CN109281996A - The cascade retarder of balance wheel gear unit - Google Patents

The cascade retarder of balance wheel gear unit Download PDF

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Publication number
CN109281996A
CN109281996A CN201811444985.1A CN201811444985A CN109281996A CN 109281996 A CN109281996 A CN 109281996A CN 201811444985 A CN201811444985 A CN 201811444985A CN 109281996 A CN109281996 A CN 109281996A
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CN
China
Prior art keywords
balance wheel
grade
unit
retarder
wheel
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
Application number
CN201811444985.1A
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Chinese (zh)
Inventor
刘向东
刘景亚
张燕彤
陈波
李开兴
万小丽
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CISDI Technology Research Center Co Ltd
Original Assignee
CISDI Technology Research Center Co Ltd
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Application filed by CISDI Technology Research Center Co Ltd filed Critical CISDI Technology Research Center Co Ltd
Priority to CN201811444985.1A priority Critical patent/CN109281996A/en
Publication of CN109281996A publication Critical patent/CN109281996A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/021Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/08General details of gearing of gearings with members having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327Toothed 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 with orbital gear sets comprising an internally toothed ring gear
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H2057/02086Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing

Abstract

The present invention provides a kind of cascade retarder of balance wheel gear unit, including central axis, input flange, output flange and at least double reduction unit;Individual stage reduction unit is set on center shaft, transmits power by trundle between grade.Every grade of deceleration unit includes gear ring, balance wheel, eccentric wheel, and eccentric wheel is rotatably mounted around on central axis, and balance wheel is rotatably mounted around on eccentric wheel, and the external tooth engaged with gear ring is provided on balance wheel;The needs of present invention, deceleration unit are multiple tooth poor cyclo drive, reduce the reduction ratio of single-stage, increase antiseizing, and any combination of different series may finally meet small size, large transmission ratio, high bearing capacity and high efficiency, high-precision is driven.The multiple tooth unit cascaded retarder of difference of the present invention is used for high-precision industrial robot, precision drive and electromechanical controlling device, and open top container ship may be implemented, obtain very high rotating accuracy, there is vast potential for future development.

Description

The cascade retarder of balance wheel gear unit
Technical field
The invention belongs to retarder technical field, in particular to a kind of cascade retarder of balance wheel gear unit.
Background technique
RV retarder is widely used in industrial robot, with small in size, light-weight, gear range is big, the service life is long, precision The series of advantages such as stable, high-efficient, stable drive are kept, are a kind of 2K-V to grow up on the basis of conventional planetary transmission Type secondary planet is driven few teeth difference needle and puts retarder.The first order transmission of RV retarder is that involute teeth engages Gear Planet Transmission, the Second level is few teeth difference Cycloidal pin-wheel drive, and cycloidal gear teeth generally differs 1 tooth with pinwheel tooth.Common RV retarder includes needle tooth Shell, the pin wheel housing are equipped with two monomers are formed by connecting by connecting element planet carrier, set that there are two put between two monomers Line wheel, equal annular array and there are three the bearing position of tapered roller bearing, three groups of corresponding settings for corresponding setting on two monomers Bearing position on be equipped with the crank axle being connected with power device, each crank axle both passes through the circular hole in two Cycloidal Wheels.Using The robot RV reducer of the structure first reaches power device (sun gear) simultaneously on (planetary gear) of three crank axles, bent Arbor drives the operating of two Cycloidal Wheels, and power is reached pin wheel housing and realizes that double reduction exports by Cycloidal Wheel.
RV retarder has the disadvantage in that because being driven there are three crank axle (i.e. power input shaft), three cranks Axis passes through tapered roller bearing and is supported on the bearing position of the tapered roller bearing of planet carrier, therefore circular cone on crank axle The axial precision and radial accuracy of bearings position require it is all very strict, on crank axle two eccentric wheels respectively with cycloid Wheel is adapted, very strict to circularity, cylindricity, the phase difference requirement of two eccentric wheels, and the end of crank axle will also pass through spline Planetary gear is installed, very strict to the phase difference requirement between spline and eccentric wheel, these dimension chains considerably increase crank The difficulty of processing of axis, manufacturing cost is high, and also has very high requirement to the assembly precision of crank axle;In use, circle Taper roller bearing is prone to wear, and leads to that precision is cooperated to reduce, less reliable, and then service life reduces.
Multiple tooth difference planetary reducer with cycloidal pin teeth is to solve the problems, such as that few teeth difference Cycloidal pin-wheel drive tooth face agglutination is researched and developed A kind of novel K-H-V planetary gearing speed reducer.Many teeth difference cycloid gear drive in recent years on small speed ratio speed reducer, Especially it is widely used in high-power, small speed ratio speed reducer.
The joint motions of industrial robot are generally intermittent back and forth movement, it is desirable that transmission ratio is big, bearing capacity is big, revolution is smart Degree is high.The multiple tooth poor cycloidal reducer reduction ratio of single-stage is not able to satisfy the requirement of industrial robot joint movement still, it is therefore necessary to It studies novel transmission mechanism and overcomes above-mentioned deficiency.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of cascades of balance wheel gear unit Retarder, to realize the purpose of small size, large transmission ratio, high bearing capacity and high efficiency transmission.
In order to achieve the above objects and other related objects, technical solution provided by the invention is as follows:
A kind of cascade retarder of balance wheel gear unit, including trundle between central axis, input flange, output flange, grade, Locating piece and at least double reduction unit, the deceleration units at different levels are sleeved on the central axis, adjacent deceleration unit it Between rotary motion transmitted by trundle between grade;Every grade of deceleration unit includes gear ring, balance wheel, eccentric wheel and bearing inner race, On center shaft, the eccentric wheel is rotatably mounted around bearing inner race by first layer rolling element to the bearing inner race suit On, eccentric wheel medial sulcus slot forms the outer roller-way of first layer rolling element, and the eccentric wheel is supported on gear ring by spring bearing On;The balance wheel is rotatably mounted around on eccentric wheel by second layer rolling element, and balance wheel medial sulcus slot forms the second layer and rolls The outer roller-way of body, the lateral sulcus slot on eccentric wheel form the interior roller-way of second layer rolling element;External tooth is provided on the balance wheel, and It is engaged with the gear ring;Trundle first end is connect with the balance wheel of previous stage deceleration unit between the grade, trundle second between grade End is protruded into the pin hole being arranged on rear stage deceleration unit eccentric wheel;The gear ring of the deceleration units at different levels is connected by locating piece It connects, the locating piece limits the relative rotation of each gear ring;The input flange and the eccentric wheel of first order deceleration unit, which fasten, to be connected It connects, the output flange is fastenedly connected or is rotatablely connected with the central axis, and single in afterbody deceleration by bearing support On the gear ring of member, power is transferred to output flange by afterbody deceleration unit.
Building block of the present invention is few, small in size, under the conditions of identical transimission power and identical transmission ratio, has smaller Axial dimension and smaller radial dimension.Structural rigidity is high, and antiscuffing capacity is strong, and the precision of passing movement is higher;The present invention It has taken into account the small reduction ratio of the multiple tooth difference of single-stage and plural serial stage obtains big retarding ratio, it is upper very compact in structure arrangement, than generally putting Line pin gear speed reducer is rigidly big, and impact resistance and overload capacity improve a lot.
The present invention is that the deceleration unit of any transmission ratio of any amount cascades, and small size, large transmission ratio, Gao Cheng may be implemented Loading capability and efficient transmission.
Further, be provided with location hole on the gear ring of the deceleration units at different levels, the gear ring of adjacent double reduction unit it Between by insertion location hole grade between position finger setting.
Further, isolation ring between grade is provided between adjacent double reduction unit.
Further, the both ends of the cascade retarder are provided with bearing plate, the bearing plate and individual stage reduction unit Gear ring pass through the bolt that axially wears and connect and be provided on the central axis for the first order and/or afterbody deceleration The retaining ring of unit axial limiting.
Further, force transmission hole is evenly equipped on the output flange, the quantity of force transmission hole is identical as trundle quantity between grade, most Trundle transmits rotary motion, trundle one between the grade separately set between rear stage deceleration unit and output flange pass through the grade separately set End is connect with the balance wheel of afterbody deceleration unit, and the other end protrudes into the force transmission hole.
Further, mounting hole is distributed along the circumference on the balance wheel, trundle is inserted into peace in a manner of close-fitting between the grade It fills in hole.
Further, the eccentric wheel extends outwardly annulate lamella, and the pin hole is evenly distributed on the ring flat-plate, and described The ring flat-plate of eccentric wheel is supported on gear ring by spring bearing.
Further, the output flange be rotatably mounted around on central axis by bearing or the output flange with Central axis is structure as a whole.
Further, the eccentricity of the balance wheel and central axis is e, and the diameter of the pin hole is greater than the straight of trundle between grade Diameter, the difference of the two diameter are 2e;The pitch circle of the balance wheel and the pitch circle of gear ring are tangent, and the centers of two pitch circles is away from for e, balance wheel and tooth Circle makees pure rolling along pitch circle tangent line.
Further, the bearing inner race and first layer rolling element for removing the deceleration unit be between eccentric wheel and central axis Sliding bearing cooperation;And/or remove the second layer rolling element of the deceleration unit, match between eccentric wheel and balance wheel for sliding bearing It closes.
The beneficial effects of the present invention are: building block of the present invention is few, and it is small in size, in identical transimission power and identical biography Under the conditions of dynamic ratio, there is smaller axial dimension and smaller radial dimension.Structural rigidity is high, and antiscuffing capacity is strong, transmitting fortune Dynamic precision is higher;The present invention has taken into account the small reduction ratio of the multiple tooth difference of single-stage and plural serial stage obtains big retarding ratio, arranges in structure Upper very compact, rigidly bigger than general cycloidal planetary gear speed reducer, impact resistance and overload capacity improve a lot.
The present invention is that the deceleration unit of any transmission ratio of any amount cascades, and small size, large transmission ratio, Gao Cheng may be implemented Loading capability and efficient transmission.
Detailed description of the invention
Fig. 1 is the three dimensional sectional view of the present embodiment three-stage cascade retarder;
Fig. 2 is the cross-sectional view of the present embodiment three-stage cascade retarder;
Fig. 3 is the reducer structure schematic diagram of single-stage speed reducing unit in one embodiment of the invention;
Fig. 4 is the schematic three dimensional views of eccentric wheel in one embodiment of the invention;
Fig. 5 is the schematic three dimensional views of balance wheel in one embodiment of the invention;
Fig. 6 is the cascade retarder three-dimensional sectional that output flange and central axis merge into a single whole in one embodiment of the invention Figure;
Fig. 7 is the two-level concatenation reducer structure signal that sliding bearing formula deceleration unit is constituted in one embodiment of the invention Figure.
Piece mark explanation
1- input flange;2- central axis;3- output flange;31- force transmission hole;41- gear ring;42- eccentric wheel;The first ditch of 421- Slot;422- third groove;43- ring flat-plate;431- pin hole;44- balance wheel;441- mounting hole;442- external tooth;The 4th groove of 443-;45- Bearing inner race;451- second groove;46- first layer rolling element;47- second layer rolling element;48- bearing plate;49a- support shaft It holds;49b- bearing;5- bolt;6- retaining ring;7- isolation ring;Positioning pin between 8- grades;Trundle between 9- grades.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that the term of such as "upper", "lower", "left", "right", " centre " and " one " cited in this specification, also Only being illustrated convenient for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in nothing Under essence change technology contents, when being also considered as the enforceable scope of the present invention.
Embodiment 1
As shown in Figures 1 to 5, a kind of cascade retarder of balance wheel gear unit, including it is central axis 2, input flange 1, defeated Flange 3 and at least double reduction unit out;Individual stage reduction unit is respectively positioned between input flange 1 and output flange 2, and every grade subtracts Fast unit is set on common central axis 2, passes through 9 transmitting rotary power of trundle between grade between adjacent double reduction unit; Specifically, every grade of deceleration unit includes gear ring 41, balance wheel 44 and eccentric wheel 42, and wherein gear ring 41 has internal tooth, described inclined Heart wheel 42 is rotatably mounted around on central axis 2, and is supported on corresponding gear ring 41 by spring bearing 49a, and balance wheel 44 can It is rotationally sleeved on eccentric wheel 42, external tooth 442 is provided on balance wheel 44, the external tooth 442 and the internal tooth of gear ring 41 of balance wheel 44 are nibbled It closes;Input flange 1 and the eccentric wheel 42 of first order deceleration unit are bolted, for accessing power, output flange 3 it is outer Circle is supported on the gear ring 41 of afterbody deceleration unit by spring bearing 49a, and output flange 3 is fastenedly connected with central axis 2 Or rotation connection;3 inner ring of output flange passes through bearing support on central axis 2 in this example, the eccentric wheel of rear stage deceleration unit The pin hole 431 for transmitting power is provided on 42;The balance wheel of 9 first end of trundle and previous stage deceleration unit is fixed between grade connects It connects, 9 second end of trundle protrudes into the pin hole 431 of the eccentric wheel 42 of rear stage deceleration unit between grade, transmitting rotary power;Finally Power is transferred to output flange 3 by primary speed-down unit.
Specifically, rotary power is transferred to the eccentric wheel 42 of first order deceleration unit by input flange 1, and eccentric wheel 42 obtains Rotary power, and the same level balance wheel 44 is driven to make eccentric rotary, power is transferred to next stage by trundle 9 between grade and subtracted by balance wheel 44 Power is transferred to output flange 3, is exported by the eccentric wheel 42 of fast unit, afterbody deceleration unit, is had on output flange 3 There are the structure for transmitting torque, such as threaded hole.
In one embodiment, the output flange 3 is distributed along the circumference with force transmission hole 31, the quantity of force transmission hole 31 with most 441 quantity of trundle is identical between the grade that rear stage deceleration unit is connected, and trundle 9 is inserted into the power transmission of output flange 3 between this grade Rotary motion is transmitted in hole 31.
In one embodiment, it is distributed along the circumference with mounting hole 441 on the balance wheel 44, trundle 9 is between grade with close-fitting Mode be inserted into mounting hole, as shown in Figure 5.
In one embodiment, the eccentric wheel 42 extends outwardly annulate lamella 43, and pin hole 431 is circumferential uniformly distributed along ring flat-plate 43 On the ring flat-plate 43, and the ring flat-plate 43 of eccentric wheel 42 is supported on gear ring 41 by spring bearing 49a, as shown in Figure 4 and Fig. 2 It is shown.
In one embodiment, the deceleration unit further includes bearing inner race 45, and the eccentric wheel 42 is sleeved on bearing Outside inner ring 45, and first layer rolling element 46 is provided between bearing inner race 45, wherein the inner hole wall of eccentric wheel 42 is provided with One groove 421, the first groove 421 form the outer roller-way of first layer rolling element 46, the second ditch of 45 outer wall of bearing inner race setting The interior roller-way of the formation first layer rolling element 46 of slot 451;Bearing inner race 45 is sleeved on central axis 2;The balance wheel of the deceleration unit 44 sets are provided with second layer rolling element 47 outside eccentric wheel 42, and between 42 outer wall of eccentric wheel, set on 42 outer wall of eccentric wheel It is equipped with third groove 422, which forms the interior roller-way of second layer rolling element 47, is provided on 44 inner wall of balance wheel 4th groove 443, the 4th groove 443 form the outer roller-way of second layer rolling element;Wherein second layer rolling element 47 and first layer Roller or ball can be used in rolling element 46.That is, between eccentric wheel 42 and bearing inner race 45 and balance wheel 44 and eccentric wheel 42 Between constitute inside and outside two layers of compact rotational structure, to realize relative rotation.
In another embodiment, at the same save bearing inner race 45, first layer rolling element 46, second layer rolling element 47 with And corresponding groove structure, cooperated between the deceleration unit balance wheel 44 and eccentric wheel 42 by sliding bearing;The eccentric wheel Cooperated between 42 and central axis 2 by sliding bearing.Alternatively, only saving bearing inner race 45 and first layer rolling element 46 and corresponding Groove structure is cooperated between the eccentric wheel 42 and central axis 2 by sliding bearing;Alternatively, only saving second layer rolling element 47 And its groove, cooperated between the deceleration unit balance wheel 44 and eccentric wheel 42 by sliding bearing.
Being rotatably assorted between balance wheel 44 and eccentric wheel 42 may be selected any of the above-described kind, between eccentric wheel 42 and central axis 2 Fit system may be selected any of the above-described kind.Wherein, Fig. 1 show the frame mode for being all made of rolling element.
In one embodiment, output flange 3 is structure as a whole with central axis 2.
In another embodiment, the output flange 3 is rotatably mounted around on central axis 2 by bearing 49b.
In one embodiment, the eccentricity of the balance wheel 44 and central axis 2 is e, that is, the first layer of eccentric wheel 42 rolls Kinetoplast 46 and second layer rolling element 47 have eccentric e;
The diameter of the pin hole 431 and force transmission hole 31 is all larger than the diameter of trundle 9 between grade;And the diameter of pin hole 431 with The difference of the diameter of trundle 9 is 2e between grade, and the difference of the diameter of trundle 9 is 2e between the diameter and grade of force transmission hole 31;The balance wheel The pitch circle of 44 pitch circle and gear ring 41 is tangent, and away from for e, balance wheel 44 and gear ring 41 make pure rolling along pitch circle tangent line for the centers of two pitch circles It is dynamic.
The principle of single deceleration unit are as follows: balance wheel 44 is sleeved on eccentric wheel 42, and balance wheel 44 is engaged with gear ring 41, balance wheel 44 Pitch circle gear ring 41 pitch circle it is tangent, the centers of two pitch circles is away from driving balance wheel 44 and gear ring 41 when eccentric wheel 42 rotates for e Make pure rolling along pitch circle tangent line, while balance wheel 44 is rotated backward relative to eccentric wheel 42, the revolving speed and balance wheel 44 of eccentric wheel 42 Rotating ratio be deceleration unit transmission ratio.
In one embodiment, it is fixed to be provided on the gear ring 41 of the deceleration units at different levels along the direction for being parallel to axis Position hole, location hole are located at the opposite side of two neighboring gear ring 41, and along gear ring 41 it is circumferentially distributed be it is multiple, positioning pin 8 is slotting between grade In the location hole for entering adjacent double reduction unit, the positioning of adjacent double reduction unit, positioning pin 8 and location hole between grade are realized Constitute locating piece.Positioning pin 8 can be solid or hollow between grade;The both ends of the cascade retarder are provided with bearing plate 48, The spring bearing 49a at cascade retarder both ends is fixed by bearing plate 48.The tooth of the bearing plate 48 and individual stage reduction unit Circle 41 is cascaded by bolt.Wherein bolt 5 is staggered or is overlapped on circumferential position with positioning pin 8 between grade;In this example To reduce processing capacity, positioning pin 8 is arranged concentrically with bolt 5 between grade, and positioning pin 8 is hollow structure between grade, and bolt 5 is determined between passing through grade The center of position pin 8.
For convenient for stablizing installation, the eccentric wheel 42 of the same level is supported on the same level gear ring 41 by same spring bearing 49a simultaneously On the gear ring 41 of upper level.
In one embodiment, to avoid the interference between adjacent deceleration unit, it is arranged between adjacent deceleration unit There is isolation ring 7, specifically, isolation ring 7 is arranged between the bearing inner race 45 of adjacent deceleration unit, when using sliding bearing, Isolation ring 7 is arranged between the sliding bearing of adjacent deceleration unit.
In one embodiment, it is provided on the central axis 2 for subtracting to first order deceleration unit and afterbody The retaining ring 6 of fast unit axial limiting, the gear of retaining ring 6 slow down in the outside of first order deceleration unit bearing inner race 45 and afterbody The outside of unit bearing inner ring 45.When output flange 3 and central axis 2 are integrated, can not be set on the outside of afterbody deceleration unit Set retaining ring 6.
The drive mechanism of multi-stage speed-reducing unit passes through 9 transmitting rotary power of trundle between grade between adjacent two-stage;Work as gear ring 41 it is fixed when, the rotation of input flange 1 drives the eccentric wheel 42 of first order deceleration unit connected therewith to rotate, and the first order is slowed down single The balance wheel 44 of member is engaged with gear, and first order balance wheel 44 makees plane motion under the drive of first order eccentric wheel 42, passes through fixation The rotational component of the plane motion of balance wheel 44 is transmitted to the inclined of second level deceleration unit by the trundle 9 between the grade on balance wheel 44 Heart wheel 42 makes second level eccentric wheel 42 make rotating motion, i.e., the balance wheel 44 of first order deceleration unit drives second level deceleration unit. Successively, the balance wheel 44 of second level deceleration unit drives third level deceleration unit, etc..Afterbody deceleration unit drives output method Rotary motion after 3 output deceleration of orchid.
The present embodiment is the cascade of three-level deceleration unit, when gear ring 41 is fixed, the transmission ratio of this implementation column are as follows:
In formula, Z1、Z2It is the gear teeth number of teeth of gear ring 41 Yu balance wheel 44 respectively, takes 16 and 14, i respectively in the present embodiment3It is three Grade cascade retarder reduction ratio, the reduction ratio of the present embodiment are i3=83=512.
Embodiment 2
In one embodiment, output flange 3 is structure as a whole with the central axis 2, as shown in Figure 6.Remaining structure It is same as Example 1.
Embodiment 3
Fig. 7, which is shown, eliminates first layer rolling element 46 and bearing inner race 45, using the second level of sliding bearing fit system The cascade retarder that deceleration unit is constituted, remaining structure are same as Example 2.In other embodiments, deceleration unit can be with More series are set according to demand.
Building block of the present invention is few, small in size, under the conditions of identical transimission power and identical transmission ratio, has smaller Axial dimension and smaller radial dimension.Structural rigidity is high, and antiscuffing capacity is strong, and the precision of passing movement is higher;The present invention It has taken into account the small reduction ratio of the multiple tooth difference of single-stage and plural serial stage obtains big retarding ratio, it is upper very compact in structure arrangement, than generally putting Line pin gear speed reducer is rigidly big, and impact resistance and overload capacity improve a lot.
The multiple tooth poor Cycloidal Wheel transmission of single-stage reduces flank of tooth Maximum Contact compared to tooth difference standard engagement Cycloidal Wheel transmission and answers Power can effectively increase the bearing capacity of the flank of tooth, the big tooth of relative velocity not participated in power transmission, to also improve complete machine Antiscuffing capacity improves intensity;The multiple tooth poor cycloid reduction transmission of plural serial stage, can be in lesser single staged transmission ratio Bigger cascade transmission ratio is obtained, industrial robot is compact to reducer structure, transmission ratio is big, the light-weight, service life to meet It is long, vibrating noise is low, cheap etc. requires.
Multiple tooth difference cyclo drive, reduces the reduction ratio of single-stage, increases antiseizing, any amount, any transmission ratio The combination of cascade deceleration unit may finally meet small size, large transmission ratio, high bearing capacity and high efficiency, high-precision is driven Demand.
The cascade retarder of balance wheel gear unit of the present invention is used for high-precision industrial robot, precision drive and Electrical Control On device processed, using the balance wheel of high-precision processing and manufacturing, open top container ship may be implemented, very high rotating accuracy, institute can be obtained To there is vast potential for future development.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as At all equivalent modifications or change, should be covered by the claims of the present invention.

Claims (10)

1. a kind of cascade retarder of balance wheel gear unit, it is characterised in that: including central axis, input flange, output flange, grade Between trundle, locating piece and at least double reduction unit, the deceleration units at different levels are sleeved on the central axis, adjacent to subtract Rotary motion is transmitted by trundle between grade between fast unit;Every grade of deceleration unit includes gear ring, balance wheel, eccentric wheel and axis Inner ring is held, on center shaft, the eccentric wheel is rotatably mounted around axis by first layer rolling element to the bearing inner race suit It holds on inner ring, eccentric wheel medial sulcus slot forms the outer roller-way of first layer rolling element, and the eccentric wheel is supported by spring bearing On gear ring;The balance wheel is rotatably mounted around on eccentric wheel by second layer rolling element, and balance wheel medial sulcus slot forms second The outer roller-way of layer rolling element, the lateral sulcus slot on eccentric wheel form the interior roller-way of second layer rolling element;It is provided on the balance wheel External tooth, and engaged with the gear ring, trundle first end is connect with the balance wheel of previous stage deceleration unit between the grade, is driven between grade Pin second end protrudes into the pin hole being arranged on rear stage deceleration unit eccentric wheel;The gear ring of the deceleration units at different levels passes through positioning Part connection, the locating piece limit the relative rotation of each gear ring;The input flange and the eccentric wheel of first order deceleration unit are tight It is solidly connected, the output flange is fastenedly connected or is rotatablely connected with the central axis, and is subtracted by bearing support in afterbody On the gear ring of fast unit, power is transferred to output flange by afterbody deceleration unit.
2. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: the deceleration units at different levels Gear ring on be provided with location hole, it is fixed by positioning pin between the grade of insertion location hole between the gear ring of adjacent double reduction unit Position.
3. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: adjacent double reduction unit Between be provided with isolation ring between grade.
4. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: the cascade retarder Both ends are provided with bearing plate, and the bearing plate passes through the bolt axially worn with the gear ring of individual stage reduction unit and connect institute State the retaining ring being provided on central axis for the first order and/or afterbody deceleration unit axial limiting.
5. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: on the output flange It is furnished with force transmission hole, the quantity of force transmission hole is identical as trundle quantity between grade, and afterbody deceleration unit and output flange pass through separately If grade between trundle transmit rotary motion, the balance wheel of trundle one end and afterbody deceleration unit connects between the grade separately set It connects, the other end protrudes into the force transmission hole.
6. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: on the balance wheel circumferentially It is evenly equipped with mounting hole, trundle is inserted into mounting hole in a manner of close-fitting between the grade.
7. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: the eccentric wheel is to extension Annulate lamella is stretched, the pin hole is evenly distributed on the ring flat-plate, and the ring flat-plate of the eccentric wheel is supported on by spring bearing On gear ring.
8. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: the output flange passes through Bearing is rotatably mounted around on central axis or the output flange is structure as a whole with central axis.
9. the cascade retarder of balance wheel gear unit according to claim 1, it is characterised in that: the balance wheel and central axis Eccentricity be e, the diameter of the pin hole is greater than the diameter of trundle between grade, and the difference of the two diameter is 2e;The section of the balance wheel Circle is tangent with the pitch circle of gear ring, and the centers of two pitch circles is away from making pure rolling along pitch circle tangent line for e, balance wheel and gear ring.
10. the cascade retarder of balance wheel gear unit described in -9 any one according to claim 1, it is characterised in that: remove The bearing inner race and first layer rolling element of the deceleration unit cooperate between eccentric wheel and central axis for sliding bearing;And/or it goes The second layer rolling element for falling the deceleration unit cooperates between eccentric wheel and balance wheel for sliding bearing.
CN201811444985.1A 2018-11-29 2018-11-29 The cascade retarder of balance wheel gear unit Pending CN109281996A (en)

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Application Number Priority Date Filing Date Title
CN201811444985.1A CN109281996A (en) 2018-11-29 2018-11-29 The cascade retarder of balance wheel gear unit

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022049561A1 (en) * 2020-09-07 2022-03-10 Ali Mahmoodi Multistage pericyclic gear reducer

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022049561A1 (en) * 2020-09-07 2022-03-10 Ali Mahmoodi Multistage pericyclic gear reducer

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