—密封件槽。81—involute spline hub 90—sealing ring 91—seal groove.

具体实施方式Detailed ways

下面详细描述本发明的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图1~17描述的实施例是示例性的,旨在用于解释本发明,而不能理解为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings 1 to 17 are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

在本发明的描述中,需要理解的是,术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the invention.

此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

在本发明中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

如图1~5所示,本发明实施例提供的一种复合式摆线行星减速器,包括输入轴10、曲柄轴20、针齿保持架30、行星架40、输出盘50和摆线外壳60,所述针齿保持架30的外圆周壁上设有若干环形均布的针齿70,且所述针齿保持架30上设有中心通孔33和偏心轴孔34;所述输入轴10上设有主动齿轮11,所述输入轴10穿过所述中心通孔33并与所述中心通孔33之间形成运动间隙;所述曲柄轴20上设有行星齿轮80和相对于所述曲柄轴20的中心轴线偏心设置的偏心轴22,所述偏心轴22穿过所述偏心轴孔34,且所述偏心轴22与所述偏心轴孔34的孔壁之间设有第一轴承1,所述行星齿轮80与所述主动齿轮11相啮合传动。As shown in Figures 1 to 5, a compound cycloidal planetary reducer provided by the embodiment of the present invention includes an input shaft 10, a crankshaft 20, a needle cage 30, a planetary carrier 40, an output disc 50 and a cycloid housing 60, the outer peripheral wall of the pin tooth cage 30 is provided with a number of annular uniform pin teeth 70, and the pin tooth cage 30 is provided with a central through hole 33 and an eccentric shaft hole 34; the input shaft 10 is provided with a drive gear 11, the input shaft 10 passes through the central through hole 33 and forms a movement gap with the central through hole 33; the crankshaft 20 is provided with a planetary gear 80 and relative to the The central axis of the crankshaft 20 is eccentrically arranged eccentric shaft 22, the eccentric shaft 22 passes through the eccentric shaft hole 34, and a first Bearing 1, the planetary gear 80 is meshed with the driving gear 11 for transmission.

进一步地,如图5所示,所述行星架40和所述输出盘50均套设于所述输入轴10之外,且所述行星架40与所述输出盘50固定连接并分别位于所述摆线外壳60的相对两侧,所述行星架40通过第二轴承2与所述曲柄轴20连接,所述输出盘50通过第三轴承3与所述曲柄轴20连接。Further, as shown in FIG. 5 , both the planet carrier 40 and the output disk 50 are sleeved outside the input shaft 10 , and the planet carrier 40 is fixedly connected to the output disk 50 and are respectively located at the The planet carrier 40 is connected to the crankshaft 20 through the second bearing 2 , and the output disk 50 is connected to the crankshaft 20 through the third bearing 3 .

进一步地,如图5所示,所述摆线外壳60设于所述针齿保持架30外并分别通过第四轴承4和第五轴承5与所述行星架40和所述输出盘50连接,且所述摆线外壳60的内圆周壁上设有若干与各所述针齿70啮合连接的摆线轮齿61。Further, as shown in FIG. 5 , the cycloid housing 60 is arranged outside the pin tooth cage 30 and is connected to the planet carrier 40 and the output disk 50 through the fourth bearing 4 and the fifth bearing 5 respectively. , and the inner peripheral wall of the cycloid housing 60 is provided with a plurality of cycloid gear teeth 61 meshingly connected with each of the needle teeth 70 .

本发明实施例的复合式摆线行星减速器,其第一级为渐开线行星齿轮80传动机构,第二级为针齿保持架30的针齿70和摆线外壳60的摆线轮齿61的啮合传动机构,如此形成两级传动减速,传动效率高,并且整个减速器在设计制造中可以形成系列化、标准化和模块化,便于安装、装配和维护,大大地将其加工成本。In the compound cycloidal planetary reducer of the embodiment of the present invention, the first stage is the involute planetary gear 80 transmission mechanism, and the second stage is the pin teeth 70 of the pin tooth cage 30 and the cycloid gear teeth of the cycloid housing 60 The meshing transmission mechanism of 61 forms a two-stage transmission reduction in this way, and the transmission efficiency is high, and the design and manufacture of the entire reducer can be serialized, standardized and modularized, which is convenient for installation, assembly and maintenance, and greatly reduces its processing cost.

具体地,应用本实施例的复合式摆线行星减速器进行减速传动工作过程中,通过输入轴10输入转速和转矩而带动输入轴10转动,从而带动主动齿轮11转动,主动齿轮11啮合传动曲柄轴20上的行星齿轮80,由于行星齿轮80与主动齿轮11之间的传动比大于1,即行星齿轮80的齿数大于主动齿轮11的齿数,从而主动齿轮11与行星齿轮80之间实现第一级减速,然后行星齿轮80带动曲柄轴20绕自身中心轴线自转,在曲柄轴20自转过程中,则曲柄轴20上的偏心轴22绕曲柄轴20的中心轴线自转,由于偏心轴22的自转运动,且偏心轴22通过第一轴承1与针齿保持架30连接,从而带动针齿保持架30绕输入轴10的中心轴线在预定的轨迹上实现偏心公转,此时,在针齿保持架30进行偏心公转的过程中,针齿保持架30上设置的针齿70在偏心的方向上与摆线外壳60上设置的相应的摆线轮齿61相啮合,啮合过程产生作用力和反作用力,实现针齿保持架30和针齿70在输入轴10的中轴线的自转和公转,并将针齿保持架30的自转通过曲柄轴20的偏心轴22传递到输出盘50和行星架40,实现第二级行星减速。Specifically, in the application of the composite cycloidal planetary reducer of this embodiment to the reduction transmission process, the input shaft 10 is driven to rotate through the input speed and torque of the input shaft 10, thereby driving the driving gear 11 to rotate, and the driving gear 11 meshes to drive The planetary gear 80 on the crank shaft 20, because the transmission ratio between the planetary gear 80 and the driving gear 11 is greater than 1, that is, the number of teeth of the planetary gear 80 is greater than the number of teeth of the driving gear 11, thereby realizing the first gear between the driving gear 11 and the planetary gear 80. One-stage deceleration, then the planetary gear 80 drives the crankshaft 20 to rotate around its central axis. During the rotation of the crankshaft 20, the eccentric shaft 22 on the crankshaft 20 rotates around the central axis of the crankshaft 20. Due to the rotation of the eccentric shaft 22 movement, and the eccentric shaft 22 is connected to the pin tooth cage 30 through the first bearing 1, thereby driving the pin tooth cage 30 to realize eccentric revolution around the central axis of the input shaft 10 on a predetermined track. At this time, the pin tooth cage 30 in the process of eccentric revolution, the pin teeth 70 set on the pin tooth cage 30 mesh with the corresponding cycloid gear teeth 61 set on the cycloid housing 60 in the eccentric direction, and the meshing process produces action force and reaction force , to realize the rotation and revolution of the pintooth cage 30 and the pintooth 70 on the central axis of the input shaft 10, and transmit the rotation of the pintooth cage 30 to the output disc 50 and the planetary carrier 40 through the eccentric shaft 22 of the crankshaft 20, Realize the second stage of planetary deceleration.

也就是说,本实施例的复合式摆线行星减速器的复合式是指第一级为渐开线行星齿轮80传动与第二级为针齿70与摆线轮齿61之间的行星传动复合在一起制成的减速器。That is to say, the compound type of the compound cycloidal planetary reducer in this embodiment refers to the planetary transmission between the first stage of the involute planetary gear 80 and the second stage of the planetary transmission between the needle teeth 70 and the cycloidal gear teeth 61. A reducer made by compounding together.

更具体地,本实施例的复合式摆线行星减速器在传动过程中,可以实现多种输出形式:当固定摆线外壳60时,通过啮合过程中针齿保持架30和针齿70与摆线外壳60的摆线轮齿61的作用力与反作用力,通过针齿保持架30的自转,带动输出盘50和行星架40转动输出,输出转动方向与输入方向相同。当输出盘50和行星架40固定时,通过啮合过程中针齿保持架30和针齿70与摆线外壳60的线轮齿的作用力与反作用力,带动摆线外壳60转动输出,输出转动方向与输入方向相反。如此便可以实现多种输出形式。More specifically, the compound cycloidal planetary reducer of this embodiment can realize various output forms during the transmission process: when the cycloidal housing 60 is fixed, the needle tooth cage 30 and the needle teeth 70 and the pendulum are engaged during the meshing process. The action force and reaction force of the cycloid gear teeth 61 of the wire housing 60, through the rotation of the pin tooth cage 30, drive the output disk 50 and the planet carrier 40 to rotate and output, and the output rotation direction is the same as the input direction. When the output disc 50 and the planet carrier 40 are fixed, the cycloidal housing 60 is driven to rotate and output through the force and reaction force of the pin tooth cage 30 and the pin teeth 70 and the wire gear teeth of the cycloidal housing 60 during the meshing process, and the output rotates The direction is opposite to the input direction. In this way, various output forms can be realized.

本实施例的复合式摆线行星减速器适用于单齿差和多齿差等多种摆线减速器结构。同样可以应用于机器人用RV减速器、2KV减速器、二齿差摆线行星减速器、多齿差摆线行星减速器等其他具有摆线齿形的减速器。The compound cycloidal planetary reducer of this embodiment is suitable for various cycloidal reducer structures such as single tooth difference and multi-tooth difference. It can also be applied to RV reducers for robots, 2KV reducers, two-tooth difference cycloid planetary reducers, multi-tooth difference cycloid planetary reducers and other reducers with cycloid tooth shapes.

进一步地,如图10~11和图15~17所示,行星架40上与主动齿轮11、行星齿轮80对应的位置开设有避让主动齿轮11、行星齿轮80的主动齿轮腔43和行星齿轮腔45。同时,行星架40上设有供输入轴10穿设的行星架轴孔42以及供第二轴承2安装的行星架轴承孔44。同样,输出盘50上设有供输入轴10穿设的输出盘轴孔51以及供第三轴承3安装的输出盘轴承孔52。Further, as shown in Figures 10-11 and Figures 15-17, the positions corresponding to the driving gear 11 and the planetary gear 80 on the planet carrier 40 are provided with the driving gear chamber 43 and the planetary gear chamber for avoiding the driving gear 11 and the planetary gear 80 45. Meanwhile, the planet carrier 40 is provided with a planet carrier shaft hole 42 through which the input shaft 10 passes and a planet carrier bearing hole 44 for installing the second bearing 2 . Similarly, the output disc 50 is provided with an output disc shaft hole 51 through which the input shaft 10 passes and an output disc bearing hole 52 for installing the third bearing 3 .

更进一步地,如图4~5所示,行星架40与摆线外壳60之间还形成的密封件槽91,密封件槽91内设有密封圈90。Furthermore, as shown in FIGS. 4-5 , a seal groove 91 is formed between the planet carrier 40 and the cycloid housing 60 , and a seal ring 90 is disposed in the seal groove 91 .

本实施例中,如图5和图15所示,针齿70与针齿保持架30连接的第一种实施方式是:所述针齿保持架30的外圆周壁上设有若干环形均布的针齿槽31,各所述针齿70分别容置于各所述针齿槽31内。具体地,在针齿保持架30的转动下,针齿70受到摆线外壳60上设置的摆线轮齿61的作用力而在针齿槽31内转动。其中,针齿槽31的截面大致为半圆形状,且针齿槽31的直径略大于针齿70的直径,确保针齿70在针齿槽31内具有可供针齿70转动的间隙即可。In this embodiment, as shown in FIG. 5 and FIG. 15 , the first implementation mode in which the pin teeth 70 are connected to the pin tooth cage 30 is: the outer peripheral wall of the pin tooth cage 30 is provided with a number of annular uniformly distributed Each of the pin teeth 70 is accommodated in each of the pin tooth grooves 31. Specifically, under the rotation of the pin tooth holder 30 , the pin tooth 70 is subjected to the action force of the cycloid gear teeth 61 provided on the cycloid housing 60 to rotate in the pin tooth groove 31 . Wherein, the cross section of the pin tooth groove 31 is approximately semicircular, and the diameter of the pin tooth groove 31 is slightly larger than the diameter of the pin tooth 70 , so that the pin tooth 70 has a clearance for the pin tooth 70 to rotate in the pin tooth groove 31 .

需要说明的是:短幅内摆线是数学中的一种曲线,短幅内摆线的定义是一个滚圆在一个基圆的内部做纯滚动,则圆上一固定点所经过的轨迹称为短幅内摆线。实际短幅内摆线是该轨迹的外侧等距曲线。这种实际短幅内摆线也就是摆线外壳60的摆线轮齿61的轮廓形状。传动过程中通过摆线外壳60实现了啮合过程中转速和转矩的传递。另外,短幅外摆线是数学中的一种曲线,短幅外摆线的定义是一个滚圆在一个基圆的外部做纯滚动。具体地,本实施例的摆线外壳60并不限于内摆线,其也可以形成外摆线。即针齿70设置在摆线外壳60上,摆线轮齿61设置在针齿保持架30上,在针齿保持架30的摆线轮齿61的圆形边缘上利用一个圆滚动一周,该圆上一固定点在摆线轮齿61上形成的曲线轨迹即为外摆线,也就是摆线轮齿61的轮廓形状。It should be explained that a short hypocycloid is a curve in mathematics. The definition of a short hypocycloid is that a rolling circle performs pure rolling inside a base circle, and the trajectory passed by a fixed point on the circle is called Short hypocycloid. The actual hypocycloid is the outer equidistant curve of this trajectory. This actual short hypocycloid is also the outline shape of the cycloid gear teeth 61 of the cycloid housing 60 . During the transmission process, the transmission of rotational speed and torque during the meshing process is realized through the cycloidal housing 60 . In addition, a short epicycloid is a curve in mathematics. The definition of a short epicycloid is a rolling circle doing pure rolling on the outside of a base circle. Specifically, the cycloid housing 60 of this embodiment is not limited to a hypocycloid, and it can also form an epicycloid. That is, the pin teeth 70 are arranged on the cycloid housing 60, and the cycloid gear teeth 61 are arranged on the pin tooth cage 30. On the circular edge of the cycloid gear teeth 61 of the pin tooth cage 30, a circle is used to roll a circle. The curved trajectory formed by a fixed point on the circle on the cycloid gear tooth 61 is the epicycloid, that is, the outline shape of the cycloid gear tooth 61 .

本实施例中,如图5和图16所示,针齿70与针齿保持架30连接的第二种实施方式是:各所述针齿70与所述针齿保持架30一体成型。也就是说,相较于上述针齿70作为独立于针齿保持架30的装配零件的装配技术而言,降低了传动过程中的摩擦损失,提高了减速器整体的传动效率,并且针齿70与针齿保持架30之间不再因彼此间碰撞而产生噪声。同时,由于针齿70与针齿保持架30之间一体成型,则针齿70与针齿保持架30之间无需再进行装配配合,这样就简化了针齿保持架30与针齿70之间的设计精度的装配设计要求,简化减速器的装配难度。In this embodiment, as shown in FIG. 5 and FIG. 16 , the second implementation manner in which the pin teeth 70 are connected to the pin tooth holder 30 is: each of the pin teeth 70 is integrally formed with the pin tooth holder 30 . That is to say, compared with the above-mentioned assembly technology in which the pin teeth 70 are used as an assembly part independent of the pin tooth cage 30, the friction loss in the transmission process is reduced, and the overall transmission efficiency of the reducer is improved, and the pin teeth 70 There is no longer any noise due to collision with the pin tooth cage 30 . At the same time, since the pin teeth 70 and the pin teeth cage 30 are integrally formed, there is no need to assemble and cooperate between the pin teeth 70 and the pin teeth cage 30, which simplifies the connection between the pin teeth cage 30 and the pin teeth 70. The assembly design requirements of the design accuracy simplify the assembly difficulty of the reducer.

在该实施方式中,各所述针齿70为所述针齿保持架30的外圆周壁上形成的呈摆线形的弧形凸起。具体地,弧形凸起的形状呈半圆形条状。这样可以在针齿保持架30的外圆周壁上直接一体成型设置针齿70,减少对针齿70与针齿保持架30之间的组装,对于针齿70和针齿保持架30的制造更加方便。In this embodiment, each pin tooth 70 is a cycloidal arc-shaped protrusion formed on the outer peripheral wall of the pin tooth holder 30 . Specifically, the shape of the arc-shaped protrusion is a semicircular strip. In this way, the pin teeth 70 can be directly integrally formed on the outer peripheral wall of the pin tooth cage 30, reducing the assembly between the pin teeth 70 and the pin tooth cage 30, and making it easier to manufacture the pin teeth 70 and the pin tooth cage 30. convenient.

当然,针齿保持架30的外圆周壁上形成的呈摆线形的弧形凸起的齿形也可以用其他样条曲线齿廓或异型齿结构来代替,在此不再进行一一赘述。Of course, the cycloid-shaped arc-shaped convex tooth shape formed on the outer peripheral wall of the pin tooth cage 30 can also be replaced by other spline curve tooth profiles or special-shaped tooth structures, which will not be repeated here.

本实施例中,如图5和图17所示,针齿70与针齿保持架30连接的第三种实施方式是:各所述针齿70均设于所述针齿保持架30的外圆周壁上并间隔均布,且各所述针齿70均通过销轴32与所述针齿保持架30滚动连接。具体地,该种结构形式是将针齿保持架30和针齿70通过针齿保持架30上设置的销轴32与针齿70滚动连接成一体结构,整体结构类似于滚针轴承,用以模拟针齿保持架30和针齿70与摆线外壳60内圆周壁上的摆线齿轮之间的啮合。如此依然可以确保针齿70在偏心的方向上与摆线轮齿61相啮合,并且在啮合过程产生作用力和反作用力,实现针齿保持架30和针齿70在输入轴10的中轴线的自转和公转,并将针齿保持架30的自转通过曲柄轴20的偏心轴22传递到输出盘50和行星架40,实现第二级行星减速。In this embodiment, as shown in FIG. 5 and FIG. 17 , the third embodiment in which the pin teeth 70 are connected to the pin tooth holder 30 is: each of the pin teeth 70 is arranged outside the pin tooth holder 30 The circumferential wall is evenly spaced, and each of the pin teeth 70 is rollingly connected with the pin tooth holder 30 through the pin shaft 32 . Specifically, this structural form is that the pin tooth cage 30 and the pin tooth 70 are rollingly connected with the pin tooth 70 through the pin shaft 32 provided on the pin tooth cage 30 to form an integral structure, and the overall structure is similar to a needle roller bearing for The meshing between the pin tooth cage 30 and the pin teeth 70 and the cycloid gear on the inner peripheral wall of the cycloid housing 60 is simulated. In this way, it can still be ensured that the pin teeth 70 mesh with the cycloidal gear teeth 61 in the eccentric direction, and an active force and a reaction force are generated during the meshing process, so that the alignment of the pin tooth cage 30 and the pin teeth 70 on the central axis of the input shaft 10 is realized. It rotates and revolves, and transmits the rotation of the pin tooth cage 30 to the output disc 50 and the planet carrier 40 through the eccentric shaft 22 of the crankshaft 20 to realize the second-stage planetary reduction.

本实施例中,如图13~14所示,所述曲柄轴20上设有渐开线花键轴21,所述行星齿轮80上设有渐开线花键毂81,所述行星齿轮80与所述曲柄轴20通过所述渐开线花键毂81与所述渐开线花键轴21的配合实现连接。具体地,通过渐开线花键毂81与渐开线花键轴21的连接可以有效确保速度和扭矩传递到曲柄轴20上。从而确保曲柄轴20通过偏心轴22带动针齿保持架30和针齿70运动。进而确保转动过程中针齿保持架30和针齿70的与摆线外壳60内圆周壁的摆线轮齿61构啮合传动。更具体地,通过花键连接还能够尽可能地减小行星齿轮80所需的装配空间,从而使减速器的装配结构进一步紧凑化、小型化。并且,曲柄轴20与行星齿轮80间通过花键配合连接,从而保证了曲柄轴20与行星齿轮80之间传动的可靠性。由于主动齿轮11采用在输入轴10的端部开设花键齿的方式进行传动,如此能够进一步减少主动齿轮11的轮齿数量,从而进一步提高行星齿轮80与主动齿轮11之间的传动比,以达到大减速比的目的。In this embodiment, as shown in Figures 13-14, the crankshaft 20 is provided with an involute spline shaft 21, the planetary gear 80 is provided with an involute spline hub 81, and the planetary gear 80 It is connected with the crank shaft 20 through the cooperation of the involute spline hub 81 and the involute spline shaft 21 . Specifically, the connection between the involute spline hub 81 and the involute spline shaft 21 can effectively ensure that the speed and torque are transmitted to the crankshaft 20 . Therefore, it is ensured that the crankshaft 20 drives the pintooth cage 30 and the pintooth 70 to move through the eccentric shaft 22 . Furthermore, it is ensured that the pin tooth holder 30 and the pin tooth 70 are engaged with the cycloid gear teeth 61 on the inner peripheral wall of the cycloid housing 60 during the rotation process. More specifically, the assembly space required by the planetary gear 80 can be reduced as much as possible through the spline connection, so that the assembly structure of the speed reducer can be further compacted and miniaturized. Moreover, the crankshaft 20 and the planetary gear 80 are connected through a spline fit, thereby ensuring the reliability of transmission between the crankshaft 20 and the planetary gear 80 . Since the driving gear 11 is transmitted by setting spline teeth at the end of the input shaft 10, the number of teeth of the driving gear 11 can be further reduced, thereby further increasing the transmission ratio between the planetary gear 80 and the driving gear 11, so that To achieve the purpose of large reduction ratio.

在其他实施例中,行星齿轮80与曲柄轴20之间的连接也可以通过轴孔的过盈配合实现。In other embodiments, the connection between the planetary gear 80 and the crankshaft 20 can also be realized through the interference fit of the shaft hole.

本实施例中,所述曲柄轴20的数量为多个,且多个所述曲柄轴20绕所述输入轴10的中心轴线呈圆周均匀分布。具体地,通过增加设置曲柄轴20的数量来提高该减速器能够承载的负荷强度。In this embodiment, there are multiple crankshafts 20 , and the crankshafts 20 are evenly distributed around the central axis of the input shaft 10 . Specifically, by increasing the number of crankshafts 20 provided, the load intensity that the speed reducer can carry is improved.

优选地,如图1~2所示,曲柄轴20的数量为两个,两个曲柄轴20相对于输入轴10的中心轴线对称设置。并且,在采用两个对称的曲柄轴20进行装配设计时候,每个曲柄轴20上设置有偶数个偏心轴22,针齿保持架30的数量与一个曲柄轴20上的偏心轴22的数量相等,一个曲柄轴20上的每个偏心轴22对应一个摆线轮,同一个曲柄轴20上相邻两个偏心轴22的偏心方向呈180°背离,这样,通过两个曲柄轴20不仅能够满足负荷强度要求,而且通过相邻两个偏心轴22之间的偏心方向呈180°背离,两个偏心轴22在同一时间点的转动过程中,两个偏心轴22使得两个针齿保持架30的针齿70与摆线轮齿61相啮合的方向相反。例如,一个针齿保持架30顶部的针齿70与摆线外壳60的摆线轮齿61啮合时候,则另一个针齿保持架30底部的针齿70与摆线外壳60的摆线轮齿61进行啮合,如此,两个针齿保持架30的针齿70所承受来自摆线外壳60的摆线轮齿61的作用力方向完全相反,从而形成平衡作用力,避免针齿保持架30的针齿70与摆线外壳60的摆线轮齿61啮合时产生单向作用力而导致针齿保持架30振动而使整个减速器整体振动,达到使减速器在传动过程中始终保持平稳工作状态的效果。Preferably, as shown in FIGS. 1-2 , there are two crankshafts 20 , and the two crankshafts 20 are arranged symmetrically with respect to the central axis of the input shaft 10 . Moreover, when two symmetrical crankshafts 20 are used for assembly design, each crankshaft 20 is provided with an even number of eccentric shafts 22, and the number of pin tooth cages 30 is equal to the number of eccentric shafts 22 on one crankshaft 20. , each eccentric shaft 22 on a crank shaft 20 corresponds to a cycloidal wheel, and the eccentric directions of two adjacent eccentric shafts 22 on the same crank shaft 20 deviate from each other by 180°. In this way, the two crank shafts 20 can not only satisfy In addition, the eccentric direction between two adjacent eccentric shafts 22 deviates by 180°. During the rotation of the two eccentric shafts 22 at the same time point, the two eccentric shafts 22 make the two pin tooth cages 30 The direction in which the pin teeth 70 mesh with the cycloid teeth 61 is opposite. For example, when the pin teeth 70 on the top of a pin tooth cage 30 mesh with the cycloid gear teeth 61 of the cycloid housing 60, the pin teeth 70 at the bottom of the other pin tooth cage 30 engage with the cycloid gear teeth of the cycloid housing 60. 61 for meshing, so that the force directions of the pin teeth 70 of the two pin tooth cages 30 from the cycloid gear teeth 61 of the cycloid housing 60 are completely opposite, thereby forming a balanced force and avoiding the force of the pin tooth cage 30 When the pin teeth 70 mesh with the cycloid gear teeth 61 of the cycloid housing 60, a one-way force is generated, which causes the pin tooth cage 30 to vibrate and the entire reducer to vibrate, so that the reducer can always maintain a stable working state during the transmission process. Effect.

结合图13所示,在本实施例中,每个曲柄轴20上优选地设置有两个偏心轴22,当然,针齿保持架30的数量为两个,并且一个曲柄轴20上每个偏心轴22对应一个摆线轮,同一个曲柄轴20上的两个偏心轴22的偏心方向呈180°背离。应用啮合方向相反的两个针齿保持架30进行作用力平衡,使得针齿保持架30在啮合传动过程中保持平稳工作。As shown in FIG. 13 , in this embodiment, each crankshaft 20 is preferably provided with two eccentric shafts 22 , of course, the number of pin tooth cages 30 is two, and each eccentric shaft 22 on one crankshaft 20 The shaft 22 corresponds to a cycloid wheel, and the eccentric directions of the two eccentric shafts 22 on the same crankshaft 20 diverge by 180°. Two needle-toothed cages 30 with opposite meshing directions are used for force balance, so that the needle-toothed cages 30 can keep working smoothly during meshing transmission.

本实施例中,如图11~12和图15~17所示,所述行星架40上设有多个连接孔柱41,所述输出盘50上设有多个连接通孔53,所述针齿保持架30上设有多个避让通孔35,各所述连接孔柱41一一对应地穿过各所述避让通孔35,且各所述连接孔柱41与各所述连接通孔53一一对应并通过连接螺栓(图未示)穿过所述连接通孔53与所述连接孔柱41锁紧连接。具体地,多个连接孔柱41、多个连接通孔53和多个避让通孔35分别一一对应设置,并且一输入轴10的中心轴线为中心环形均布,其中,将连接孔柱41穿过避让通孔35,然后再通过连接螺栓穿过连接通孔53与连接孔柱41锁紧连接,这样即可实现将行星架40与输出盘50固定连接,并且不会受到针齿保持架30的干涉,同时,行星架40和输出盘50分别通过第四轴承4和第五轴承5与针齿保持架30实现可转动的连接,如此既实现了对行星架40、输出盘50和针齿保持架30的固定,又确保行星架40、输出盘50和针齿保持架30可以实现转动,结构设计巧妙,实用性强。In this embodiment, as shown in Figures 11-12 and Figures 15-17, the planetary carrier 40 is provided with a plurality of connection holes 41, and the output plate 50 is provided with a plurality of connection through holes 53, the The pin tooth holder 30 is provided with a plurality of avoidance through holes 35, and each of the connecting hole columns 41 passes through each of the avoidance through holes 35 one by one, and each of the connecting hole columns 41 is connected to each of the connecting holes. The holes 53 are in one-to-one correspondence, and are locked and connected to the connecting holes 41 through the connecting through holes 53 through connecting bolts (not shown in the figure). Specifically, a plurality of connecting holes 41, a plurality of connecting through holes 53 and a plurality of avoidance through holes 35 are provided in one-to-one correspondence, and the central axis of an input shaft 10 is uniformly distributed in a central ring, wherein the connecting holes 41 Pass through the avoidance through hole 35, and then pass through the connecting through hole 53 with the connecting bolt to lock and connect with the connecting hole column 41, so that the planetary carrier 40 and the output disc 50 can be fixedly connected, and will not be affected by the pin tooth cage. 30, at the same time, the planetary carrier 40 and the output disk 50 are rotatably connected to the pin tooth cage 30 through the fourth bearing 4 and the fifth bearing 5, so that the planetary carrier 40, the output disk 50 and the pin tooth cage are realized. The fixing of the tooth cage 30 ensures that the planetary carrier 40, the output disc 50 and the pin tooth cage 30 can be rotated, and the structure design is ingenious and practical.

本实施例的复合式摆线行星减速器有效地解决了传统摆线行星减速器中存在的上述所列举的现有的摆线行星传动由于摩擦耗能而影响摆线减速器的传动效率,需要较高的加工精度导致必然会提高整个减速机的加工成本以及传动容易时产生碰撞从而导致的振动和噪声的技术问题。The composite cycloidal planetary reducer of this embodiment effectively solves the problem that the existing cycloidal planetary transmission listed above in the traditional cycloidal planetary reducer affects the transmission efficiency of the cycloidal reducer due to friction and energy consumption, and needs The higher processing precision will inevitably increase the processing cost of the entire reducer and the technical problems of vibration and noise caused by collisions when the transmission is easy.

此外,经过仿真研究,得出本实施例的复合式摆线行星减速器的传动更平稳,性能更加稳定。在本实施例的复合式摆线行星减速器呈现的方式中,针齿保持架30的结构相对于摆线轮结构加工更加方便,将摆线轮齿61加工在减速器的摆线外壳60的内圆周壁上使得摆线轮齿61加工时装夹定位更加方便,便于加工。In addition, through simulation research, it can be concluded that the transmission of the compound cycloidal planetary reducer in this embodiment is more stable, and the performance is more stable. In the form of the composite cycloidal planetary reducer in this embodiment, the structure of the pin tooth cage 30 is more convenient to process than the cycloidal wheel structure, and the cycloidal gear teeth 61 are processed on the cycloidal housing 60 of the reducer. The inner peripheral wall makes the cycloid gear teeth 61 more convenient for clamping and positioning during processing, and is convenient for processing.

在本实施例的复合式摆线行星减速器中还可以将针齿保持架30与针齿70两部分的结构做成一体结构,用针齿保持架30外圆周壁的弧形凸起来代替针齿70结构,也可以用其他样条曲线或异型齿结构。解决了传统摆线行星减速器在传动过程中因为存在多种摩擦而降低传动效率的问题。由于没有单独设计针齿70,针齿70也就不会在针齿70壳与摆线轮之间摆动,就不会产生针齿70与摆线轮之间的碰撞和噪声。并且没有针齿70之后,减速器的零件总数大大减少,装配更加方便。另外还可以将针齿70与针齿保持架30通过销轴32滚动连接在一起,类似于滚针轴承,便于针齿70与针齿保持架30的标准化,能够实现更好的互换性,从而有利于本发明实施例粉复合式摆线行星减速器的系列化、标准化和模块化设计。In the compound cycloidal planetary reducer of this embodiment, the structure of the two parts of the pin tooth cage 30 and the pin tooth 70 can also be made into an integrated structure, and the arc-shaped protrusion of the outer peripheral wall of the pin tooth cage 30 can be used to replace the needle. The tooth 70 structure can also use other spline curves or special-shaped tooth structures. It solves the problem that the transmission efficiency of the traditional cycloidal planetary reducer is reduced due to various frictions in the transmission process. Since the needle teeth 70 are not designed separately, the needle teeth 70 will not swing between the needle teeth 70 housing and the cycloidal wheel, and there will be no collision and noise between the needle teeth 70 and the cycloidal wheel. And without the pin teeth 70, the total number of parts of the reducer is greatly reduced, and the assembly is more convenient. In addition, the pin teeth 70 and the pin tooth cage 30 can be rolled and connected together through the pin shaft 32, which is similar to a needle bearing, which facilitates the standardization of the pin teeth 70 and the pin tooth cage 30, and can achieve better interchangeability. Therefore, it is beneficial to the serialization, standardization and modular design of the powder compound cycloidal planetary reducer according to the embodiment of the present invention.

综上而言,本实施例提供的复合式摆线行星减速器至少具有以下方面的优点:In summary, the compound cycloidal planetary reducer provided by this embodiment has at least the following advantages:

一、本实施例的复合式摆线行星减速器通过在针齿保持架30上开有针齿槽31将针齿70放置于针齿槽31内。这种结构使得针齿保持架30的加工制造相对于传统的摆线针轮行星减速器中的摆线轮的加工更加容易,从而降低了减速器整体的加工成本。1. In the compound cycloidal planetary reducer of this embodiment, the pin teeth 70 are placed in the pin tooth slots 31 by opening the pin tooth slots 31 on the pin tooth cage 30 . This structure makes the processing and manufacturing of the pin tooth cage 30 easier than the processing of the cycloid wheel in the traditional cycloid pin wheel planetary reducer, thereby reducing the overall processing cost of the reducer.

二、本实施例的复合式摆线行星减速器的针齿保持架30的其中一种新结构形式中,使得减速器传动过程中不再需要单独设计针齿70,降低了传动过程中因为针齿70摆动而产生的振动和噪声。通过研究和分析,该种结构能够有效减少减速器因为针齿70的损坏而造成的故障。并且这种结构制造和装配过程中都不需要针齿70,能够减少减速器制造和装配过程的难度,节省人力物力,提高效率。2. In one of the new structural forms of the pin tooth cage 30 of the compound cycloidal planetary reducer of this embodiment, it is no longer necessary to design the pin tooth 70 separately during the transmission process of the reducer, which reduces the need for pin teeth during the transmission process. The vibration and noise generated by the swing of the teeth 70. Through research and analysis, this structure can effectively reduce the failure of the reducer due to the damage of the pin teeth 70 . Moreover, the pin teeth 70 are not needed in the manufacturing and assembling process of this structure, which can reduce the difficulty of the manufacturing and assembling process of the reducer, save manpower and material resources, and improve efficiency.

三、本实施例的复合式摆线行星减速器的针齿保持架30的另一种新结构形式中,该结构类似于滚针轴承结构,易于制成标准件,便于实现减速器中针齿保持架30的标准化和系列化,可以更好的实现摆线减速器核心零部件互换性。为摆线行星减速器的模块化设计提供可能。并且装配更加方便。3. In another new structural form of the pin tooth cage 30 of the compound cycloidal planetary reducer of this embodiment, this structure is similar to the structure of a needle bearing, which is easy to be made into a standard part, and it is convenient to realize the pin tooth cage in the reducer. The standardization and serialization of the cage 30 can better realize the interchangeability of the core parts of the cycloid reducer. It provides possibility for the modular design of cycloidal planetary reducer. And the assembly is more convenient.

四、本实施例的复合式摆线行星减速器通过改进摆线外壳60的结构,将摆线轮齿61加工于摆线外壳60的内圆周壁上,使得摆线轮齿61在加工过程中定位和装夹更加容易,便于加工。4. The composite cycloidal planetary reducer of this embodiment improves the structure of the cycloidal housing 60, and processes the cycloidal gear teeth 61 on the inner peripheral wall of the cycloidal housing 60, so that the cycloidal gear teeth 61 are Positioning and clamping are easier and facilitate processing.

五、本实施例的复合式摆线行星减速器经过仿真研究分析具有传动平稳、接触力峰值低、传动效率高、装配维护方便以及加工成本低等的优点。5. The composite cycloidal planetary reducer of this embodiment has the advantages of stable transmission, low contact force peak value, high transmission efficiency, convenient assembly and maintenance, and low processing cost through simulation research and analysis.

以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1.一种复合式摆线行星减速器,其特征在于:包括输入轴、曲柄轴、针齿保持架、行星架、输出盘和摆线外壳,所述针齿保持架的外圆周壁上设有若干环形均布的针齿,且所述针齿保持架上设有中心通孔和偏心轴孔;所述输入轴上设有主动齿轮,所述输入轴穿过所述中心通孔并与所述中心通孔之间形成运动间隙;所述曲柄轴上设有行星齿轮和相对于所述曲柄轴的中心轴线偏心设置的偏心轴,所述偏心轴穿过所述偏心轴孔,且所述偏心轴与所述偏心轴孔的孔壁之间设有第一轴承,所述行星齿轮与所述主动齿轮相啮合传动;1. A composite cycloidal planetary reducer, characterized in that: it includes an input shaft, a crankshaft, a pin tooth cage, a planet carrier, an output disc and a cycloidal casing, and the outer peripheral wall of the pin tooth cage is provided with There are several ring-shaped evenly distributed pin teeth, and the pin tooth cage is provided with a central through hole and an eccentric shaft hole; the input shaft is provided with a driving gear, and the input shaft passes through the central through hole and is connected with the A movement gap is formed between the central through holes; the crankshaft is provided with a planetary gear and an eccentric shaft eccentrically arranged relative to the central axis of the crankshaft, and the eccentric shaft passes through the eccentric shaft hole, and the A first bearing is provided between the eccentric shaft and the hole wall of the eccentric shaft hole, and the planetary gear is meshed with the driving gear for transmission; 所述行星架和所述输出盘均套设于所述输入轴之外,且所述行星架与所述输出盘固定连接并分别位于所述摆线外壳的相对两侧,所述行星架通过第二轴承与所述曲柄轴连接,所述输出盘通过第三轴承与所述曲柄轴连接;Both the planet carrier and the output disk are sleeved outside the input shaft, and the planet carrier is fixedly connected to the output disk and are respectively located on opposite sides of the cycloid housing, and the planet carrier passes through the second bearing is connected to the crankshaft, and the output disc is connected to the crankshaft through a third bearing; 所述摆线外壳设于所述针齿保持架外并分别通过第四轴承和第五轴承与所述行星架和所述输出盘连接,且所述摆线外壳的内圆周壁上设有若干与各所述针齿啮合连接的摆线轮齿。The cycloid housing is arranged outside the pin tooth cage and is respectively connected to the planet carrier and the output disk through the fourth bearing and the fifth bearing, and the inner peripheral wall of the cycloid housing is provided with several Cycloid gear teeth meshingly connected with each of the pin teeth. 2.根据权利要求1所述的复合式摆线行星减速器,其特征在于:所述针齿保持架的外圆周壁上设有若干环形均布的针齿槽,各所述针齿分别容置于各所述针齿槽内。2. The composite cycloidal planetary reducer according to claim 1, characterized in that: the outer peripheral wall of the pin tooth cage is provided with a number of circular uniformly distributed pin tooth grooves, and each of the pin teeth respectively accommodates placed in each of the needle slots. 3.根据权利要求1所述的复合式摆线行星减速器,其特征在于:各所述针齿与所述针齿保持架一体成型。3. The compound cycloidal planetary reducer according to claim 1, characterized in that: each of the pins is integrally formed with the pin cage. 4.根据权利要求3所述的复合式摆线行星减速器,其特征在于:各所述针齿为所述针齿保持架的外圆周壁上形成的呈摆线形的弧形凸起。4. The compound cycloidal planetary reducer according to claim 3, wherein each of the pin teeth is a cycloid-shaped arc-shaped protrusion formed on the outer peripheral wall of the pin tooth cage. 5.根据权利要求1所述的复合式摆线行星减速器,其特征在于:各所述针齿均设于所述针齿保持架的外圆周壁上并间隔均布,且各所述针齿均通过销轴与所述针齿保持架滚动连接。5. The composite cycloidal planetary reducer according to claim 1, characterized in that: each of the pin teeth is arranged on the outer circumferential wall of the pin tooth cage and evenly spaced, and each of the pin teeth The teeth are all rollingly connected with the pin tooth cage through pin shafts. 6.根据权利要求1~5任一项所述的复合式摆线行星减速器,其特征在于:所述曲柄轴上设有渐开线花键轴,所述行星齿轮上设有渐开线花键毂,所述行星齿轮与所述曲柄轴通过所述渐开线花键毂与所述渐开线花键轴的配合实现连接。6. The composite cycloidal planetary reducer according to any one of claims 1-5, characterized in that: the crankshaft is provided with an involute spline shaft, and the planetary gear is provided with an involute spline shaft. A spline hub, the planetary gear is connected to the crankshaft through the cooperation of the involute spline hub and the involute spline shaft. 7.根据权利要求1~5任一项所述的复合式摆线行星减速器,其特征在于:所述曲柄轴的数量为多个,且多个所述曲柄轴绕所述输入轴的中心轴线呈圆周均匀分布。7. The compound cycloidal planetary reducer according to any one of claims 1 to 5, characterized in that: there are multiple crankshafts, and multiple crankshafts revolve around the center of the input shaft The axes are evenly distributed around the circumference. 8.如权利要求7所述的复合式摆线行星减速器,其特征在于:所述曲柄轴的数量为两个,两个所述曲柄轴相对于所述输入轴的中心轴线对称设置。8. The compound cycloidal planetary reducer according to claim 7, characterized in that: there are two crankshafts, and the two crankshafts are arranged symmetrically with respect to the central axis of the input shaft. 9.如权利要求7所述的复合式摆线行星减速器,其特征在于:各所述曲柄轴上均设置有两个所述偏心轴,且各所述曲柄轴上的两个所述偏心轴的偏心方向呈180°背离,所述针齿保持架的数量为两个,各所述曲柄轴上的两个所述偏心轴分别穿过两个所述针齿保持架的所述偏心轴孔对应。9. The compound cycloidal planetary reducer according to claim 7, characterized in that: two eccentric shafts are arranged on each of the crank shafts, and the two eccentric shafts on each of the crank shafts The eccentric direction of the shaft deviates by 180°, the number of the pin tooth cages is two, and the two eccentric shafts on each of the crankshafts respectively pass through the eccentric shafts of the two pin tooth cages corresponding to the hole. 10.根据权利要求1~5任一项所述的复合式摆线行星减速器,其特征在于:所述行星架上设有多个连接孔柱,所述输出盘上设有多个连接通孔,所述针齿保持架上设有多个避让通孔,各所述连接孔柱一一对应地穿过各所述避让通孔,且各所述连接孔柱与各所述连接通孔一一对应并通过连接螺栓穿过所述连接通孔与所述连接孔柱锁紧连接。10. The composite cycloidal planetary reducer according to any one of claims 1-5, characterized in that: the planet carrier is provided with a plurality of connection holes, and the output disc is provided with a plurality of connection holes. holes, the pin tooth cage is provided with a plurality of avoidance through holes, and each of the connecting hole columns passes through each of the avoidance through holes in a one-to-one correspondence, and each of the connecting hole columns and each of the connecting through holes One-to-one correspondence and locking connection with the connecting hole column through the connecting bolt passing through the connecting through hole.
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CN112228516A (en) * 2020-10-31 2021-01-15 重庆大学 Industrial robot precision reducer
CN113062964A (en) * 2020-12-08 2021-07-02 南京南传智能技术有限公司 Cycloidal gear, meshing system and RV speed reducer
CN114001125A (en) * 2021-11-12 2022-02-01 浙江环动机器人关节科技有限公司 Ultra-low speed ratio high rigidity high accuracy cycloid pin gear planetary transmission reduction gear
CN114001125B (en) * 2021-11-12 2023-09-22 浙江环动机器人关节科技股份有限公司 Ultra-low speed ratio high-rigidity high-precision cycloidal pin gear planetary transmission speed reducer

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Application publication date: 20180511