CN109790911A - Backlash prevents cycloidal reducer - Google Patents
Backlash prevents cycloidal reducer Download PDFInfo
- Publication number
- CN109790911A CN109790911A CN201880002435.6A CN201880002435A CN109790911A CN 109790911 A CN109790911 A CN 109790911A CN 201880002435 A CN201880002435 A CN 201880002435A CN 109790911 A CN109790911 A CN 109790911A
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- CN
- China
- Prior art keywords
- rotor
- backlash
- cycloid
- prevents
- cycloidal reducer
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
- F16H49/00—Other gearings
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H55/18—Special devices for taking up backlash
Abstract
The present invention relates to a kind of backlash to prevent cycloidal reducer, it is inserted into eccentric rotation stratum stack arrangement in the through hole of the more than one cycloid rotor on the outer peripheral surface of input shaft, domestic by the rotor pin of elastically deformable and elastically deformable removes and (prevents) backlash, the rotor pin of above-mentioned elastically deformable is used to transmit output torque to output shaft, and the domestic toothed projections with more than one cycloid rotor of above-mentioned elastically deformable are meshed.Also, the present invention has the following structure: by configuring plate-like bushing in the more than one cycloid rotor arranged along axis direction, and configuring disc spring in output shaft, can assign precompressed to thrust direction.
Description
Technical field
The present invention relates to a kind of backlash to prevent cycloidal reducer.
Background technique
Industrial robot passes through actuator motor, servo motor etc. in the joint structure with multiple joint freedom degrees
Joint offer movement is provided.Usually retarder is arranged in the output end of servo motor to obtain from servo motor etc. in the joint of robot
Take high output torque.
Industrial robot is driven to slow down using harmonic drive (harmonic drive) mode or cycloid
(cycloidal drive) mode, for example, the cycloidal reducer of patent document 1 can transmit big torque by such as flowering structure,
The external tooth of cycloid disc is set to be meshed with the internal tooth of output shaft to be rotated, to be slowed down to the rotary force of input shaft and be passed
It is handed to output shaft, also, since reduction ratio is big, thus is used as the retarding device of multiple fields, but such as institute in patent document 1
It states, occurs that position precision caused by the translational motion bring noise of cycloidal tooth profile gear and vibration and backlash is limited etc. to ask
Topic.
In brief, in patent document 1 described below: being separated from each other the first cycloid disc of a pair and the second cycloid of production
Disk is a set of with one group opposite of state formation, reduces tooth to small phase difference is provided between the tooth form for being formed in each disk
Gap, to play its effect.
But what the external tooth of the external tooth of the first cycloid disc and the second cycloid disc was locally engaged with the internal tooth of output block
In the process, backlash (backlash) can only be provided to its back side, to help gear to be rotated.
General technical staff of the technical field of the invention is meshed with the external tooth for the outer peripheral surface for being formed in cycloid disc
Part configure roller (roller), but unless there are the abundant space of backlash etc, be otherwise also unable to ensure the rotation of roller.
Summary of the invention
Technical problem
The present invention is proposed to solve the problem above-mentioned, will be with outer cover it is intended that provide following retarder
The rotor for the inside through holes that are domestic or being configured at cycloid rotor that the external tooth for the cycloid rotor being inside eccentrically rotated is meshed
Pin is designed to the columnar structured of elastically deformable, to can remove the backlash between (preventing) structure member.
Technical solution
To achieve the goals above, the backlash of the preferred embodiment of the present invention prevent cycloidal reducer include to input torque into
The reduction part and preset deceleration torque is received by above-mentioned reduction part that row slows down, to the defeated of external transmitting output torque
Portion out,
Reduction part includes: input shaft, receives input torque；The outer cover of hollow shape can accommodate input shaft；More than one
Cycloid rotor, have be configured in a manner of equally spaced to circumferencial direction interior zone multiple through holes and along edge week
The toothed projections to be formed are enclosed, are laminated in the outer peripheral surface of input shaft along axis direction in a manner of it can be eccentrically rotated；It is multiple can
Flexible deformation it is domestic, along the inner circumferential of outer cover in a manner of it can be in contact with the toothed projections of more than one cycloid rotor
It is configured around face；And the rotor pin of multiple elastically deformables, in the multiple through holes configured along axis direction to
Rear end side extends,
Output section includes: output shaft comprising the ontology of hollow shape, the axle journal of hollow shape and container, among the above
From a face central part of ontology, end side carries out length extension to the axle journal of empty shape backward, and above-mentioned container is to circumferencial direction between grade
Every mode be configured at the front end side of ontology, to accommodate the one end of the rotor pin of elastically deformable, above-mentioned output axially outer
Transmit output torque；The outside housing cover of hollow shape can accommodate output shaft.
In an embodiment of the present invention, elastically deformable is domestic by the internal cylindrical shape component shape with hollow portion
At to provide precompressed to the toothed projections of cycloid rotor, can prevent domestic convex with the tooth form of cycloid rotor when to be eccentrically rotated
Backlash between rising, on the other hand, the rotor pin of elastically deformable are formed by the internal cylindrical shape component with hollow portion, with
Just when being eccentrically rotated, precompressed is provided to the through hole of cycloid rotor, can be prevented between rotor pin and the through hole of cycloid rotor
Backlash.
In turn, in the present invention, slit alongst can be also formed in the domestic lower end of elastically deformable,
The lower end of the rotor pin of elastically deformable alongst can also form slit.
In the present invention, in order to remove the thrust loading of clearance to(for) output shaft, precompressed can be provided by elastic force
Mode can also configure disc spring in the crosspoint of ontology and axle journal.
Optionally, disc spring can be made by springy material.
Preferably, the outer cover of hollow shape can include: annular slab has among interior zone in input shaft perforation
Heart hole；Side wall is formed along annular slab perimeter；Difference in height portion is formed in the perimeter of centre bore；And container,
It is configured in a manner of equally spaced along around inner peripheral surface to circumferencial direction, so that domestic configured along axis direction.
Preferably, the outside housing cover of hollow shape can include: annular slab has among interior zone and penetrates through for output shaft
Centre bore；Side wall is formed along annular slab perimeter；And difference in height portion, it is formed in the perimeter of centre bore.
In the present invention, it can configure tubular liner, around through hole inner peripheral surface to reduce rotor pin and cycloid rotor
Frictional force between through hole.
Preferably, in the present invention, plate-like bushing can be intervened between more than one cycloid rotor, optionally, in layer
The front end side of the more than one cycloid rotor of stack arrangement and rear end side can also configure plate-like bushing.
Wherein, tubular liner and plate-like bushing can be made by the synthetic resin with low coefficient of friction.
Plate-like bushing can also form the through-hole for rotor pin perforation.
Following detailed description with reference to the accompanying drawings can be such that feature and advantage of the invention becomes more clear.
Up till now, the term used in this specification and claims or vocabulary were not able to the meaning on routine and dictionary
It explains, the original that the concept of term can suitably should be defined based on inventor in order to illustrate its invention in optimal method
Then, should be interpreted to meet the meaning and concept of technical idea of the invention.
Beneficial effect
According to the above explanation of the invention, in the present invention, when removal cycloid rotor is eccentrically rotated and cycloid rotor
The backlash between domestic and/or rotor pin being in contact to obtain outstanding positioning precision, durability, and can be improved and turn
Square transmission capacity.
In particular, in the present invention, it, can be simply by hollow domestic and/or rotor pin without additional structure member
Flexible deformation prevent backlash.
The present invention can provide have removal for the clearance between multiple structure members of the load of thrust direction and imparting
The structure of the spring of precompressed.It has the advantages that can be used cheap ball bearing to substitute expensive roller bearing, also,
Low friction driving, noise and vibration can be prevented in advance by structure stabilization.
Detailed description of the invention
Fig. 1 is to schematically illustrate the backlash of the preferred embodiment of the present invention to prevent the perspective view of cycloidal reducer.
Fig. 2 prevents the exploded perspective view of cycloidal reducer for backlash shown in FIG. 1 from rear end side.
Fig. 3 prevents the exploded perspective view of cycloidal reducer for backlash shown in FIG. 1 from front end side.
Fig. 4 is the cross-sectional view that the backlash intercepted along the line A-A of Fig. 1 prevents cycloidal reducer.
Fig. 5 is to schematically illustrate to remove the output section of the state of outside housing cover in order to confirm the ordered state of output shaft
Exploded perspective view.
Fig. 6 is to be shown from rear end side in order to which the state for being able to confirm that the ordered state of cycloid rotor and removing output section subtracts
The top view of fast device.
Fig. 7 be in order to confirm the bonding state of be configured on input shaft two cycloid rotors and shown in top view,
Plate-like bushing and outer cover are removed in reduction part shown in fig. 6.
Fig. 8 is the side view that can confirm the bonding state for two cycloid rotors being configured on input shaft, is from side
Observe the figure of reduction part shown in Fig. 7.
Fig. 9 is the exploded perspective view for schematically illustrating the major part of reduction part shown in Fig. 2.
Figure 10 is to carry out graphic multiple figures to a plurality of types of rotor pins.
Figure 11 is to a plurality of types of domestic graphic multiple figures of progress.
Figure 12 is the stress of the rotor pin of the hollow type of elastically deformable of the invention and the rotor pin of previous solid type
Distribution map.
Specific embodiment
Described further below and multiple embodiments relevant to attached drawing make the purpose of the present invention, specific advantage and novel spy
Sign becomes more clear.What is needed to pay attention to is that in the present specification, to the process of the structural element addition appended drawing reference of each figure
In, for identical structural element, even if being shown on different figures, identical appended drawing reference is assigned as far as possible.Also,
During illustrating the present invention, if being judged as, illustrating for related known technology is possible to unnecessarily obscure of the invention want
Purport, then description is omitted.In the present specification, the first, second equal terms are for distinguishing a structural element and another knot
Structure element, structural element are not limited to above-mentioned term.In the accompanying drawings, part-structure element amplifies or omits or schematically illustrate, respectively
The size of a structural element not fully reflects actual size.
Hereinafter, the embodiment of the present invention is described in detail referring to attached drawing.The cycloid reduction of the preferred embodiment of the present invention
Device, which is characterized in that even if cycloid rotor is eccentrically rotated movement, also it can be expected that removal backlash come improve positioning precision and
The effect of durability can reduce noise and vibration as a result,.
Referring to figs. 1 to Fig. 9, prevent cycloidal reducer from carrying out brief diagram the backlash of the preferred embodiment of the present invention.
If general technical staff of the technical field of the invention is well known, industrial robot needs power to generate
With motor and the retarder to slow down to the input torque of the motor.It is provided in the present invention not only to motor, such as servo horse
The input torque reached slows down, but also can prevent the retarder of (or reduction) backlash as described above.Deceleration of the invention
Device is not limited to industrial multi-joint robots, can be used in a variety of industrial circles.
The backlash of the preferred embodiment of the present invention prevents cycloidal reducer that can drivingly be incorporated in along axis direction knot
Between the driving device (not shown) and output device (not shown) of conjunction.Driving device is configured at the front end side as retarder
Input terminal can make the hollow type input shaft of the retarder as rear end equipment carry out rotation driving by the rotary force of motor.It is defeated
Device is configured at the output end of the rear end side as retarder out, for the input torque of the motor of driving device etc., by matching
Being eccentrically rotated for the cycloid rotor being placed in retarder receives preset deceleration torque to transmit output torque to outside.Its
In, front end side refers to that the input torque for receiving driving device carrys out the input terminal to hollow type input shaft direction initialization, corresponding thereto
Ying Di, rear end side are directed to for output torque to be transferred to the output end of external hollow type output shaft direction initialization.
As described above, it includes: reduction part 1 that the backlash of the preferred embodiment of the present invention, which prevents cycloidal reducer, to by motor etc.
Driving device provide input torque slow down；Output section 2 is connect for the input torque of driving device by reduction part 1
Preset deceleration torque is received, and transmits output torque to outside, reduction part 1 and output section 2 are combined along axis direction.
For example, in the present invention, can with a variety of combinations of fastened by screw etc. along axis direction by 12 He of outer cover of reduction part 1
The outside housing cover 22 of output section 2 is combined into one.
Reduction part 1 includes: hollow type input shaft 11, receives the input torque of motor；The outer cover 12 of hollow shape, in encirclement
Casement input shaft 11；More than one cycloid rotor 13,14 (cycloid rotor), combines with the outer peripheral surface of input shaft 11；
Multiple domestic 15 (inner pin) are configured around the inner peripheral surface along outer cover 12, so as to be formed in cycloid rotor 13,
Toothed projections around 14 outer peripheral surface are meshed；And rotor pin 16 (rotor pin), it is configured at and is laminated along axis direction
The interior zone of the more than one cycloid rotor 13,14 of arrangement, and deceleration torque is transmitted to outside.
Outer cover 12 is formed by the hollow cylindrical shape or cup-shaped of open rear end side, comprising: annular slab 121, in inside
There is centre bore 123 among region；Side wall 122 is formed along 121 perimeter of annular slab.Centre bore 123 can be can revolve
The size and shape for turning the front end side of ground receiving hollow type input shaft 11 is formed, can be in the centre bore 123 and hollow type of outer cover 12
First bearing B1 is intervened between input shaft 11.In turn, in outer cover 12 configured with along around inner circumferential surface to circumferencial direction with etc.
The container 125 that the mode at interval configures, can be in container 125 along axis direction setting domestic 15.
Centre bore 123 is formed with the size and shape penetrated through for 11 front end side of hollow type input shaft, with centre bore 123
The inside face of the adjacent annular slab 121 in edge can form difference in height portion 124.Inside face of the difference in height portion 124 in annular slab 21
Place first bearing B1.
Cycloid rotor 13,14 is configured at more than one difference in height face (no attached drawing in the outer peripheral surface formation of input shaft 11
Label), it is preferable that the can be intervened between the intermediate insertion hole 131,141 of cycloid rotor 13,14 and the outer peripheral surface of input shaft 11
Two bearing B2 and 3rd bearing B3.Cycloid rotor 13,14 can be formed in input shaft by bearing B2, B3 to be stablely supported at
On the difference in height face of outer peripheral surface.Wherein, as described above, more than one difference in height face is formed in the periphery of hollow type input shaft 11
Face is in eccentric state relative to its axis center.
As shown, cycloid rotor 13 is formed by flat disk shape, comprising: centre insertion hole 131, in interior zone
The heart is inserted in around the outer peripheral surface (specially difference in height face) of input shaft；More than one through hole 136, to circumferencial direction with
Equally spaced mode is configured at interior zone；And toothed projections 135, it is continuously configured along its perimeter.
Cycloid rotor 14 is in flat disk shape, and is arranged in parallel with cycloid rotor 13, along the axis of input shaft 11
Direction is configured, comprising: centre insertion hole 141, in internal regional center, the outer peripheral surface for being inserted in input shaft is (specially high
Spend poor face) around；More than one through hole 146, is configured at interior zone to circumferencial direction in a manner of equally spaced；And tooth
Shape protrusion 145 is continuously configured along its perimeter.Cycloid rotor 14 can with shape identical with cycloid rotor 13 and/or
Identical size is formed.
As reference, cycloid rotor 13,14 has the fillet toothed projections 135,145 of curved shape, thus with it is domestic
During 15 are in rolling contact, friction when being eccentrically rotated cycloid rotor is minimized.
Friction when in the present invention, in order to be eccentrically rotated cycloid rotor minimizes, in cycloid rotor 13,14 edges week
Enclose configuration domestic 15, come make domestic 15 and the toothed projections 135,145 of cycloid rotor be in rolling contact.
Domestic 15 are placed in the container 125 formed around the inner peripheral surface along the outer cover 12 of hollow shape, another party
Face, the annular cover 19 being configured in around the open rear end side edge inner peripheral surface of outer cover 12 cover, positioning.As shown, domestic
15 are configured with being meshed with the toothed projections 135,145 of cycloid rotor 13,14 perimeters, so as to effectively support input
On the other hand side-thrust load is supported in a manner of cycloid rotor 13,14 can be made to be eccentrically rotated.
In particular, domestic 15 have the cylindrical shape component of hollow portion 151 as inside, it can be by the material system of elastically deformable
It forms.That is, since domestic 15 with hollow columnar structured, thus the domestic toothed projections phase with cycloid rotor 13,14
In the case where engagement, it can correspondingly change domestic shape with the shape of the toothed projections of cycloid rotor 13,14.It can remove
Backlash between domestic 15 and the toothed projections 135,145 of cycloid rotor.
As described above, reduction part 1 makes inputted torque slow down to generate the deceleration turn for being converted to high output torque
Square, and have and be connected with motor to receive input torque, and it is transferred to the input shaft 11 of output section 2, reduction part 1 again
More than one cycloid rotor 13,14 can be configured along the axis direction of input shaft 11.
Reduction part 1 is formed as that cycloid rotor 13,14 is made to be eccentrically rotated and reduce revolving speed according to fixed reduction ratio
Structure.In general, cycloid rotor can cause to vibrate while being eccentrically rotated, in order to can inhibit this vibration, along axis side
To more than one rotor is configured, it is preferably configured two cycloid rotors 13,14.
Cycloid rotor 13,14 is separating the through hole for being configured at its interior zone to circumferencial direction in a manner of equally spaced
136,146 interior insertions configure multiple rotor pins 16, so that end side extends multiple rotor pins 16 backward.As shown, multiple rotors
Pin 16 helps the positioning for the more than one cycloid rotor 13,14 being laminated along axis direction, on the other hand, with output shaft 21
Container 212 combines.During cycloid rotor 13,14 is eccentrically rotated, make to be configured at along axis to cycloid direction of rotation
Line direction is arranged in the rotation of each rotor pin Final 16 system in the through hole 136,146 of a column, and makes input shaft according to reduction ratio
Input torque and output shaft carry out axially combined, and be transferred to output torque and rotated.
Through hole 136,146 has the diameter of the size greater than rotor pin 16.Through hole 136,146 can be to be greater than rotor
The size of the shape of pin 16 is formed, to can ensure that being eccentrically rotated for cycloid rotor 13,14.Optionally, through hole 136,146 can
It is formed by the hollow portion of circular cross-section.Through hole is formed by shape corresponding with columnar rotor pin 16, so as to make to turn
Sub- 16 one side of pin is in contact with the inner peripheral surface of through hole 136,146, rotates on one side.Also, due to by through hole inner peripheral surface with
The corresponding shape of the outer peripheral surface of the rotor pin of cylindrical shape is formed, thus through hole and rotor pin when can substantially reduce rotation
Abrasion.
Also, in the present invention, rotor pin 16 is by the internal cylindrical shape component shape with hollow portion 161 (referring to Fig.1 0)
At, it is preferable that it can be made by the material of elastically deformable.That is, due to rotor pin 16 have it is hollow columnar structured, because
And rotor pin is in contact when cycloid rotor is eccentrically rotated with the inner peripheral surface of through hole 136,146, and can be with through hole
136,146 inner diameter shape correspondingly changes the shape of rotor pin.Its perforation for not only alleviating rotor pin 16 Yu cycloid rotor
Stress between hole 136,146 also can remove backlash.Referring to Fig.1 2, to the rotor pin in the through hole for being configured at cycloid rotor
Deformation state be described in detail.
In turn, in the present invention, when being eccentrically rotated, in order to reduce through hole 136,146 inner peripheral surfaces of cycloid rotor 13,14
With the frictional force between rotor pin 16, configuration pipe (tube) the shape bushing 17 around through hole 136,146 inner peripheral surfaces.Tubular liner
17 (bush) can be made by the synthetic resin with low coefficient of friction, for example, can be made by teflon.Institute as above
It states, tubular liner 17 can not only realize that low friction rotates, and can also reduce noise when rotor pin is in contact with through hole and vibration.
In the present invention, hollow type input shaft 11 two cycloid rotors 13,14 along axis direction stacked arrangement it
Between intervene plate-like bushing 18.Plate-like bushing 18 can assign precompressed to thrust direction to remove between two cycloid rotors 13,14
Clearance.Preferably, plate-like bushing 18 can be made by the synthetic resin with low coefficient of friction, for example, can be by teflon
It is made.Plate-like bushing 18 can be positioned on cycloid rotor with the various ways of double-sided adhesive, adhesive etc..
Plate-like bushing 18 is not to be limited only to configure between cycloid rotor 13,14, is configured in a variety of positions, with removal
It, and can be adjacent with low friction state with the clearance phenomenon of adjacent structure member.For example, plate-like bushing 18 is optionally matched
It is placed in the contact site between 121 medial surface of annular slab of outer cover 12 and cycloid rotor 14, that is, be configured at one of stacked arrangement
The front end side of above cycloid rotor is also optionally configured at 221 medial surface of annular slab and cycloid rotor of outside housing cover 22
Contact site between 13, that is, be configured at the rear end side of the more than one cycloid rotor of stacked arrangement.
Optionally, plate-like bushing 18 can also correspondingly form through-hole 186 with through hole 136,146, in order to for receiving
It is penetrated through in the rotor pin 16 of the through hole 136,146 of two cycloid rotors 13,14.
Output section 2 includes: hollow type output shaft 21, to external transmitting from 13,14 received turns of cycloid rotor of reduction part 1
Square；The outside housing cover 22 of hollow shape surrounds the output shaft 21；5th bearing B5 is configured at around the outer peripheral surface of output shaft 21；The
Six bearing B6 are configured at around 213 outer peripheral surface of axle journal of output shaft 21；And disc spring 23, towards outside housing cover 22, along axis side
Precompressed (preload) is assigned to 6th bearing B6.
Hollow type output shaft 21 includes: the ontology 211 (body) of hollow type or cylindrical shape；Hollow type or cylindrical shape
Axle journal 213 (journal) carries out length extension along outside direction (rear end side) in a face central part of the ontology 211；With
And multiple containers 212, it is formed in the another side (front end side) of ontology 211, for accommodating the one end of rotor pin 16.Multiple receipts
Tank 212 can separate the another side for being configured at ontology 211 to circumferencial direction in a manner of equally spaced.
Structure member of the outside housing cover 22 as the hollow cylindrical shape or cup-shaped of opened front end side, can cover to form pendulum
The rear end side opening portion of the outer cover 12 of the accommodating space of line rotor, as described above, being formed by the shape that can accommodate output shaft 21.Outside
The cover 22 includes: annular slab 221, has centre bore 223 among interior zone；Side wall 222, along 221 edge of annular slab
Surrounding is formed.Centre bore 223 can be formed with the size and shape penetrated through for the axle journal 213 of hollow type output shaft 21, with
The inside face of the adjacent annular slab 221 in the edge of centre bore 223 is formed with difference in height portion 224.Difference in height portion 224 is by 6th bearing
B6 is placed in the inside face of annular slab 221.
Ball bearing can be used in 6th bearing B6, so that the axle journal 213 to output shaft 21 carries out axis support, but is not limited to
This, can be replaced by a plurality of types of bearings.In output section 2, in the ontology 211 of output shaft 21 and the cross-point arrangement of axle journal
There is disc spring 23, so as to remove the clearance of 6th bearing B6 and annular slab 222 according to the load in the direction thrust (thrust), more
Specifically, the clearance between the difference in height portion 224 of annular slab is removed.The end side backward of disc spring 23, in other words, along axis direction
Precompressed is applied to 6th bearing B6, so as to abrasion, noise, the vibration etc. for preventing output shaft 21 from generating when rotating in advance.Such as figure
Shown, disc spring 23 can be formed by ring (ring) shape, so as to be in contact with the lubrication groove position of 6th bearing B6.Disc spring 23 is for example
It can be made by urethanes, synthetic resin etc., as long as can have elastic force to provide any of spring
Even material.
Figure 10 is that a variety of examples of the rotor pin of elastically deformable are carried out graphic figure.
Rotor pin 16 is the cylindrical shape component with hollow portion, can be borrowed when above-mentioned cycloid rotor is eccentrically rotated
It helps and carrys out elastically deformable with through hole 136,146 external force for contacting and applying.The upper end of rotor pin 16 and the receipts of output shaft 21
Tank 212 carries out axially combined, and the lower end of rotor pin 16 is configured at (reference in the through hole 136,146 of cycloid rotor 13,14
Fig. 4).
In (a) of Figure 10 it is graphic be it is internal there is hollow portion 161 and the rotor pin 16 of cylindrical shape that top is closed,
If applying external force by hollow portion 161, can be easy to provide flexible deformation.
Graphic in (b) of Figure 10 is internal to have hollow portion 161 and the rotor pin of cylindrical shape that top is closed
16', and alongst also there is slit 162 in the lower end of side.If applying external force, during rotor pin 16' can pass through
Empty portion 161 is easier flexible deformation.
In (c) of Figure 10 it is graphic be the internal tubulose with hollow portion 161 rotor pin 16 ", if passing through hollow portion 161
Apply external force, then can be easy flexible deformation.
In (d) of Figure 10, inside has hollow portion 161, alongst also has slit 162 in the lower end of side
To upper end.If applying external force, 16 ' ＂ of rotor pin can be easier flexible deformation by hollow portion 161.
Figure 11 is that domestic a variety of examples of elastically deformable are carried out graphic figure.
Domestic 15 be the cylindrical shape component with hollow portion, when cycloid rotor is eccentrically rotated can by with tooth
The external force that shape protrusion 135,145 contacts and applies carrys out elastically deformable.Domestic 15 upper end is positioned by annular cover 19, interior
The lower end of pin 15 is configured in the container 125 of the inner peripheral surface formation of outer cover 12 (referring to Fig. 2).
Graphic in (a) of Figure 11 is domestic the 15 of the internal tubulose with hollow portion 151, if by hollow portion 151 come
Apply external force, then can be easy flexible deformation.
In (b) of Figure 11, inside has hollow portion 161, alongst also has slit 152 in the lower end of side
To upper end.If applying external force, domestic 15 ' can be more easier flexible deformation by hollow portion 151.
In (c) of Figure 11 it is graphic be it is internal there is hollow portion 151 and domestic 15 ＂ of cylindrical shape that top is closed,
If applying external force, flexible deformation can be easy by hollow portion 151.
In (d) of Figure 11 it is graphic be it is internal there is hollow portion 151 and the domestic 15 ' ＂ of cylindrical shape that top is closed,
Alongst also there is slit 152 in the lower end of side.If applying external force, domestic 15 ' ＂ can pass through hollow portion 151
To be more easier flexible deformation.
Figure 12 is the stress envelope according to the contact site between the through hole 136,146 and rotor pin of cycloid rotor,
(a) of Figure 12 is the stress envelope of the rotor pin of hollow (hollow) type of elastically deformable of the present invention, and (b) of Figure 12 is existing
There is the stress envelope of the rotor pin of solid (solid) type of technology.This experiment is to remove tubulose in the inner peripheral surface of through hole
The state of bushing is implemented.
As described above, the graphic rotor pin for being hollow (inside is empty) type is with elastically deformable in (a) of Figure 12
Mode without clearance be inserted into the through hole 136,146 being formed in along two cycloid rotors of axis direction stacked arrangement
Under state, the stress distribution of the contact site between component.As shown, rotor pin 16 can with through hole 136,146
It contacts the identical shape of inner peripheral surface and carries out flexible deformation, thus not only remove the backlash between rotor pin and through hole, Er Qiefen
Scattered stress ensures mutual smoothly rotation.
In (b) of Figure 12 it is graphic be solid (solid) type rotor pin without clearance be inserted into be formed in along
In the state of the through hole 136,146 of two cycloid rotors of axis direction stacked arrangement, contact site between component is answered
Power distribution (imparting 0.1mm+error).As shown, rotor pin is configured in through hole 136,146 in a manner of buckling by force
Portion, to can remove the backlash between rotor pin and through hole, but stress concentrates on contact site, and generates comparable friction
Power causes mutual rotation to become to have some setbacks, so that can only be with noise and vibration.
In turn, the domestic structure for also using elastically deformable of the invention, so as in the toothed projections phase with cycloid rotor
Backlash can be prevented during engagement, also, there is the structure similar with the rotor pin of above-mentioned hollow type, thus convex with tooth form
It rises when being in contact, it can be expected that stress disperses.
More than, by embodiment, the present invention is described in detail, but it is used to illustrate the present invention, tooth of the invention
Gap prevents cycloidal reducer to be not limited thereto, can be in the technological thought of the present invention by the common of the technical field of the invention
It is obvious that technical staff, which deforms or improves,.
Simple deformation or even change of the invention belongs to the field of the invention, and specific protection scope of the invention is by basis
The attached claims and become clear.
Claims (7)
1. a kind of backlash prevents cycloidal reducer comprising the reduction part (1) slowed down to input torque and subtracted by described
Fast portion (1) receives preset deceleration torque, to the output section (2) of external transmitting output torque, which is characterized in that
It includes the rotor pin (16) of multiple elastically deformables that the backlash, which prevents cycloidal reducer, to circumferencial direction between equal
Every mode be configured at the reduction part (1) cycloid rotor interior zone multiple through holes (136,146) in, to the back-end
Side extends,
The rotor pin (16) includes the cylindrical shape component with hollow portion (161) and elastically deformable,
The upper end of the rotor pin (16) and the container (212) of output shaft (21) carry out axially combined, the rotor pin
(16) top is closed.
2. a kind of backlash prevents cycloidal reducer comprising the reduction part (1) slowed down to input torque and subtracted by described
Fast portion (1) receives preset deceleration torque, to the output section (2) of external transmitting output torque, which is characterized in that
It includes the rotor pin (16) of multiple elastically deformables that the backlash, which prevents cycloidal reducer, to circumferencial direction between equal
Every mode be configured at the reduction part (1) cycloid rotor interior zone multiple through holes (136,146) in, to the back-end
Side extends,
The rotor pin (16) includes the cylindrical shape component with hollow portion (161) and elastically deformable, in the rotor pin
(16) lower end is alongst also formed with slit (162).
3. backlash according to claim 1 or 2 prevents cycloidal reducer, which is characterized in that
The reduction part (1) further include:
Input shaft (11) receives input torque；
The outer cover (12) of hollow shape, can accommodate the input shaft (11),
The cycloid rotor has the toothed projections (135,145) formed along perimeter, in a manner of it can be eccentrically rotated
Along axis direction stacked arrangement on the outer peripheral surface of the input shaft (11).
4. backlash according to claim 3 prevents cycloidal reducer, which is characterized in that
The reduction part (1) further includes multiple domestic (15), and domestic (15) are with can be convex with the tooth form of the cycloid rotor
It rises and is configured around inner peripheral surface of (the 135,145) mode that is in contact along the outer cover (12),
Domestic (15) include cylindrical shape component, during the cylindrical shape component is able to carry out flexible deformation and inside has
Empty portion (151).
5. backlash according to claim 1 or 2 prevents cycloidal reducer, which is characterized in that the output section (2) includes:
Output shaft (21) comprising the ontology (211) of hollow shape, the axle journal (213) of hollow shape and container (212) are used
In transmitting output torque to outside, from a face central part of the ontology (211), end side carries out length to the axle journal (213) backward
Extend, the container (212) is configured at the front end side of the ontology (211) to circumferencial direction in a manner of equally spaced, to receive
Hold the one end of the rotor pin (16)；
The outside housing cover (22) of hollow shape, can accommodate the output shaft (21).
6. backlash according to claim 1 or 2 prevents cycloidal reducer, which is characterized in that in the cycloid rotor,
Tubular liner (17) are configured with around the inner peripheral surface of the through hole (136,146).
7. backlash according to claim 6 prevents cycloidal reducer, which is characterized in that the tubular liner (17) can be by
Synthetic resin with low coefficient of friction is made.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2018-0032492 | 2017-09-12 | ||
| KR1020170116854A KR101855712B1 (en) | 2017-09-12 | 2017-09-12 | Backlash-free cycloidal reducer |
| KR10-2017-0116854 | 2017-09-12 | ||
| KR1020180032492A KR101901278B1 (en) | 2018-03-21 | 2018-03-21 | Backlash-free cycloidal reducer |
| PCT/KR2018/009413 WO2019054651A1 (en) | 2017-09-12 | 2018-08-16 | Backlash preventing cycloidal speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109790911A true CN109790911A (en) | 2019-05-21 |
Family
ID=65724092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880002435.6A Pending CN109790911A (en) | 2017-09-12 | 2018-08-16 | Backlash prevents cycloidal reducer |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7023364B2 (en) |
| CN (1) | CN109790911A (en) |
| WO (1) | WO2019054651A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345200A (en) * | 2019-06-05 | 2019-10-18 | 宁波智启机电有限公司 | A kind of tubular motor reducer |
| CN113246112A (en) * | 2021-02-03 | 2021-08-13 | 杭州新剑机器人技术股份有限公司 | High-integration integrated actuator device and robot joint comprising same |
| CN114127442A (en) * | 2019-07-18 | 2022-03-01 | 李从熙 | Speed reducer |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI704305B (en) * | 2019-11-01 | 2020-09-11 | 上銀科技股份有限公司 | High reduction ratio reducer |
| KR102324721B1 (en) * | 2021-06-25 | 2021-11-11 | 주식회사 본시스템즈 | A cycloid reducer |
| CN113883241B (en) * | 2021-09-06 | 2023-03-10 | 杭州澳宇自动化设备有限公司 | Cycloid speed reducer of wire harness bundling device and speed changing method and application thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019054651A1 (en) | 2019-03-21 |
| JP7023364B2 (en) | 2022-02-21 |
| JP2020533545A (en) | 2020-11-19 |
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