CN109281996B - Cascade speed reducer of balance wheel transmission unit - Google Patents
Cascade speed reducer of balance wheel transmission unit Download PDFInfo
- Publication number
- CN109281996B CN109281996B CN201811444985.1A CN201811444985A CN109281996B CN 109281996 B CN109281996 B CN 109281996B CN 201811444985 A CN201811444985 A CN 201811444985A CN 109281996 B CN109281996 B CN 109281996B
- Authority
- CN
- China
- Prior art keywords
- stage
- balance
- gear
- eccentric wheel
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 95
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 41
- 238000005096 rolling process Methods 0.000 claims description 33
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000002955 isolation Methods 0.000 claims 1
- 238000004026 adhesive bonding Methods 0.000 abstract description 7
- 239000000178 monomer Substances 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007787 solid Substances 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
- F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- 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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
Abstract
The invention provides a cascade speed reducer of a balance wheel transmission unit, which comprises a central shaft, an input flange, an output flange and at least two stages of speed reducing units; each stage of speed reducing units is sleeved on the central shaft and transmits power through the interstage transmission pins. Each stage of the speed reduction unit comprises a gear ring, a balance wheel and an eccentric wheel, wherein the eccentric wheel is rotatably sleeved on the central shaft, the balance wheel is rotatably sleeved on the eccentric wheel, and the balance wheel is provided with external teeth meshed with the gear ring; the speed reducing unit is a multi-gear cycloid transmission, reduces the single-stage speed reducing ratio, increases the anti-gluing property, and can finally meet the requirements of small volume, large transmission ratio, high bearing capacity, high efficiency and high-precision transmission by any combination of different stages. The multi-tooth difference unit cascade speed reducer is used for high-precision industrial robots, precise transmission and electromechanical control devices, can realize backlash-free meshing, obtains high rotation precision, and has wide development prospect.
Description
Technical Field
The invention belongs to the technical field of reducers, and particularly relates to a cascade reducer of a balance wheel transmission unit.
Background
Industrial robot widely uses RV reducer, has a series of advantages of small size, light weight, large transmission ratio range, long service life, stable precision, high efficiency, stable transmission and the like, and is a 2K-V type two-stage planetary transmission small tooth difference needle swing reducer developed on the basis of traditional planetary transmission. The first stage of the RV reducer is involute gear meshed planetary transmission, the second stage is cycloid pin gear transmission with small tooth difference, and cycloid gear teeth and pin gear teeth are generally different by 1 tooth. The RV reducer commonly used comprises a pin gear shell, a planet carrier formed by connecting two monomers through a connecting element is arranged on the pin gear shell, two cycloidal gears are arranged between the two monomers, annular arrays are arranged on the two monomers and are correspondingly provided with bearing positions of three tapered roller bearings, three groups of bearing positions which are correspondingly arranged are respectively provided with a crankshaft connected with a power device, and each crankshaft penetrates through round holes in the two cycloidal gears. The robot RV reducer with the structure firstly transmits a power device (sun gear) to (planet gears) of three crankshafts simultaneously, the crankshafts drive two cycloid gears to operate, and the cycloid gears transmit power to pin gear shells to realize secondary speed reduction output.
RV reducers suffer from the following disadvantages: because three crankshafts (namely power input shafts) are used for transmission, the three crankshafts are supported on the bearing positions of the tapered roller bearings of the planet carrier through tapered roller bearings, so that the requirements on the axial precision and the radial precision of the bearing positions of the tapered roller bearings on the crankshafts are very strict, two eccentric wheels on the crankshafts are respectively matched with cycloid gears, the requirements on the roundness, cylindricity and phase difference of the two eccentric wheels are very strict, planetary gears are arranged at the end parts of the crankshafts through splines, the requirements on the phase difference between spline grooves and the eccentric wheels are very strict, the processing difficulty of the crankshafts is greatly increased by size chains, the manufacturing cost is high, and the assembling precision of the crankshafts is also very high; in the use, tapered roller bearing is easy to wear, leads to the cooperation precision to reduce, and the reliability worsens, and then life reduces.
The invented planetary speed reducer is a new type K-H-V planetary speed reducer which is developed to solve the problem of gluing of transmission tooth surface of cycloidal pin gear with small tooth difference. The multi-gear cycloidal pin gear planetary transmission has been widely applied to small speed ratio speed reducers in recent years, especially to high-power small speed ratio speed reducers.
The joint motion of the industrial robot is generally intermittent reciprocating motion, and the industrial robot is required to have large transmission ratio, large bearing capacity and high rotation precision. The reduction ratio of the single-stage multi-gear cycloid reducer can not meet the requirement of the industrial robot on joint movement, so that a novel transmission mechanism is necessary to be studied to overcome the defects.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a cascade reducer of a balance gear unit, for the purpose of achieving small volume, large gear ratio, high bearing capacity and high efficiency transmission.
To achieve the above object and other related objects, the present invention provides the following technical solutions:
the cascade speed reducer of the balance wheel transmission unit comprises a central shaft, an input flange, an output flange, an interstage transmission pin, a positioning piece and at least two stages of speed reducing units, wherein each stage of speed reducing unit is sleeved on the central shaft, and rotary motion is transmitted between adjacent speed reducing units through the interstage transmission pin; each stage of the speed reduction unit comprises a gear ring, a balance wheel, an eccentric wheel and a bearing inner ring, wherein the bearing inner ring is sleeved on a central shaft, the eccentric wheel is rotatably sleeved on the bearing inner ring through a first layer of rolling bodies, an outer roller way of the first layer of rolling bodies is formed by grooves on the inner side of the eccentric wheel, and the eccentric wheel is supported on the gear ring through a supporting bearing; the balance wheel is rotatably sleeved on the eccentric wheel through a second layer of rolling bodies, the groove on the inner side of the balance wheel forms an outer roller way of the second layer of rolling bodies, and the groove on the outer side of the eccentric wheel forms an inner roller way of the second layer of rolling bodies; the balance wheel is provided with external teeth and meshed with the gear ring; the first end of the interstage transmission pin is connected with the balance wheel of the front stage reduction unit, and the second end of the interstage transmission pin stretches into a pin hole arranged on the eccentric wheel of the rear stage reduction unit; the gear rings of the speed reduction units of each stage are connected through positioning pieces, and the positioning pieces limit the relative rotation of the gear rings; the input flange is fixedly connected with the eccentric wheel of the first-stage speed reduction unit, the output flange is fixedly connected or rotationally connected with the central shaft and is supported on the gear ring of the last-stage speed reduction unit through a bearing, and the last-stage speed reduction unit transmits power to the output flange.
The invention has less component parts and small volume, and has smaller axial dimension and smaller radial dimension under the same transmission power and the same transmission ratio. The structural rigidity is high, the anti-gluing capability is strong, and the accuracy of the transmission motion is higher; the invention combines single-stage multi-tooth difference small reduction ratio with multi-stage serial connection to obtain large reduction ratio, has very compact structural arrangement, has higher rigidity than a common cycloidal pin gear speed reducer, and greatly improves impact resistance and overload capacity.
The invention is a cascade connection of any number of speed reducing units with any transmission ratio, and can realize transmission with small volume, large transmission ratio, high bearing capacity and high efficiency.
Further, positioning holes are formed in gear rings of the speed reduction units of each stage, and the gear rings of the adjacent two stages of speed reduction units are positioned through interstage positioning pins inserted into the positioning holes.
Further, an inter-stage isolating ring is arranged between two adjacent stage decelerating units.
Further, bearing pressing plates are arranged at two ends of the cascade speed reducer, the bearing pressing plates are connected with gear rings of each level of speed reducing units through bolts penetrating through the gear rings in the axial direction, and check rings used for limiting the first level and/or the last level of speed reducing units in the axial direction are arranged on the central shaft.
Further, the output flange is uniformly provided with force transmission holes, the number of the force transmission holes is the same as that of the interstage transmission pins, the last stage of speed reduction units and the output flange transmit rotary motion through the interstage transmission pins additionally arranged, one end of each interstage transmission pin additionally arranged is connected with a balance wheel of the last stage of speed reduction unit, and the other end of each interstage transmission pin extends into the force transmission holes.
Further, mounting holes are uniformly distributed on the balance wheel along the circumferential direction, and the interstage transmission pins are inserted into the mounting holes in a tight fit mode.
Further, the eccentric wheel outwards extends to be provided with a ring plate, the pin holes are uniformly distributed on the ring plate along the circumferential direction, and the ring plate of the eccentric wheel is supported on the gear ring through a support bearing.
Further, the output flange is rotatably sleeved on the central shaft through a bearing, or the output flange and the central shaft are in an integrated structure.
Further, the eccentric distance between the balance wheel and the central shaft is e, the diameter of the pin hole is larger than that of the interstage transmission pin, and the difference between the diameters is 2e; the pitch circle of the balance wheel is tangent with the pitch circle of the gear ring, the center distance between the two pitch circles is e, and the balance wheel and the gear ring do pure rolling along the pitch circle tangent line.
Further, the bearing inner ring and the first layer of rolling bodies of the speed reduction unit are removed, and a sliding bearing is matched between the eccentric wheel and the central shaft; and/or removing a second layer of rolling bodies of the speed reduction unit, wherein a sliding bearing is matched between the eccentric wheel and the balance wheel.
The beneficial effects of the invention are as follows: the invention has less component parts and small volume, and has smaller axial dimension and smaller radial dimension under the same transmission power and the same transmission ratio. The structural rigidity is high, the anti-gluing capability is strong, and the accuracy of the transmission motion is higher; the invention combines single-stage multi-tooth difference small reduction ratio with multi-stage serial connection to obtain large reduction ratio, has very compact structural arrangement, has higher rigidity than a common cycloidal pin gear speed reducer, and greatly improves impact resistance and overload capacity.
The invention is a cascade connection of any number of speed reducing units with any transmission ratio, and can realize transmission with small volume, large transmission ratio, high bearing capacity and high efficiency.
Drawings
FIG. 1 is a three-dimensional cross-sectional view of the three-stage cascade retarder of the present embodiment;
FIG. 2 is a cross-sectional view of the three-stage cascade retarder of the present embodiment;
FIG. 3 is a schematic diagram of a single-stage reduction unit in accordance with one embodiment of the present invention;
FIG. 4 is a three-dimensional schematic of an eccentric in accordance with one embodiment of the invention;
FIG. 5 is a three-dimensional schematic view of a balance in one embodiment of the invention;
FIG. 6 is a three-dimensional cross-sectional view of a cascade retarder incorporating an output flange with a central shaft in one embodiment of the invention;
fig. 7 is a schematic diagram of a two-stage cascade reducer formed by a sliding bearing type reduction unit according to an embodiment of the present invention.
Description of the part reference numerals
1-an input flange; 2-a central axis; 3-an output flange; 31-a force transfer hole; 41-a gear ring; 42-eccentric wheel; 421-first trenches; 422-third trenches; 43-ring plate; 431-pin hole; 44-balance; 441-mounting holes; 442-external teeth; 443-fourth grooves; 45-bearing inner ring; 451-second grooves; 46-first layer rolling bodies; 47-second layer rolling elements; 48-bearing press plates; 49 a-support bearings; 49 b-bearing; 5-bolts; 6-check ring; 7-isolating rings; 8-inter-stage locating pins; 9-inter-stage drive pins.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
It should be understood that the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like are used in this specification for descriptive purposes only and not for purposes of limitation, and that the invention may be practiced without materially departing from the novel teachings and without departing from the scope of the invention.
Example 1
As shown in fig. 1 to 5, a cascade reducer of a balance gear unit comprises a central shaft 2, an input flange 1, an output flange 3 and at least two-stage reduction units; each stage of speed reduction units are positioned between the input flange 1 and the output flange 2, each stage of speed reduction units are sleeved on a common central shaft 2, and rotary power is transmitted between two adjacent stages of speed reduction units through an interstage transmission pin 9; specifically, each stage of the reduction unit comprises a gear ring 41, a balance wheel 44 and an eccentric wheel 42, wherein the gear ring 41 is provided with internal teeth, the eccentric wheel 42 is rotatably sleeved on the central shaft 2 and is supported on the corresponding gear ring 41 through a support bearing 49a, the balance wheel 44 is rotatably sleeved on the eccentric wheel 42, the balance wheel 44 is provided with external teeth 442, and the external teeth 442 of the balance wheel 44 are meshed with the internal teeth of the gear ring 41; the input flange 1 is connected with an eccentric wheel 42 of the first-stage speed reduction unit through a bolt and is used for accessing power, the outer ring of the output flange 3 is supported on a gear ring 41 of the last-stage speed reduction unit through a support bearing 49a, and the output flange 3 is fixedly connected or rotationally connected with the central shaft 2; in the embodiment, the inner ring of the output flange 3 is supported on the central shaft 2 through a bearing, and a pin hole 431 for transmitting power is arranged on an eccentric wheel 42 of a rear-stage speed reduction unit; the first end of the interstage transmission pin 9 is fixedly connected with the balance wheel of the previous stage reduction unit, and the second end of the interstage transmission pin 9 stretches into the pin hole 431 of the eccentric wheel 42 of the next stage reduction unit to transmit rotary power; the last stage reduction unit transmits power to the output flange 3.
Specifically, the input flange 1 transmits the rotation power to the eccentric wheel 42 of the first stage reduction unit, the eccentric wheel 42 obtains the rotation power and drives the balance wheel 44 of the present stage to eccentrically rotate, the balance wheel 44 transmits the power to the eccentric wheel 42 of the next stage reduction unit through the inter-stage transmission pin 9, the last stage reduction unit transmits the power to the output flange 3 for output, and the output flange 3 is provided with a structure for transmitting torque, such as a threaded hole and the like.
In one embodiment, the output flange 3 is uniformly provided with force transmission holes 31 along the circumferential direction, the number of the force transmission holes 31 is the same as the number of the interstage transmission pins 441 connected with the last stage of speed reduction units, and the interstage transmission pins 9 are inserted into the force transmission holes 31 of the output flange 3 to transmit rotary motion.
In one embodiment, the balance wheel 44 is circumferentially and uniformly provided with mounting holes 441, and the inter-stage transmission pin 9 is inserted into the mounting holes in a tight fit manner, as shown in fig. 5.
In one embodiment, the eccentric wheel 42 extends outwards to form a ring plate 43, the pin holes 431 are uniformly distributed on the ring plate 43 along the circumferential direction of the ring plate 43, and the ring plate 43 of the eccentric wheel 42 is supported on the gear ring 41 through a support bearing 49a, as shown in fig. 4 and 2.
In one embodiment, the speed reduction unit further includes a bearing inner ring 45, the eccentric wheel 42 is sleeved outside the bearing inner ring 45, and a first layer of rolling bodies 46 is disposed between the eccentric wheel 42 and the bearing inner ring 45, wherein a first groove 421 is disposed on an inner hole wall of the eccentric wheel 42, the first groove 421 forms an outer roller way of the first layer of rolling bodies 46, and a second groove 451 disposed on an outer wall of the bearing inner ring 45 forms an inner roller way of the first layer of rolling bodies 46; the bearing inner ring 45 is sleeved on the central shaft 2; the balance wheel 44 of the speed reducing unit is sleeved outside the eccentric wheel 42, a second layer of rolling bodies 47 is arranged between the balance wheel 44 and the outer wall of the eccentric wheel 42, a third groove 422 is arranged on the outer wall of the eccentric wheel 42, the third groove 422 forms an inner roller way of the second layer of rolling bodies 47, a fourth groove 443 is arranged on the inner wall of the balance wheel 44, and the fourth groove 443 forms an outer roller way of the second layer of rolling bodies; wherein the second layer rolling bodies 47 and the first layer rolling bodies 46 may be rollers or balls. Namely, a compact rotating structure of an inner layer and an outer layer is formed between the eccentric wheel 42 and the bearing inner ring 45 and between the balance wheel 44 and the eccentric wheel 42, so that relative rotation is realized.
In another embodiment, the bearing inner ring 45, the first layer rolling bodies 46, the second layer rolling bodies 47 and the corresponding groove structures are omitted at the same time, and the reduction unit balance 44 is matched with the eccentric wheel 42 through a sliding bearing; the eccentric wheel 42 is matched with the central shaft 2 through a sliding bearing. Or, only the bearing inner ring 45, the first layer rolling bodies 46 and the corresponding groove structures are omitted, and the eccentric wheel 42 is matched with the central shaft 2 through a sliding bearing; alternatively, only the second layer rolling elements 47 and their grooves are omitted, and the reduction unit balance 44 is engaged with the eccentric 42 by a sliding bearing.
The running fit between balance 44 and eccentric 42 may be selected from any of the above, and the fit between eccentric 42 and central shaft 2 may be selected from any of the above. Fig. 1 shows a structure in which rolling elements are used.
In one embodiment, the output flange 3 is of unitary construction with the central shaft 2.
In another embodiment, the output flange 3 is rotatably mounted on the central shaft 2 by means of a bearing 49 b.
In one embodiment, the eccentricity of balance 44 with central shaft 2 is e, i.e. first layer roller 46 and second layer roller 47 of eccentric 42 have an eccentricity e;
the diameters of the pin hole 431 and the force transmission hole 31 are larger than the diameter of the interstage transmission pin 9; and the difference between the diameter of the pin hole 431 and the diameter of the inter-stage transmission pin 9 is 2e, and the difference between the diameter of the force transmission hole 31 and the diameter of the inter-stage transmission pin 9 is 2e; the pitch circle of the balance wheel 44 is tangent to the pitch circle of the gear ring 41, the center distance of the two pitch circles is e, and the balance wheel 44 and the gear ring 41 do pure rolling along the pitch circle tangent line.
The principle of the single speed reduction unit is as follows: the balance wheel 44 is sleeved on the eccentric wheel 42, the balance wheel 44 is meshed with the gear ring 41, the pitch circle of the pitch circle gear ring 41 of the balance wheel 44 is tangent, the center distance of the two pitch circles is e, when the eccentric wheel 42 rotates, the balance wheel 44 and the gear ring 41 are driven to purely roll along the pitch circle tangent line, meanwhile, the balance wheel 44 reversely rotates relative to the eccentric wheel 42, and the rotation speed ratio of the eccentric wheel 42 and the balance wheel 44 is the transmission ratio of the speed reduction unit.
In one embodiment, the gear rings 41 of the reduction units of each stage are provided with positioning holes along the direction parallel to the axis, the positioning holes are located on opposite sides of two adjacent gear rings 41 and distributed into a plurality of stages along the circumferential direction of the gear rings 41, the inter-stage positioning pins 8 are inserted into the positioning holes of the reduction units of the adjacent two stages to realize the positioning of the reduction units of the adjacent two stages, and the inter-stage positioning pins 8 and the positioning holes form positioning pieces. The interstage positioning pin 8 can be solid or hollow; bearing pressing plates 48 are arranged at two ends of the cascade speed reducer, and supporting bearings 49a at two ends of the cascade speed reducer are fixed by the bearing pressing plates 48. The bearing pressing plate 48 is connected with the gear rings 41 of the speed reduction units at each stage in series through bolts. Wherein the bolts 5 are staggered or coincident with the interstage locating pins 8 in circumferential position; in this example, the interstage positioning pin 8 is disposed concentrically with the bolt 5, the interstage positioning pin 8 is hollow, and the bolt 5 passes through the center of the interstage positioning pin 8.
For stable installation, the eccentric gear 42 of the present stage is supported on both the ring gear 41 of the present stage and the ring gear 41 of the preceding stage through the same support bearing 49 a.
In one embodiment, to avoid interference between adjacent reduction units, a spacer ring 7 is provided between adjacent reduction units, in particular, spacer ring 7 is provided between bearing inner rings 45 of adjacent reduction units, and when sliding bearings are employed, spacer ring 7 is provided between sliding bearings of adjacent reduction units.
In one embodiment, a retainer ring 6 for axially limiting the first-stage reduction unit and the last-stage reduction unit is arranged on the central shaft 2, and the retainer ring 6 is blocked on the outer side of the first-stage reduction unit bearing inner ring 45 and the outer side of the last-stage reduction unit bearing inner ring 45. When the output flange 3 is integrated with the central shaft 2, the outer side of the last stage of the reduction unit may not be provided with a retainer ring 6.
A transmission structure of the multi-stage speed reduction unit, wherein the rotating power is transmitted between two adjacent stages through an inter-stage transmission pin 9; when the gear ring 41 is fixed, the input flange 1 rotates to drive the eccentric wheel 42 of the first-stage reduction unit fixedly connected with the input flange to rotate, the balance wheel 44 of the first-stage reduction unit is meshed with a gear, the first-stage balance wheel 44 moves in a plane under the drive of the first-stage eccentric wheel 42, and the rotating component of the plane movement of the balance wheel 44 is transmitted to the eccentric wheel 42 of the second-stage reduction unit through the inter-stage transmission pin 9 fixed on the balance wheel 44, so that the second-stage eccentric wheel 42 moves in a rotating mode, namely the balance wheel 44 of the first-stage reduction unit drives the second-stage reduction unit. In turn, balance 44 of the second stage reduction unit drives the third stage reduction unit, and so on. The last stage of the reduction unit drives the output flange 3 to output the reduced rotary motion.
In this embodiment, three-stage reduction units are cascaded, and when the ring gear 41 is fixed, the gear ratio of this embodiment is:
wherein Z is 1 、Z 2 The number of teeth of the gear ring 41 and the balance 44, respectively, is 16 and 14, i in this embodiment 3 For the three-stage cascade speed reducer, the speed reduction ratio of this embodiment is i 3 ＝8 3 ＝512。
Example 2
In one embodiment, the output flange 3 is integrally formed with the central shaft 2, as shown in fig. 6. The rest of the structure is the same as in embodiment 1.
Example 3
Fig. 7 shows a cascade reduction gear comprising a two-stage reduction unit using a sliding bearing fit system with the first layer rolling elements 46 and the bearing inner ring 45 removed, and the rest of the structure is the same as that of example 2. In other embodiments, the speed reduction unit may be provided with more stages as required.
The invention has less component parts and small volume, and has smaller axial dimension and smaller radial dimension under the same transmission power and the same transmission ratio. The structural rigidity is high, the anti-gluing capability is strong, and the accuracy of the transmission motion is higher; the invention combines single-stage multi-tooth difference small reduction ratio with multi-stage serial connection to obtain large reduction ratio, has very compact structural arrangement, has higher rigidity than a common cycloidal pin gear speed reducer, and greatly improves impact resistance and overload capacity.
Compared with the single-tooth-difference standard meshing cycloidal gear transmission, the single-stage multi-tooth-difference cycloidal gear transmission reduces the maximum contact stress of the tooth surface, can effectively increase the bearing capacity of the tooth surface, and does not participate in force transmission with respect to the tooth with high speed, so that the gluing resistance of the whole machine is improved, and the strength is improved; the multistage serial multistage differential cycloid speed reduction transmission can obtain larger cascade transmission ratio under the condition of smaller single-stage transmission ratio, thereby meeting the requirements of the industrial robot on compact structure, large transmission ratio, light weight, long service life, low vibration noise, low price and the like of the speed reducer.
The multi-gear cycloid transmission reduces the single-stage reduction ratio, increases the anti-gluing property, and finally can meet the requirements of small volume, large transmission ratio, high bearing capacity, high efficiency and high-precision transmission by the combination of any number of transmission ratio cascade reduction units.
The cascade speed reducer of the balance wheel transmission unit is used for high-precision industrial robots, precision transmission and electromechanical control devices, and the balance wheel manufactured by high-precision machining can realize backlash-free meshing, can obtain high rotation precision, and has wide development prospect.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. A cascade reducer of a balance gear unit, characterized in that: the device comprises a central shaft, an input flange, an output flange, an interstage transmission pin, a positioning piece and at least two stages of speed reduction units, wherein each stage of speed reduction units are sleeved on the central shaft, and rotary motion is transmitted between adjacent speed reduction units through the interstage transmission pin; each stage of the speed reduction unit comprises a gear ring, a balance wheel, an eccentric wheel and a bearing inner ring, wherein the bearing inner ring is sleeved on a central shaft, the eccentric wheel is rotatably sleeved on the bearing inner ring through a first layer of rolling bodies, an outer roller way of the first layer of rolling bodies is formed by grooves on the inner side of the eccentric wheel, and the eccentric wheel is supported on the gear ring through a supporting bearing; the balance wheel is rotatably sleeved on the eccentric wheel through a second layer of rolling bodies, the groove on the inner side of the balance wheel forms an outer roller way of the second layer of rolling bodies, and the groove on the outer side of the eccentric wheel forms an inner roller way of the second layer of rolling bodies; the balance wheel is provided with external teeth and meshed with the gear ring, the first end of the interstage transmission pin is connected with the balance wheel of the front stage reduction unit, and the second end of the interstage transmission pin extends into a pin hole arranged on the eccentric wheel of the rear stage reduction unit; the gear rings of the speed reduction units of each stage are connected through positioning pieces, and the positioning pieces limit the relative rotation of the gear rings; the input flange is fixedly connected with the eccentric wheel of the first-stage speed reduction unit, the output flange is fixedly connected or rotationally connected with the central shaft and is supported on the gear ring of the last-stage speed reduction unit through a bearing, and the last-stage speed reduction unit transmits power to the output flange.
2. The cascade reducer of a balance gear unit according to claim 1, characterized in that: and positioning holes are formed in gear rings of the speed reduction units of each stage, and the gear rings of the adjacent two stages of speed reduction units are positioned through interstage positioning pins inserted into the positioning holes.
3. The cascade reducer of a balance gear unit according to claim 1, characterized in that: an inter-stage isolation ring is arranged between two adjacent stage speed reducing units.
4. The cascade reducer of a balance gear unit according to claim 1, characterized in that: the two ends of the cascade speed reducer are provided with bearing pressing plates, the bearing pressing plates are connected with gear rings of each level of speed reducing units through bolts penetrating axially, and the central shaft is provided with a check ring for limiting the first level and/or the last level of speed reducing units axially.
5. The cascade reducer of a balance gear unit according to claim 1, characterized in that: and the output flange is uniformly provided with force transmission holes, the number of the force transmission holes is the same as that of the interstage transmission pins, the last stage of reduction units and the output flange transmit rotary motion through the interstage transmission pins additionally arranged, one end of each interstage transmission pin additionally arranged is connected with a balance wheel of the last stage of reduction units, and the other end of each interstage transmission pin extends into the force transmission holes.
6. The cascade reducer of a balance gear unit according to claim 1, characterized in that: mounting holes are uniformly distributed on the balance wheel along the circumferential direction, and the interstage transmission pins are inserted into the mounting holes in a tight fit manner.
7. The cascade reducer of a balance gear unit according to claim 1, characterized in that: the eccentric wheel outwards extends to be provided with a ring plate, the pin holes are uniformly distributed on the ring plate along the circumferential direction, and the ring plate of the eccentric wheel is supported on the gear ring through a support bearing.
8. The cascade reducer of a balance gear unit according to claim 1, characterized in that: the output flange is rotatably sleeved on the central shaft through a bearing, or the output flange and the central shaft are of an integrated structure.
9. The cascade reducer of a balance gear unit according to claim 1, characterized in that: the eccentric distance between the balance wheel and the central shaft is e, the diameter of the pin hole is larger than that of the interstage transmission pin, and the difference between the diameters is 2e; the pitch circle of the balance wheel is tangent with the pitch circle of the gear ring, the center distance between the two pitch circles is e, and the balance wheel and the gear ring do pure rolling along the pitch circle tangent line.
10. Cascading speed reducer for balance drive units according to any one of claims 1-9, characterized in that: removing the bearing inner ring and the first layer of rolling bodies of the speed reduction unit, wherein a sliding bearing is matched between the eccentric wheel and the central shaft; and/or removing a second layer of rolling bodies of the speed reduction unit, wherein a sliding bearing is matched between the eccentric wheel and the balance wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811444985.1A CN109281996B (en) | 2018-11-29 | 2018-11-29 | Cascade speed reducer of balance wheel transmission unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811444985.1A CN109281996B (en) | 2018-11-29 | 2018-11-29 | Cascade speed reducer of balance wheel transmission unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109281996A CN109281996A (en) | 2019-01-29 |
| CN109281996B true CN109281996B (en) | 2023-12-19 |
Family
ID=65173120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811444985.1A Active CN109281996B (en) | 2018-11-29 | 2018-11-29 | Cascade speed reducer of balance wheel transmission unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109281996B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2021336120A1 (en) * | 2020-09-07 | 2023-05-25 | Ali Mahmoodi | Pericyclic gear reducer |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100884819B1 (en) * | 2007-10-24 | 2009-02-23 | 주식회사 해성산전 | A cycloid reducer with multilevel for motor |
| CN201265632Y (en) * | 2008-06-06 | 2009-07-01 | 上海师范大学 | Hole pin type pin-cycloidal planetary reducer |
| CN102192280A (en) * | 2011-04-02 | 2011-09-21 | 吴小杰 | Reducer with bevel gear and hypocycloid in large transmission ratio for ore grinding machine |
| CN104019190A (en) * | 2013-09-11 | 2014-09-03 | 成都三泉科技有限公司 | Reduction gear with combination of gear change structure and eccentric cycloidal roller pin gear change structure |
| CN104033542A (en) * | 2013-03-07 | 2014-09-10 | 鸿富锦精密工业（深圳）有限公司 | Cycloidal-pin wheel decelerating mechanism |
| CN203906674U (en) * | 2014-05-09 | 2014-10-29 | 黄立新 | High-reduction-ratio precision planet small tooth difference transmission reducer |
| CN204592158U (en) * | 2015-02-09 | 2015-08-26 | 成都三泉科技有限公司 | The speed reducer that hollow type eccentric swing needle roller speed changing structure combines |
| CN105736637A (en) * | 2014-12-08 | 2016-07-06 | 吴小杰 | Industrial robot hypocycloid reducer with zero return difference |
| CN206206509U (en) * | 2016-07-05 | 2017-05-31 | 四川大学 | New-type cycloidal movable teeth reducer |
| CN209212899U (en) * | 2018-11-29 | 2019-08-06 | 中冶赛迪技术研究中心有限公司 | The cascade retarder of balance wheel gear unit |
-
2018
- 2018-11-29 CN CN201811444985.1A patent/CN109281996B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100884819B1 (en) * | 2007-10-24 | 2009-02-23 | 주식회사 해성산전 | A cycloid reducer with multilevel for motor |
| CN201265632Y (en) * | 2008-06-06 | 2009-07-01 | 上海师范大学 | Hole pin type pin-cycloidal planetary reducer |
| CN102192280A (en) * | 2011-04-02 | 2011-09-21 | 吴小杰 | Reducer with bevel gear and hypocycloid in large transmission ratio for ore grinding machine |
| CN104033542A (en) * | 2013-03-07 | 2014-09-10 | 鸿富锦精密工业（深圳）有限公司 | Cycloidal-pin wheel decelerating mechanism |
| CN104019190A (en) * | 2013-09-11 | 2014-09-03 | 成都三泉科技有限公司 | Reduction gear with combination of gear change structure and eccentric cycloidal roller pin gear change structure |
| CN203906674U (en) * | 2014-05-09 | 2014-10-29 | 黄立新 | High-reduction-ratio precision planet small tooth difference transmission reducer |
| CN105736637A (en) * | 2014-12-08 | 2016-07-06 | 吴小杰 | Industrial robot hypocycloid reducer with zero return difference |
| CN204592158U (en) * | 2015-02-09 | 2015-08-26 | 成都三泉科技有限公司 | The speed reducer that hollow type eccentric swing needle roller speed changing structure combines |
| CN206206509U (en) * | 2016-07-05 | 2017-05-31 | 四川大学 | New-type cycloidal movable teeth reducer |
| CN209212899U (en) * | 2018-11-29 | 2019-08-06 | 中冶赛迪技术研究中心有限公司 | The cascade retarder of balance wheel gear unit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109281996A (en) | 2019-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108468758B (en) | Speed reducer | |
| CN111022608B (en) | Two-stage sine hammer-shaped roller oscillating tooth speed reducer | |
| CN113309842B (en) | Cycloidal pin gear harmonic speed reducer | |
| CN109281996B (en) | Cascade speed reducer of balance wheel transmission unit | |
| EP3738809A1 (en) | Motor vehicle transmission, and motor vehicle axle provided with such transmission | |
| CN107882928B (en) | Duplex cycloidal reducer | |
| CN109780163B (en) | Reciprocating type cylindrical sine end face oscillating tooth speed reducer | |
| CN112555357A (en) | K-H-V type gap-adjustable small tooth difference precision transmission device | |
| CN114001125B (en) | Ultra-low speed ratio high-rigidity high-precision cycloidal pin gear planetary transmission speed reducer | |
| CN108757856B (en) | Multi-stage eccentric gear transmission speed change device | |
| CN111043275B (en) | Small-size doublestage hammer shape roller oscillating tooth reduction gear | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN114877032A (en) | Large-torque high-rigidity robot joint reducer | |
| CN210128044U (en) | Planetary reducer of robot | |
| CN209309233U (en) | Multiple tooth difference ring plate cascades retarder | |
| CN209212899U (en) | The cascade retarder of balance wheel gear unit | |
| CN112228516A (en) | Precision speed reducer for industrial robot | |
| CN109139812A (en) | A kind of New-type cycloidal planetary reducer | |
| CN201177030Y (en) | Nesting type few teeth difference planetary reducer | |
| CN111677819A (en) | Differential speed reducing mechanism and differential speed reducer | |
| CN107237874B (en) | Squirrel-cage type ring surface planet cambered surface cam transmission device | |
| CN212717834U (en) | Pure rolling multi-cycloid differential speed reducer | |
| CN115163757B (en) | Cycloidal pin gear planetary reducer | |
| WO2020238816A1 (en) | Co-located differential reducer | |
| CN110836247B (en) | High-speed ratio hollow microminiature robot joint 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |