CN108019470A - Combined type cycloid planetary speed reducer - Google Patents

Abstract

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

Compound cycloidal planetary reducer

technical field

The invention belongs to the technical field of reducers, in particular to a compound cycloidal planetary reducer.

Background technique

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.

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.

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.

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.

Contents of the invention

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.

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;

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;

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.

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.

Preferably, each of the pin teeth is integrally formed with the pin tooth holder.

Preferably, each of the pin teeth is a cycloidal arc-shaped protrusion formed on the outer peripheral wall of the pin tooth holder.

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.

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.

Preferably, there are multiple crankshafts, and the crankshafts are evenly distributed around the central axis of the input shaft.

Preferably, there are two crankshafts, and the two crankshafts are arranged symmetrically with respect to the central axis of the input shaft.

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.

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.

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.

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.

Description of drawings

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.

Fig. 1 is an axonometric view of a compound cycloidal planetary reducer provided by an embodiment of the present invention.

Fig. 2 is a quarter sectional view of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

Fig. 3 is an exploded schematic diagram of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

Fig. 4 is a front view of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

Fig. 5 is a sectional view along line A-A in Fig. 4 .

Fig. 6 is a side view of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

Fig. 7 is a sectional view along line B-B in Fig. 6 .

Fig. 8 is a sectional view along line C-C in Fig. 6 .

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.

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.

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.

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.

Fig. 13 is a schematic structural view of the crankshaft of the compound cycloidal planetary reducer provided by the embodiment of the present invention.

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.

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.

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.

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.

Wherein, each reference sign in the figure:

1—First bearing 2—Second bearing 3—Third bearing

4—fourth bearing 5—fifth bearing 10—input shaft

11—drive gear 20—crank shaft 21—involute spline shaft

22—eccentric shaft 30—needle cage 31—needle groove

32—pin shaft 33—center through hole 34—eccentric shaft hole

35—avoidance through hole 40—planet carrier 41—connecting hole column

42—Planet carrier shaft hole 43—Drive gear cavity 44—Planet carrier bearing hole

45—planetary gear cavity 50—output disc 51—output disc shaft hole

52—Output plate bearing hole 53—Connection through hole 60—Cycloid housing

61—cycloid gear 70—needle 80—planetary gear

81—involute spline hub 90—sealing ring 91—seal groove.

Detailed ways

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.

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.

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.

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.

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.

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 .

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 .

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.

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.

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.

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.

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.

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 .

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 .

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 .

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

In summary, the compound cycloidal planetary reducer provided by this embodiment has at least the following advantages:

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.

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.

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.

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.

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.

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. 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; 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; 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. 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. The compound cycloidal planetary reducer according to claim 1, characterized in that: each of the pins is integrally formed with the pin cage. 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. 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. 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. 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. 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. 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. 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.