CN108019470A - Combined type cycloid planetary speed reducer - Google Patents
Combined type cycloid planetary speed reducer Download PDFInfo
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- pin tooth
- pin
- hole
- speed reducer
- cycloid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 reducing agent Substances 0.000 title claims abstract description 67
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 239000000969 carrier Substances 0.000 claims abstract description 38
- 210000000515 Tooth Anatomy 0.000 claims description 217
- 230000002093 peripheral Effects 0.000 claims description 6
- 230000037250 Clearance Effects 0.000 claims description 3
- 230000035512 clearance Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000000875 corresponding Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000001340 slower Effects 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000000280 densification Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
Abstract
The invention belongs to retarder technical field, more particularly to a kind of combined type cycloid planetary speed reducer, including input shaft, crank axle, pin tooth retainer, planet carrier, output panel and cycloid shell, pin tooth retainer is equipped with pin tooth, central through hole and eccentric pivot hole；Input shaft is equipped with driving gear and passes through central through hole；Crank axle is equipped with planetary gear and eccentric shaft, and eccentric shaft is equipped with clutch shaft bearing through eccentric pivot hole and the hole wall of eccentric pivot hole, and planetary gear is meshed transmission with driving gear；Planet carrier and output panel are sheathed on outside input shaft, and planet carrier passes through 3rd bearing and crank axis connection by second bearing and crank axis connection, output panel；Cycloid shell is arranged on outside pin tooth retainer and is connected respectively by fourth bearing and 5th bearing with planet carrier and output panel, and cycloid shell is equipped with the cycloidal gear teeth that connection is engaged with pin tooth.The combined type cycloid planetary speed reducer of the present invention has the advantages that transmission efficiency, the easy to maintain and processing cost of assembling are low.
Description
Technical field
The invention belongs to retarder technical field, more particularly to a kind of combined type cycloid planetary speed reducer.
Background technology
Gear reduction unit is a kind of transmission device, is usually used between prime mover and working machine or executing agency, plays reduction
Rotating speed or the effect for increasing moment of torsion, using extremely wide in modern mechanical.Gear reduction unit generally by gear, axis, bearing and
Babinet forms, and the height of the quality and effect of its performance directly affects whole the operation of a machine.Reduce retarder volume, increase it
Bearing capacity is always the important goal of Design of Speed Reducer.Currently, robot, numerically-controlled machine tool, Medical Devices, the army developed rapidly
The field such as work and automation equipment proposes retarder the requirement of higher, high bearing capacity, high accuracy, high speed, highly reliable
Property, high transmission efficiency, low noise, low cost, the retarder of long-life are increasingly favored be subject to these industries.
Cycloid planetary speed reducer is mainly using pin tooth (or the pin on the inside of the epicyclodial wheel and pin wheel housing among retarder
The pin tooth that tooth retainer is fixed) it is engaged and realizes that eccentric planet is driven.With gear range is big, kinematic accuracy is high, return difference
The excellent properties such as small, rigidity is big, strong shock resistance, small, compact-sized and transmission efficiency are high.At present, Cycloidal Wheel is pendulum
The key components and parts of line planetary reduction gear.The precision and performance of Cycloidal Wheel directly determine the performance of whole retarder.But cycloid
The processing request of wheel is high, and gerotor type gear is located in reducing gearbox body in traditional cycloidal pinwheel planetary gear speed reducer, size ratio
It is smaller, processing difficulties；Clamping and positioned relatively difficult and what is processed is the outer teeth profile of Cycloidal Wheel, during processing.Cycloidal Wheel adds
Work difficulty is big, can not just make standard component, it is impossible to seriation and standardization well, so as to be unfavorable for cycloidal-pin wheel planetary deceleration
The modularized design of device, limits the renewal and improvement of retarder.
At present, the cycloid planetary speed reducer of mainstream is mainly by the engagement between Cycloidal Wheel and pinwheel on the market, is passed through
Cycloid pinwheel planetary gear transmission system principle reduces rotating speed, increase moment of torsion.The cycloid planetary speed reducer of mainstream is mainly by mounted in crank
Two Cycloidal Wheels into 180 ° of dislocation on axis (either eccentric bushing) and the pin tooth phase on pin wheel housing (or pin gear sleeve)
Engage to realize transmission and deceleration.When crank axle (or eccentric bushing) rotates a circle, since cycloidal profile is subject to pin wheel housing
The limitation of upper pin gear, the movement of Cycloidal Wheel is existing in its plane of movement to revolve round the sun and has autobiography.When crank axle (or eccentric bushing)
When rotating clockwise one week, Cycloidal Wheel turns over a tooth so as to fulfill deceleration in opposite direction.
Mainstream cycloidal reducer is primarily present following shortcoming at present：(1) cycloid in traditional cycloidal pinwheel planetary gear speed reducer
Type gear is located in reducing gearbox body, and Cycloidal Wheel overall dimensions are smaller, processing difficulties；And in the outer teeth profile of processing Cycloidal Wheel
When, clamping and positioning are relatively difficult.Secondly, the retarder of different model corresponds to various sizes of Cycloidal Wheel, it is difficult to forms series
Change, the interchangeability of retarder critical component Cycloidal Wheel is poor, and standardization is difficult, is unfavorable for the modularized design of retarder, so as to limit
The renewal design of retarder is made.(2) cycloid drive is engaged by pin tooth in groove on the inside of Cycloidal Wheel and pin wheel housing
Rub the transmission realized.Transmission process is by the rolling friction between Cycloidal Wheel and pin tooth and pin tooth and groove on the inside of pin wheel housing
Between sliding friction realize transmission.Engaged transmission process is not only there are sliding friction but also there are rolling friction, due to friction energy-dissipating
And influence the transmission efficiency of cycloidal reducer.(3) since pin tooth is rotated in the inner side groove on pin wheel housing, between the two
Simple sliding friction is done, so the machining accuracy of groove will be seriously affected in whole transmission process on the inside of pin tooth outer surface and pin wheel housing
Frictional force and efficiency.Therefore pin tooth and pin wheel housing inner side groove need higher machining accuracy, and the raising of machining accuracy is inevitable
The processing cost of whole gear reducer can be improved.(4) since pin tooth is sliding on the inside of pin wheel housing in groove, so between certainly existing
Gap.Collision is produced the presence in gap causes the Cycloidal Wheel of high-speed rotation to be engaged with pin tooth again when, so as to cause vibration and noise.
It has also been found that causing pin tooth peak stress occur because of gap and collision in theoretical research, the breakage of pin tooth is be easy to cause, finally
Cause the damage of retarder.
The content of the invention
It is an object of the invention to provide a kind of combined type cycloid planetary speed reducer, it is intended to solves cycloid of the prior art
There are the technical problem that transmission efficiency is low, inconvenience and high processing costs are safeguarded in assembling for retarder.
To achieve the above object, the technical solution adopted by the present invention is：A kind of combined type cycloid planetary speed reducer, including it is defeated
Enter axis, crank axle, pin tooth retainer, planet carrier, output panel and cycloid shell, the outer circle wall of the pin tooth retainer is equipped with
The uniformly distributed pin tooth of some annulars, and the pin tooth retainer is equipped with central through hole and eccentric pivot hole；The input shaft is equipped with
Driving gear, the input shaft form movement clearance through the central through hole and the central through hole；The crank
Axis is equipped with the eccentric shaft of planetary gear and the central axis eccentric setting relative to the crank axle, and the eccentric shaft passes through institute
Eccentric pivot hole is stated, and clutch shaft bearing, the planetary gear and institute are equipped between the hole wall of the eccentric shaft and the eccentric pivot hole
Driving gear is stated to be meshed transmission；
The planet carrier and the output panel are sheathed on outside the input shaft, and the planet carrier and the output panel
It is fixedly connected and is located at the opposite sides of the cycloid shell respectively, the planet carrier is connected by second bearing and the crank axle
Connect, the output panel passes through 3rd bearing and the crank axis connection；
The cycloid shell is arranged on outside the pin tooth retainer and respectively by fourth bearing and 5th bearing and the row
Carrier is connected with the output panel, and the inner peripheral wall of the cycloid shell engages what is connected with each pin tooth equipped with some
Cycloidal gear teeth.
Preferably, the outer circle wall of the pin tooth retainer is equipped with the uniformly distributed pin teeth groove of some annulars, each pin tooth
It is respectively contained in each pin teeth groove.
Preferably, each pin tooth is integrally formed with the pin tooth retainer.
Preferably, each pin tooth is convex for the arc in cycloidal formed on the outer circle wall of the pin tooth retainer
Rise.
Preferably, each pin tooth arranged on the pin tooth retainer outer circle wall on and uniformly at intervals, and it is each described in
Pin tooth is rolled by axis pin and the pin tooth retainer and connected.
Preferably, the crank axle is equipped with involute splined shaft, and the planetary gear is equipped with involute spline hub, institute
State planetary gear and connection is realized by the cooperation of the involute spline hub and the involute splined shaft with the crank axle.
Preferably, the quantity of the crank axle is multiple, and multiple crank axles are around the central axis of the input shaft
It is circularly and evenly distributed.
Preferably, the quantity of the crank axle be two, two crank axles relative to the input shaft central shaft
Line is symmetrical arranged.
Preferably, two eccentric shafts, and two institutes on each crank axle are both provided with each crank axle
The eccentric direction for stating eccentric shaft deviates from 180 °, and the quantity of the pin tooth retainer is two, two on each crank axle
The eccentric pivot hole that the eccentric shaft is each passed through two pin tooth retainers corresponds to.
Preferably, the planet carrier is equipped with multiple connection hole posts, and the output panel is equipped with multiple connection through holes, described
Pin tooth retainer is equipped with multiple avoidance through holes, and each connection hole post passes through each avoidance through hole correspondingly, and respectively
The connection hole post corresponds with each connection through hole and by connecting bolt through the connection through hole and the connection
Hole post locking connection.
Beneficial effects of the present invention：The combined type cycloid planetary speed reducer of the present invention, input shaft input speed and torque band
Driven input shaft rotates, so that drive driving gear to rotate, the planetary gear on driving gear engaged transmission crank axle, due to planet
Gearratio between gear and driving gear is more than 1, i.e., the planetary number of teeth is more than the number of teeth of driving gear, so that driving tooth
Realize that the first order is slowed down between wheel and planetary gear, then planetary gear drives crank axle around its center axis rotation, in song
During arbor rotation, then the eccentric shaft on crank axle around crank axle central axis rotation, due to the spinning motion of eccentric shaft,
And eccentric shaft is connected by clutch shaft bearing with pin tooth retainer, so as to drive pin tooth retainer around the central axis of input shaft pre-
Eccentric revolution is realized on fixed track, at this time, during pin tooth retainer carries out eccentric revolution, is set on pin tooth retainer
Pin tooth be meshed on eccentric direction with the corresponding cycloidal gear teeth set on cycloid shell, engagement process acts power
And reaction force, realize the rotation and revolution of pin tooth retainer and pin tooth in the central axes of input shaft, and by pin tooth retainer
Rotation is delivered to output panel and planet carrier by the eccentric shaft of crank axle, realizes second level planetary reduction gear.
The combined type cycloid planetary speed reducer of the present invention, its first order are involute planet gear transmission mechanism, the second level
For pin tooth retainer pin tooth and cycloid shell cycloidal gear teeth engagement transmission mechanism, be thusly-formed two-stage gear reduction, pass
Efficiency of movement is high, and whole retarder can form seriation, standardization and modularization in design and manufacture, be easily installed, fill
Match somebody with somebody and safeguard, be greatly processed into this.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the axonometric drawing of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Fig. 2 is a quarter sectional view of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Fig. 3 is the structural decomposition diagram of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Fig. 4 is the front view of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Fig. 5 is the sectional view of the line A-A along Fig. 4.
Fig. 6 is the side view of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Fig. 7 is the sectional view of the line B-B along Fig. 6.
Fig. 8 is the sectional view of the line C-C along Fig. 6.
Fig. 9 is the structure diagram of the cycloid shell of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Figure 10 is the structure diagram of the planet carrier of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Figure 11 is the structure diagram of the output panel of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Figure 12 is the structure diagram of the input shaft of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Figure 13 is the structure diagram of the crank axle of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Figure 14 is the planetary structure diagram of combined type cycloid planetary speed reducer provided in an embodiment of the present invention.
Figure 15 is the first implementation of the pin tooth retainer of combined type cycloid planetary speed reducer provided in an embodiment of the present invention
The structure diagram of mode.
Figure 16 is second of implementation of the pin tooth retainer of combined type cycloid planetary speed reducer provided in an embodiment of the present invention
The structure diagram of mode.
Figure 17 is the third implementation of the pin tooth retainer of combined type cycloid planetary speed reducer provided in an embodiment of the present invention
The structure diagram of mode.
Wherein, each reference numeral in figure：
1-clutch shaft bearing, 2-second bearing, 3-3rd bearing
4-fourth bearing, 5-5th bearing, 10-input shaft
11-driving gear, 20-crank axle, 21-involute splined shaft
22-eccentric shaft, 30-pin tooth retainer 31-pin teeth groove
32-axis pin, 33-central through hole, 34-eccentric pivot hole
35-avoid 40-planet carrier of through hole 41-connection hole post
42-planet carrier axis hole 43-driving gear chamber 44-planet carrier shaft bearing bore
45-planetary gear chamber 50-output panel, 51-output panel axis hole
52-output panel bearing hole 53-connection through hole 60-cycloid shell
61-cycloidal gear teeth, 70-pin, 80-planetary gear of tooth
81-involute spline hub 90-sealing ring, 91-seal channel.
Embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment that Fig. 1~17 describe is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Fig. 1~5, a kind of combined type cycloid planetary speed reducer provided in an embodiment of the present invention, including input shaft 10,
Crank axle 20, pin tooth retainer 30, planet carrier 40, output panel 50 and cycloid shell 60, the excircle of the pin tooth retainer 30
Wall is equipped with the uniformly distributed pin tooth 70 of some annulars, and the pin tooth retainer 30 is equipped with central through hole 33 and eccentric pivot hole 34；
The input shaft 10 is equipped with driving gear 11, the input shaft 10 through the central through hole 33 and with the central through hole 33
Between form movement clearance；The crank axle 20 is equipped with planetary gear 80 and inclined relative to the central axis of the crank axle 20
The eccentric shaft 22 that the heart is set, the eccentric shaft 22 pass through the eccentric pivot hole 34, and the eccentric shaft 22 and the eccentric pivot hole
It is equipped with clutch shaft bearing 1 between 34 hole wall, the planetary gear 80 is meshed transmission with the driving gear 11.
Further, as shown in figure 5, the planet carrier 40 and the output panel 50 be sheathed on the input shaft 10 it
Outside, and the planet carrier 40 is fixedly connected with the output panel 50 and is located at the opposite sides of the cycloid shell 60, institute respectively
State planet carrier 40 to be connected with the crank axle 20 by second bearing 2, the output panel 50 passes through 3rd bearing 3 and the crank
Axis 20 connects.
Further, as shown in figure 5, the cycloid shell 60 to be arranged on the pin tooth retainer 30 outer and pass through the 4th respectively
Bearing 4 and 5th bearing 5 are connected with the planet carrier 40 and the output panel 50, and on the inner peripheral wall of the cycloid shell 60
Equipped with some cycloidal gear teeths 61 that connection is engaged with each pin tooth 70.
The combined type cycloid planetary speed reducer of the embodiment of the present invention, its first order are 80 driver of involute planet gear
Structure, the second level for pin tooth retainer 30 pin tooth 70 and cycloid shell 60 cycloidal gear teeth 61 engagement transmission mechanism, such shape
Into two-stage gear reduction, transmission efficiency, and whole retarder can form seriation, standardization and mould in design and manufacture
Block, is easily installed, I＆ M, is greatly processed into this.
Specifically, carry out in the deceleration transmission course of work, pass through using the combined type cycloid planetary speed reducer of the present embodiment
10 input speed of input shaft and torque and rotated with driven input shaft 10, so as to drive driving gear 11 to rotate, driving gear 11 is nibbled
The planetary gear 80 on driving crank axis 20 is closed, since the gearratio between planetary gear 80 and driving gear 11 is more than 1, at once
The number of teeth of star gear 80 is more than the number of teeth of driving gear 11, so as to realize that the first order subtracts between driving gear 11 and planetary gear 80
Speed, then planetary gear 80 drive crank axle 20 around its center axis rotation, during 20 rotation of crank axle, then crank axle
Eccentric shaft 22 on 20 is around the central axis rotation of crank axle 20, and due to the spinning motion of eccentric shaft 22, and eccentric shaft 22 passes through
Clutch shaft bearing 1 is connected with pin tooth retainer 30, so as to drive pin tooth retainer 30 around the central axis of input shaft 10 predetermined
Eccentric revolution is realized on track, at this time, during pin tooth retainer 30 carries out eccentric revolution, is set on pin tooth retainer 30
Pin tooth 70 be meshed on eccentric direction with the corresponding cycloidal gear teeth 61 set on cycloid shell 60, engagement process produces
Active force and reaction force, realize the rotation and revolution of pin tooth retainer 30 and pin tooth 70 in the central axes of input shaft 10, and will
The rotation of pin tooth retainer 30 is delivered to output panel 50 and planet carrier 40 by the eccentric shaft 22 of crank axle 20, realizes second level row
Star slows down.
That is, the combined type of the combined type cycloid planetary speed reducer of the present embodiment refers to that the first order is involute planetary
Gear 80 is driven and Gear Planet Transmission of the second level between pin tooth 70 and cycloidal gear teeth 61 is combined with each other manufactured retarder.
More specifically, the combined type cycloid planetary speed reducer of the present embodiment is in transmission process, it is possible to achieve a variety of outputs
Form：When fixed cycloid shell 60, pass through pin tooth retainer 30 in engagement process and the cycloid of pin tooth 70 and cycloid shell 60
The active force and reaction force of the gear teeth 61, by the rotation of pin tooth retainer 30, drive output panel 50 and planet carrier 40 rotate it is defeated
Go out, output rotation direction is identical with input direction.When output panel 50 and planet carrier 40 are fixed, protected by pin tooth in engagement process
The active force and reaction force of frame 30 and pin tooth 70 and the line wheel tooth of cycloid shell 60 are held, band dynamic cycloid shell 60 rotates output,
It is opposite with input direction to export rotation direction.It can so realize a variety of output forms.
The combined type cycloid planetary speed reducer of the present embodiment is suitable for a variety of cycloidal reducer knots such as the poor and multiple tooth difference of monodentate
Structure.It can be applied equally to robot RV retarders, 2KV retarders, two teeth difference cycloid planetary speed reducer, more tooth-difference cycloid rows
Other retarders with cycloidal tooth profile such as star retarder.
Further, it is right with driving gear 11, planetary gear 80 on planet carrier 40 as shown in Figure 10~11 and Figure 15~17
The position answered, which offers, avoids driving gear 11, the driving gear chamber 43 and planetary gear chamber 45 of planetary gear 80.Meanwhile planet
Frame 40 is equipped with the planet carrier axis hole 42 worn for input shaft 10 and the planet carrier shaft bearing bore 44 installed for second bearing 2.Together
Sample, output panel 50 are equipped with the output panel axis hole 51 worn for input shaft 10 and the output panel bearing installed for 3rd bearing 3
Hole 52.
Further, as shown in Figures 4 and 5, the seal channel 91 also formed between planet carrier 40 and cycloid shell 60, it is close
Sealing ring 90 is equipped with sealing groove 91.
In the present embodiment, as shown in Fig. 5 and Figure 15, the first embodiment that pin tooth 70 is connected with pin tooth retainer 30
It is：The outer circle wall of the pin tooth retainer 30 is equipped with the uniformly distributed pin teeth groove 31 of some annulars, and each pin tooth 70 holds respectively
It is placed in each pin teeth groove 31.Specifically, under the rotation of pin tooth retainer 30, pin tooth 70 is subject to set on cycloid shell 60
Cycloidal gear teeth 61 active force and rotate in the pin teeth groove 31.Wherein, the section of pin teeth groove 31 substantially semi-circular shape, and pin
The diameter of teeth groove 31 is slightly larger than the diameter of pin tooth 70, it is ensured that pin tooth 70 has the gap rotated for pin tooth 70 in pin teeth groove 31
.
It should be noted that：Curtate hypocycloid is a kind of curve in mathematics, and the definition of curtate hypocycloid is one round as a ball
Pure rolling is done in the inside of a basic circle, then the track that the upper fixing point of circle is passed through is known as curtate hypocycloid.In actual short width
Cycloid is the outside equidistant curve of the track.The wheel of the cycloidal gear teeth 61 of this actual curtate hypocycloid i.e. cycloid shell 60
Profile shape.The transmission of rotating speed and torque in engagement process is realized by cycloid shell 60 in transmission process.In addition, put outside short width
Line is a kind of curve in mathematics, and the definition of curtate epicycloid is one and round as a ball does pure rolling in the outside of a basic circle.Specifically
Ground, the cycloid shell 60 of the present embodiment are not limited to hypocycloid, it can also form epicycloid.I.e. pin tooth 70 is arranged on outside cycloid
On shell 60, cycloidal gear teeth 61 is arranged on pin tooth retainer 30, on the circular edge of the cycloidal gear teeth 61 of pin tooth retainer 30
Rolled one week using a circle, as soon as the curvilinear path that fixing point is formed on cycloidal gear teeth 61 on the circle is epicycloid,
It is the contour shape of cycloidal gear teeth 61.
In the present embodiment, as shown in Fig. 5 and Figure 16, second of embodiment that pin tooth 70 is connected with pin tooth retainer 30
It is：Each pin tooth 70 is integrally formed with the pin tooth retainer 30.That is, compared to above-mentioned pin tooth 70 as independently of
For the mounting technology of the Assembly part of pin tooth retainer 30, the friction loss in transmission process is reduced, improves retarder
Overall transmission efficiency, and between pin tooth 70 and pin tooth retainer 30 no longer noise is produced because colliding to each other.Meanwhile by
It is integrally formed, then matches somebody with somebody between pin tooth 70 and pin tooth retainer 30 without carrying out assembling again between pin tooth 70 and pin tooth retainer 30
Close, this, simplifies the trim designs requirement of the design accuracy between pin tooth retainer 30 and pin tooth 70, simplify retarder
Assembly difficulty.
In this embodiment, each pin tooth 70 is in cycloid for what is formed on the outer circle wall of the pin tooth retainer 30
The arc convex of shape.Specifically, the shape semicircular in shape strip of arc convex.So can be in the excircle of pin tooth retainer 30
Directly it is integrally formed on wall and pin tooth 70 is set, is reduced to the assembling between pin tooth 70 and pin tooth retainer 30, for 70 He of pin tooth
The manufacture of pin tooth retainer 30 is more convenient.
Certainly, the tooth form of the arc convex in cycloidal formed on the outer circle wall of pin tooth retainer 30 can also use it
His spline curve flank profil or special-shaped toothing replace, and are no longer repeated one by one herein.
In the present embodiment, as shown in Fig. 5 and Figure 17, the third embodiment that pin tooth 70 is connected with pin tooth retainer 30
It is：On the outer circle wall of the pin tooth retainer 30 and uniformly at intervals, and each pin tooth 70 is equal for each pin tooth 70
Rolled and connected by axis pin 32 and the pin tooth retainer 30.Specifically, this kind of structure type is by pin tooth retainer 30 and pin
Tooth 70 rolls the structure that links into an integrated entity by the axis pin 32 set on pin tooth retainer 30 with pin tooth 70, and overall structure is similar to rolling
Needle bearing, to simulate nibbling between the cycloid gear on pin tooth retainer 30 and pin tooth 70 and 60 inner peripheral wall of cycloid shell
Close.It so still may insure that pin tooth 70 is meshed on eccentric direction with cycloidal gear teeth 61, and produced in engagement process
Active force and reaction force, realize the rotation and revolution of pin tooth retainer 30 and pin tooth 70 in the central axes of input shaft 10, and will
The rotation of pin tooth retainer 30 is delivered to output panel 50 and planet carrier 40 by the eccentric shaft 22 of crank axle 20, realizes second level row
Star slows down.
In the present embodiment, as shown in Figure 13~14, the crank axle 20 is equipped with involute splined shaft 21, the planet tooth
Wheel 80 is equipped with involute spline hub 81, the planetary gear 80 and the crank axle 20 by the involute spline hub 81 and
Connection is realized in the cooperation of the involute splined shaft 21.Specifically, involute spline hub 81 and involute splined shaft 21 are passed through
Connection can effectively ensure that speed and moment of torsion are delivered on crank axle 20.So that it is guaranteed that crank axle 20 drives pin by eccentric shaft 22
Tooth retainer 30 and pin tooth 70 move.And then ensure pin tooth retainer 30 and pin tooth 70 in rotation process with cycloid shell 60
61 structure of the cycloidal gear teeth engaged transmission of circumferential wall.More specifically, planetary gear can also be reduced as much as possible by spline connection
Assembly space needed for 80, so that the further densification of the assembling structure of retarder, miniaturization.Also, crank axle 20 and row
Connected between star gear 80 by spline fitted, so as to ensure that the reliability being driven between crank axle 20 and planetary gear 80.By
It is driven in driving gear 11 by the way of spline tooth is opened up in the end of input shaft 10, so can further reduces master
The number of gear teeth of moving gear 11, so that the gearratio between planetary gear 80 and driving gear 11 is further improved, to reach big
The purpose of speed reducing ratio.
In other embodiments, the connection between planetary gear 80 and crank axle 20 can also pass through the interference fit of axis hole
Realize.
In the present embodiment, the quantity of the crank axle 20 is multiple, and multiple crank axles 20 are around the input shaft 10
Central axis be circularly and evenly distributed.Specifically, by increase set crank axle 20 quantity come improve the retarder can
The load intensity of carrying.
Preferably, as shown in Fig. 1~2, the quantity of crank axle 20 is two, and two crank axles 20 are relative to input shaft 10
Central axis is symmetrical arranged.Also, when carrying out trim designs using two symmetrical crank axles 20, on each crank axle 20
Even number eccentric shaft 22 is provided with, the quantity of pin tooth retainer 30 is equal with the quantity of the eccentric shaft 22 on a crank axle 20,
Each eccentric shaft 22 on one crank axle 20 corresponds to a Cycloidal Wheel, two neighboring eccentric shaft 22 on same crank axle 20
Eccentric direction deviates from 180 °, in this way, can not only meet load intensity requirement by two crank axles 20, and by adjacent
Eccentric direction between two eccentric shafts 22 deviates from 180 °, and two eccentric shafts 22 are in the rotation process at same time point, and two
A eccentric shaft 22 is so that the pin tooth 70 of two pin tooth retainers 30 is opposite with the direction that cycloidal gear teeth 61 is meshed.For example, one
When the pin tooth 70 at the top of pin tooth retainer 30 is engaged with the cycloidal gear teeth 61 of cycloid shell 60, then another pin tooth retainer 30
The pin tooth 70 of bottom is engaged with the cycloidal gear teeth 61 of cycloid shell 60, in this way, the institute of pin tooth 70 of two pin tooth retainers 30
The force direction of the cycloidal gear teeth 61 from cycloid shell 60 is born completely on the contrary, so as to form counteracting forces, avoids pin
Unidirectional acting force is produced when the pin tooth 70 of tooth retainer 30 is engaged with the cycloidal gear teeth 61 of cycloid shell 60 and causes pin tooth to keep
Frame 30 vibrates and makes whole retarder body vibration, and reaching makes retarder remain smooth working state in transmission process
Effect.
With reference to shown in Figure 13, in the present embodiment, two eccentric shafts 22 are preferably provided with each crank axle 20, when
So, the quantity of pin tooth retainer 30 is two, and each eccentric shaft 22 corresponds to a Cycloidal Wheel on a crank axle 20, same
The eccentric direction of two eccentric shafts 22 on a crank axle 20 deviates from 180 °.Kept using two opposite pin teeth of engagement direction
Frame 30 carries out force balance so that the held stationary during engaged transmission of pin tooth retainer 30 works.
In the present embodiment, as shown in Figure 11~12 and Figure 15~17, the planet carrier 40 is equipped with multiple connection hole posts 41,
The output panel 50 is equipped with multiple connection through holes 53, and the pin tooth retainer 30 is equipped with multiple avoidance through holes 35, each described
Connect hole post 41 and pass through each avoidance through hole 35, and each connection hole post 41 and each connection through hole 53 correspondingly
Correspond and connected by connecting bolt (not shown) through the connection through hole 53 and connection hole post 41 locking.Specifically
Ground, multiple connection hole posts 41, multiple connection through holes 53 and multiple avoidance through holes 35 correspond setting, and an input shaft respectively
Annular is uniformly distributed centered on 10 central axis, wherein, by connection hole post 41 through through hole 35 is avoided, then again by connecting bolt
Connected through connection through hole 53 with being connected the locking of hole post 41, so can be achieved planet carrier 40 being fixedly connected with output panel 50,
And the interference of pin tooth retainer 30 will not be subject to, meanwhile, planet carrier 40 and output panel 50 pass through fourth bearing 4 and the 5th respectively
Bearing 5 realizes rotatable connection with pin tooth retainer 30, had so both realized and planet carrier 40, output panel 50 and pin tooth are kept
The fixation of frame 30, also ensures that planet carrier 40, output panel 50 and pin tooth retainer 30 can realize rotation, smart structural design is real
It is strong with property.
The combined type cycloid planetary speed reducer of the present embodiment is efficiently solved present in traditional cycloid planetary speed reducer
Above-mentioned cited existing cycloid drive influences the transmission efficiency of cycloidal reducer due to friction energy-dissipating, it is necessary to higher
Machining accuracy cause the processing cost that will necessarily improve whole gear reducer and transmission it is easy when produce collision caused by
Vibration and the technical problem of noise.
In addition, by simulation study, show that the transmission of the combined type cycloid planetary speed reducer of the present embodiment is more steady, performance
More stablize.In the mode that the combined type cycloid planetary speed reducer of the present embodiment is presented, the structure of pin tooth retainer 30 is opposite
It is more convenient in the processing of cycloid wheel construction, cycloidal gear teeth 61 is processed and is caused on the inner peripheral wall of the cycloid shell 60 of retarder
Set and Positioning is more convenient when cycloidal gear teeth 61 is processed, easy to process.
Can also be by pin tooth retainer 30 and 70 two parts of pin tooth in the combined type cycloid planetary speed reducer of the present embodiment
Structure be made of one structure, replace 70 structure of pin tooth with the arc convex of 30 outer circle wall of pin tooth retainer, can also use
Other spline curve or special-shaped toothing.Traditional cycloid planetary speed reducer is solved in transmission process because there are a variety of frictions
And the problem of reducing transmission efficiency.Due to no individually designed pin tooth 70, pin tooth 70 also would not be in 70 shell of pin tooth and Cycloidal Wheel
Between swing, the collision between pin tooth 70 and Cycloidal Wheel and noise would not be produced.And after there is no pin tooth 70, retarder
Part sum greatly reduces, and assembling is more convenient.It can in addition contain which pin tooth 70 and pin tooth retainer 30 are rolled by axis pin 32
Link together, similar to needle bearing, easy to the standardization of pin tooth 70 and pin tooth retainer 30, can realize more preferable exchange
Property, so as to be conducive to seriation, standardization and the modularized design of powder combined type cycloid planetary speed reducer of the embodiment of the present invention.
For to sum up, combined type cycloid planetary speed reducer provided in this embodiment at least has the advantages that following aspect：
First, the combined type cycloid planetary speed reducer of the present embodiment on pin tooth retainer 30 by being provided with pin teeth groove 31 by pin
Tooth 70 is positioned in pin teeth groove 31.This structure causes the processing and manufacturing of pin tooth retainer 30 relative to traditional cycloidal-pin wheel row
The processing of Cycloidal Wheel in star retarder is more prone to, so as to reduce the processing cost of retarder entirety.
2nd, the one of which new structure form of the pin tooth retainer 30 of the combined type cycloid planetary speed reducer of the present embodiment
In so that individually designed pin tooth 70 is no longer needed in retarder transmission process, is reduced in transmission process because pin tooth 70 is swung
And the vibration produced and noise.By research and analysis, this kind of structure can effectively reduce retarder because the damage of pin tooth 70
Failure caused by and.And pin tooth 70 is all not required in the manufacture of this structure and assembling process, can reduce retarder manufacture and
The difficulty of assembling process, uses manpower and material resources sparingly, and improves efficiency.
3rd, in another new structure form of the pin tooth retainer 30 of the combined type cycloid planetary speed reducer of the present embodiment,
The structure is similar to needle bearing structure, can be easily made standard component, is easy to implement the standardization of pin tooth retainer 30 in retarder
And seriation, it can preferably realize cycloidal reducer kernel component interchangeability.Set for the modularization of cycloid planetary speed reducer
Meter provides may.And assemble more convenient.
4th, the combined type cycloid planetary speed reducer of the present embodiment is by improving the structure of cycloid shell 60, by cycloidal gear teeth
61 are machined on the inner peripheral wall of cycloid shell 60 so that and cycloidal gear teeth 61 positions in process and clamping is more prone to,
It is easy to process.
5th, the combined type cycloid planetary speed reducer of the present embodiment has stable drive, contact force by simulation study analysis
Peak value is low, transmission efficiency, assembles the advantages of easy to maintain and processing cost is low etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. combined type cycloid planetary speed reducer, it is characterised in that：Including input shaft, crank axle, pin tooth retainer, planet Frame, output panel and cycloid shell, the outer circle wall of the pin tooth retainer are equipped with the uniformly distributed pin tooth of some annulars, and the pin Tooth retainer is equipped with central through hole and eccentric pivot hole；The input shaft is equipped with driving gear, and the input shaft is described in Central through hole simultaneously forms movement clearance between the central through hole；The crank axle is equipped with planetary gear and relative to described The eccentric shaft of the central axis eccentric setting of crank axle, the eccentric shaft pass through the eccentric pivot hole, and the eccentric shaft and institute State and clutch shaft bearing is equipped between the hole wall of eccentric pivot hole, the planetary gear is meshed transmission with the driving gear；The planet carrier and the output panel are sheathed on outside the input shaft, and the planet carrier is fixed with the output panel Connect and be located at the opposite sides of the cycloid shell respectively, the planet carrier by second bearing and the crank axis connection, The output panel passes through 3rd bearing and the crank axis connection；The cycloid shell is arranged on outside the pin tooth retainer and respectively by fourth bearing and 5th bearing and the planet carrier Connected with the output panel, and the inner peripheral wall of the cycloid shell is equipped with some cycloids that connection is engaged with each pin tooth The gear teeth.
- 2. combined type cycloid planetary speed reducer according to claim 1, it is characterised in that：The pin tooth retainer it is cylindrical Perisporium is equipped with the uniformly distributed pin teeth groove of some annulars, and each pin tooth is respectively contained in each pin teeth groove.
- 3. combined type cycloid planetary speed reducer according to claim 1, it is characterised in that：Each pin tooth and the pin tooth Retainer is integrally formed.
- 4. combined type cycloid planetary speed reducer according to claim 3, it is characterised in that：Each pin tooth is the pin tooth The arc convex in cycloidal formed on the outer circle wall of retainer.
- 5. combined type cycloid planetary speed reducer according to claim 1, it is characterised in that：Each pin tooth is arranged on described On the outer circle wall of pin tooth retainer and uniformly at intervals, and each pin tooth is rolled by axis pin and the pin tooth retainer and connected Connect.
- 6. according to Claims 1 to 5 any one of them combined type cycloid planetary speed reducer, it is characterised in that：The crank axle Involute splined shaft is equipped with, the planetary gear is equipped with involute spline hub, and the planetary gear leads to the crank axle Connection is realized in the cooperation for crossing the involute spline hub and the involute splined shaft.
- 7. according to Claims 1 to 5 any one of them combined type cycloid planetary speed reducer, it is characterised in that：The crank axle Quantity to be multiple, and multiple crank axles are circularly and evenly distributed around the central axis of the input shaft.
- 8. combined type cycloid planetary speed reducer as claimed in claim 7, it is characterised in that：The quantity of the crank axle is two A, two crank axles are symmetrical arranged relative to the central axis of the input shaft.
- 9. combined type cycloid planetary speed reducer as claimed in claim 7, it is characterised in that：It is both provided with each crank axle Two eccentric shafts, and the eccentric direction of two eccentric shafts on each crank axle deviates from 180 °, the pin tooth The quantity of retainer is two, and two eccentric shafts on each crank axle are each passed through two pin tooth retainers The eccentric pivot hole corresponds to.
- 10. according to Claims 1 to 5 any one of them combined type cycloid planetary speed reducer, it is characterised in that：The planet carrier Multiple connection hole posts are equipped with, the output panel is equipped with multiple connection through holes, and the pin tooth retainer is equipped with multiple avoidance Through hole, each connection hole post pass through each avoidance through hole, and each connection hole post and each connection correspondingly Through hole is corresponded and connected by connecting bolt through the connection through hole and the connection hole post locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436001.0A CN108019470A (en) | 2017-12-26 | 2017-12-26 | Combined type cycloid planetary speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436001.0A CN108019470A (en) | 2017-12-26 | 2017-12-26 | Combined type cycloid planetary speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108019470A true CN108019470A (en) | 2018-05-11 |
Family
ID=62071671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711436001.0A Pending CN108019470A (en) | 2017-12-26 | 2017-12-26 | Combined type cycloid planetary speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108019470A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN114026351A (en) * | 2019-07-29 | 2022-02-08 | Abb瑞士股份有限公司 | Planetary gearbox, assembling method thereof, related robot joint and robot |
| CN114026351B (en) * | 2019-07-29 | 2023-02-03 | Abb瑞士股份有限公司 | Planetary gearbox, assembling method thereof, related robot joint and robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002364717A (en) * | 2001-06-08 | 2002-12-18 | Nachi Fujikoshi Corp | Hollow reduction gear |
| CN202560946U (en) * | 2012-05-18 | 2012-11-28 | 浙江恒丰泰减速机制造有限公司 | Novel compound precise speed reducer |
| CN105065584A (en) * | 2015-08-19 | 2015-11-18 | 英瑞克自动化有限公司 | Hypocycloid speed reducer |
| CN107366716A (en) * | 2017-08-08 | 2017-11-21 | 深圳先进技术研究院 | A kind of three-level reduction planetary decelerator, industrial robot |
| CN207750454U (en) * | 2017-12-26 | 2018-08-21 | 深圳先进技术研究院 | Combined type cycloid planetary speed reducer |
-
2017
- 2017-12-26 CN CN201711436001.0A patent/CN108019470A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002364717A (en) * | 2001-06-08 | 2002-12-18 | Nachi Fujikoshi Corp | Hollow reduction gear |
| CN202560946U (en) * | 2012-05-18 | 2012-11-28 | 浙江恒丰泰减速机制造有限公司 | Novel compound precise speed reducer |
| CN105065584A (en) * | 2015-08-19 | 2015-11-18 | 英瑞克自动化有限公司 | Hypocycloid speed reducer |
| CN107366716A (en) * | 2017-08-08 | 2017-11-21 | 深圳先进技术研究院 | A kind of three-level reduction planetary decelerator, industrial robot |
| CN207750454U (en) * | 2017-12-26 | 2018-08-21 | 深圳先进技术研究院 | Combined type cycloid planetary speed reducer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN114026351A (en) * | 2019-07-29 | 2022-02-08 | Abb瑞士股份有限公司 | Planetary gearbox, assembling method thereof, related robot joint and robot |
| CN114026351B (en) * | 2019-07-29 | 2023-02-03 | Abb瑞士股份有限公司 | Planetary gearbox, assembling method thereof, related robot joint and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107366716B (en) | A kind of three-level reduction planetary retarder, industrial robot | |
| CN207750454U (en) | Combined type cycloid planetary speed reducer | |
| CN107420528B (en) | A kind of cycloid planetary speed reducer, mechanical equipment tooling | |
| CN206130000U (en) | Precise planetary cycloid reducer | |
| CN105090380A (en) | Planetary gear transmission mechanism | |
| CN107345555A (en) | A kind of RV reductors | |
| CN104747659A (en) | Speed reducer for driving window curtain or door curtain | |
| JP2866249B2 (en) | Speed reducer series with internal meshing planetary gear structure | |
| CN104358839B (en) | A kind of twin shaft positioning and driving mechanism | |
| CN103742609A (en) | Planetary reducer | |
| CN108019470A (en) | Combined type cycloid planetary speed reducer | |
| CN101960172B (en) | Eccentric speed reducer | |
| CN108050211A (en) | NN type Hypocycloid pinwheel planetary reduction gears | |
| CN102699234A (en) | Driving mechanism for steel bar bender | |
| CN204572943U (en) | For the retarder that curtain and door curtain drive | |
| CN108006165A (en) | NN type epicycloid pinwheel planetary reduction gears | |
| CN206419433U (en) | A kind of transmission decelerating device | |
| CN204572940U (en) | For the retarder that curtain and door curtain drive | |
| CN204533376U (en) | A kind of power take-off of many bent axles cycloid speed reducer | |
| CN209925523U (en) | Planetary cycloidal speed reducer for light robot | |
| CN207661073U (en) | NN type epicycloid pinwheel planetary reduction gears | |
| CN107345556A (en) | A kind of RV reductors | |
| CN205047749U (en) | Planetary gear drive mechanism | |
| US6523430B1 (en) | Power take-off unit with gearset | |
| CN204533436U (en) | A kind of cycloid disc of speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180511 |