CN110173551B - Speed reducing mechanism with overload protection function - Google Patents
Speed reducing mechanism with overload protection function Download PDFInfo
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- CN110173551B CN110173551B CN201910544013.8A CN201910544013A CN110173551B CN 110173551 B CN110173551 B CN 110173551B CN 201910544013 A CN201910544013 A CN 201910544013A CN 110173551 B CN110173551 B CN 110173551B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- 230000003068 static effect Effects 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 9
- 241001397809 Hakea leucoptera Species 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
Classifications
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- 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
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- 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
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/10—Arrangements or devices for absorbing overload or preventing damage by overload
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- 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
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Abstract
The invention provides a speed reducing mechanism with an overload protection function, which comprises an eccentric shaft (1), a shell (2), a tightening device (3), a cycloidal gear device, a transmission part (7) and an upper shell (8), wherein a first non-eccentric section (14) and an eccentric section are arranged on the eccentric shaft (1), the first non-eccentric section (14) is connected with the transmission part (7), the eccentric section is connected with the cycloidal gear device, the cycloidal gear device is circumferentially connected with the tightening device (3), the cycloidal gear device is connected with the transmission part (7), an accommodating space is formed after the shell (2) and the upper shell (8) are connected, the eccentric shaft (1), the tightening device (3), the cycloidal gear device and the transmission part (7) are all positioned in the accommodating space, the eccentric shaft (1) is connected with a motor, and the transmission part (7) is connected with a load. The invention has simple and reasonable structure, not only can realize the adjustment of the transmission ratio of the speed reducing structure through the tightening device, but also has the overload protection function.
Description
Technical Field
The invention relates to the field of speed reducers, in particular to a speed reducing mechanism with an overload protection function.
Background
The speed reducing mechanism is used as an important part of mechanical transmission and is widely applied to the industries of robots, automobiles and the like. Common speed reducing mechanisms typically achieve speed reduction by two intermeshing gears of different diameters. When the load is too large, the external motor is easy to damage due to the condition that the external motor cannot rotate and current overload is generated.
CN 109538706a patent publication discloses a helical planetary gear ball combined type speed reducer, which comprises a planetary gear speed reducing assembly and a ball speed reducing assembly, wherein the planetary gear speed reducing assembly comprises a first input shaft, a planetary carrier, a first housing, a first output disc and a plurality of helical planetary gears, and the ball speed reducing assembly comprises a second input shaft, a second housing, a driving disc, a swinging disc, a second output disc and a plurality of ellipsoidal balls. According to the invention, the first-stage speed reduction of the motor is realized by utilizing the rotation transmission motion of the helical planet wheel and the first toothed ring, the second-stage speed reduction of the motor is realized by utilizing the rolling transmission motion of the ellipsoidal ball and the cycloid rail groove, the transmission efficiency is improved, the rolling friction of the ellipsoidal ball during rolling is smaller compared with the friction of the conventional gear reducer during gear meshing, the abrasion loss is reduced, and the transmission ratio errors of the planet wheel speed reduction assembly and the ball speed reduction assembly are smaller compared with the conventional gear reducer. But the design does not have an overload protection mechanism and is prone to damage to the connected motor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a speed reducing mechanism with an overload protection function.
The invention provides a speed reducing mechanism with an overload protection function, which comprises an eccentric shaft, a shell, a tightening device, a cycloid gear device, a transmission part and an upper shell, wherein a first non-eccentric section and an eccentric section are arranged on the eccentric shaft, the first non-eccentric section is connected with the transmission part, the eccentric section is connected with the cycloid gear device, the cycloid gear device is circumferentially connected with the tightening device, the cycloid gear device is connected with the transmission part, an accommodating space is formed after the shell and the upper shell are connected, the eccentric shaft, the tightening device, the cycloid gear device and the transmission part are all positioned in the accommodating space, the eccentric shaft is connected with a motor, and the transmission part is connected with a load.
Preferably, the eccentric shaft is provided with one or more eccentric sections, the centers of the eccentric sections are uniformly distributed in the circumferential direction taking the center of the eccentric shaft as the center of the circle, and the distances between the centers of the eccentric sections and the center of the eccentric shaft are equal.
Preferably, the cycloidal gear device comprises one or more cycloidal gears, and the cycloidal gears are connected with the eccentric sections in a one-to-one correspondence.
The cycloidal gear comprises a pin sleeve, a cycloidal gear disc and a disc bearing, wherein one or more pin sleeves are arranged on the cycloidal gear disc, the cycloidal gear disc is connected with a transmission part through the pin sleeve, and the cycloidal gear disc is connected with an eccentric section through the disc bearing and can rotate freely relative to the eccentric section;
The cycloidal wheel is smooth in edge, the cycloidal wheel is connected with the tightening device through the edge, and the edge of the cycloidal wheel is namely the edge of the cycloidal wheel.
Preferably, the tightening device comprises an adjusting nut and a tightening surface, the tightening surface is one or more arc-shaped parts, one or more bolts are arranged on the outer side of the tightening surface, the bolts are connected with the adjusting nut,
The tightening surface is uniformly distributed on the circumference of the cycloid gear device, and the degree of the inner side of the tightening surface is regulated by the regulating nut to be attached to the edge of the cycloid gear device.
Preferably, a friction surface made of non-metal materials is arranged on the inner side of the tightening surface;
The torque between the friction surface and the cycloidal gear rim resulting from the maximum static friction force can be adjusted by varying the friction coefficient of the friction surface and/or the cycloidal gear rim and the positive pressure exerted by the friction surface against the cycloidal gear rim;
the motor operates with a friction torque between the friction surface and the edge of the cycloidal gear that is less than the torque produced by the maximum static friction between the two.
Preferably, the transmission part comprises a driven bearing, an output shaft disc, a driven disc, a transmission pin and an output shaft, wherein the driven disc is connected with a pin sleeve of the cycloid gear device through the transmission pin and can rotate along with the cycloid gear device, the driven disc is connected with the output shaft disc, the output shaft disc is connected with a first non-eccentric section through the driven bearing, an output shaft is arranged on the output shaft disc, and the output shaft is connected with a load.
Preferably, the upper shell comprises an outer bearing, an end cover and a connecting piece, wherein the end cover is connected with the shell through the connecting piece, and the middle part of the end cover is provided with an outer bearing mounting position and is connected with an output shaft of the transmission piece through the outer bearing;
The end of the shell is provided with a through hole for the eccentric shaft to pass through, the circumference is provided with a through hole for the bolt of the tightening device to pass through, and the adjusting nut of the tightening device is positioned on the circumferential surface of the shell and connected with the bolt of the tightening device positioned on the circumferential surface of the shell.
Preferably, the motor further comprises an inner gear ring component, gear teeth are arranged on the edge of the cycloid gear device, and a second non-eccentric section is further arranged at one end of the eccentric shaft connected with the motor;
The ring gear part comprises a belt, an external gear and a ring gear bearing, wherein the external gear is connected with the second non-eccentric section through the ring gear bearing and can rotate along with the eccentric shaft, and the belt is connected with the external gear and the cycloid gear of the cycloid gear device respectively.
Preferably, the belt is made of elastic nonmetallic materials, the inner ring of the belt is provided with gear teeth, the number of the gear teeth is equal to that of the external gear, the pitch circle diameter of the gear teeth is equal to that of the external gear, and the belt is connected with the external gear in a matched mode through the gear teeth and can rotate along with the external gear.
Preferably, the tooth form of the gear teeth on the cycloid gear edge of the cycloid gear device is the same as the tooth form of the external gear, and the number of the gear teeth is smaller than the number of the teeth of the external gear;
The cycloidal gear of the cycloidal gear device is connected with a belt in a matching way through gear teeth, the belt comprises a convex tooth surface, the cycloidal gear of the cycloidal gear device comprises a concave tooth surface, and the convex tooth surface is meshed with the concave tooth surface.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention has simple and reasonable structure, not only can realize the adjustment of the transmission ratio of the speed reducing structure through the tightening device, but also has the overload protection function.
2. The belt made of nonmetallic materials is adopted, so that high-precision transmission is realized, the belt has the characteristics of low noise, no need of lubrication and long service life, and meanwhile, the belt also has an overload protection function.
3. According to the invention, through changing the friction coefficient between the friction surface of the tightening surface and the cycloidal gear edge, the load capacity which can be borne by the speed reducing structure can be changed by applying positive pressure on the cycloidal gear edge by the tightening device; through changing the coefficient of friction between the hooping surface and the belt, the positive pressure that the tightening device adds to the belt can change the load that the deceleration structure can bear.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a schematic diagram of an exploded structure according to an embodiment of the present invention.
FIG. 2 is a schematic view of the structure of the tightening device of the present invention.
Fig. 3 is a schematic diagram of an exploded structure according to another embodiment of the present invention.
Fig. 4 is a schematic cross-sectional view of another embodiment of the present invention.
Fig. 5 is a schematic diagram of the meshing relationship between the belt and the cycloidal gear according to the present invention.
The figure shows:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
According to the speed reducing mechanism with overload protection function, as shown in fig. 1-4, the speed reducing mechanism comprises an eccentric shaft 1, a shell 2, a tightening device 3, a cycloid gear device, a transmission part 7 and an upper shell 8, wherein a first non-eccentric section 14 and an eccentric section are arranged on the eccentric shaft 1, the first non-eccentric section 14 is connected with the transmission part 7, the eccentric section is connected with the cycloid gear device, the cycloid gear device is circumferentially connected with the tightening device 3, the cycloid gear device is connected with the transmission part 7, an accommodating space is formed after the shell 2 and the upper shell 8 are connected, the eccentric shaft 1, the tightening device 3, the cycloid gear device and the transmission part 7 are all positioned in the accommodating space, the eccentric shaft 1 is connected with a motor, and the transmission part 7 is connected with a load.
One or more eccentric sections are arranged on the eccentric shaft 1, the centers of the eccentric sections are uniformly distributed in the circumferential direction taking the center of the eccentric shaft 1 as the center of the circle, and the distances between the centers of the eccentric sections and the center of the eccentric shaft 1 are equal. Preferably, the eccentric shaft 1 is provided with two eccentric segments: the centers of the first eccentric section 12 and the second eccentric section 13 form an included angle of 180 degrees relative to the center of the eccentric shaft 1.
The cycloidal gear device comprises one or more cycloidal gears, and the cycloidal gears are connected with the eccentric sections in a one-to-one correspondence. The cycloidal gear comprises a pin sleeve, a cycloidal gear disc and a disc bearing, wherein one or more pin sleeves are arranged on the cycloidal gear disc, the cycloidal gear disc is connected with a transmission part 7 through the pin sleeve, and the cycloidal gear disc is connected with an eccentric section through the disc bearing and can freely rotate relative to the eccentric section, namely, the cycloidal gear can freely rotate (autorotate) around the center of the cycloidal gear disc; as shown in fig. 1, the cycloidal gear has smooth edges, and the cycloidal gear is connected with the tightening device 3 through the edges, namely the cycloidal gear edges. Preferably, the cycloidal gear device includes two cycloidal gears: a first cycloidal gear 5 and a second cycloidal gear 6; the first cycloidal gear 5 comprises a first pin bush 51, a first cycloidal gear disc 52 and a first disc bearing 53, the first pin bush 51 is arranged on the first cycloidal gear disc 52, the first cycloidal gear disc 52 is connected with the transmission part 7 through the first pin bush 51, and the first cycloidal gear disc 52 is connected with the first eccentric section 12 through the first disc bearing 53 and can rotate freely relative to the first eccentric section 12; the second cycloidal gear 6 comprises a second pin sleeve 61, a second cycloidal gear disc 62 and a second disc bearing 63, the second pin sleeve 61 is arranged on the second cycloidal gear disc 62, the second cycloidal gear disc 62 is connected with the transmission part 7 through the second pin sleeve 61, and the second cycloidal gear disc 62 is connected with the second eccentric section 13 through the second disc bearing 63 and can rotate freely relative to the second eccentric section 13.
The tightening device 3 comprises an adjusting nut 31 and a tightening surface 32, the tightening surface 32 is one or more arc-shaped parts, one or more bolts are arranged on the outer side of the tightening surface 32 and are connected with the adjusting nut 31, the tightening surface 32 is uniformly distributed on the circumference of the cycloid gear device, and the tightening surface 32 adjusts the fitting degree of the inner side of the tightening surface 32 and the cycloid gear edge of the cycloid gear device through the adjusting nut 31. A friction surface 33 made of a nonmetallic material is arranged on the inner side of the tightening surface 32; the torque between the friction surface 33 and the cycloidal gear rim resulting from the maximum static friction force can be adjusted by varying the friction coefficient of the friction surface 33 and/or the cycloidal gear rim and the positive pressure exerted by the friction surface 33 on the cycloidal gear rim; the motor operates with a friction torque between the friction surface 33 and the edge of the cycloidal gear that is less than the torque produced by the maximum static friction between the two.
The transmission part 7 comprises a driven bearing 71, an output shaft disc 72, a driven disc 73, a transmission pin 74 and an output shaft 75, wherein the driven disc 73 is connected with a pin sleeve of the cycloid gear device through the transmission pin 74 and can rotate along with the cycloid gear device, the driven disc 73 is connected with the output shaft disc 72, the output shaft disc 72 is connected with the first non-eccentric section 14 through the driven bearing 71, the output shaft 75 is arranged on the output shaft disc 72, and the output shaft 75 is connected with a load. The rotation of the eccentric shaft 1 is not transmitted to the output shaft disc 72 through the driven bearing 71, i.e. the output power of the transmission member 7 is provided by the rotation of the cycloid gear only.
The upper shell 8 comprises an outer bearing 81, an end cover 82 and a connecting piece 83, the end cover 82 is connected with the shell 2 through the connecting piece 83, the middle part of the end cover 82 is provided with an outer bearing 81 mounting position and is connected with the output shaft 75 of the transmission piece 7 through the outer bearing 81; the end of the housing 2 is provided with a through hole through which the eccentric shaft 1 passes, a through hole through which a bolt of the tightening device 3 passes is arranged in the circumferential direction, and an adjusting nut 31 of the tightening device 3 is positioned on the circumferential surface of the housing 2 and is connected with the bolt of the tightening device 3 positioned on the circumferential surface of the housing 2.
As shown in fig. 3-5, the motor further comprises an inner gear ring component 4, gear teeth are arranged on the edge of the cycloid gear device, and a second non-eccentric section 11 is further arranged at one end of the eccentric shaft 1 connected with the motor; the ring gear member 4 includes a belt 41, an external gear 42 and a ring gear bearing 43, the external gear 42 being connected to the second non-eccentric section 11 by the ring gear bearing 43 and rotatable with the eccentric shaft 1, the belt 41 being connected to the external gear 42 and the cycloid gear of the cycloid gear device, respectively. The belt 41 is made of elastic nonmetallic material, the inner ring of the belt 41 is provided with gear teeth, the number of the gear teeth is equal to that of the external gear 42, the pitch circle diameter of the gear teeth is equal to that of the external gear 42, and the belt 41 is connected with the external gear 42 in a matched mode through the gear teeth and can rotate along with the external gear 42. The tooth form of the gear teeth on the edge of the cycloid gear device is the same as the tooth form of the external gear 42, and the number of the gear teeth is smaller than the number of the teeth of the external gear 42; the cycloidal gear of the cycloidal gear device is connected with the belt 41 in a matching way through gear teeth, the belt 41 comprises a convex tooth surface 411, the cycloidal gear of the cycloidal gear device comprises a concave tooth surface 621, and the convex tooth surface 411 is meshed with the concave tooth surface 621. The torque between the belt 41 and the gripping surface 32, which is generated by the maximum static friction, can be adjusted by varying the friction coefficient of the belt 41 and the positive pressure exerted by the gripping surface 32 on the belt 41; the motor operates with a friction torque between the belt 41 and the gripping surface 32 that is less than the torque produced by the maximum static friction.
When the cycloidal gear edge is smooth:
The cycloid gear is eccentrically rotated by the eccentric shaft 1, and the cycloid gear rotates due to the friction force (driving force) generated by the friction between the edge of the cycloid gear and the friction surface 33 or the tightening surface 32 of the tightening device during eccentric rotation, the rotation is transmitted to the output shaft 75 of the driving part 7 through the driving pin 74, the magnitude of the friction force can be adjusted by the tightening force provided by the tightening device 3, and the tightening force is adjusted by the adjusting nut 31. Of course, the friction force is also related to the friction coefficient between the edge of the cycloidal gear and the friction surface 33 or the tightening surface 32 of the tightening device, and the friction coefficient is related to the material of two contact objects and the roughness of the contact surfaces, and the transmission ratio of the speed reducing mechanism can be adjusted by adjusting the factors influencing the friction force. The motor works under the condition that the friction torque between the friction surface 33 or the tightening surface 32 and the edge of the cycloidal gear is smaller than the torque generated by the maximum static friction force between the friction surface and the tightening surface; when overload occurs, that is, when the load torque exceeds the torque generated by the maximum static friction force between the friction surface 33 or the tightening surface 32 and the edge of the cycloid gear, the cycloid gear slips, overload protection is performed, and the motor stops working.
When the cycloidal gear edge is provided with gear teeth:
the belt 41 and the external gear 42 are used for constructing a novel annular gear structure to replace the traditional metal annular gear or pin gear, so that the invention can realize a certain overload protection function and has the characteristics of low noise, no need of lubrication and long service life besides inheriting the characteristics of high-precision transmission, bidirectional transmission and the like of the traditional cycloidal pin gear type speed reducer. This case has a double overload protection function and allows for an adjustable transmission ratio based on the design of the tightening device 3.
The first protection mechanism is the sliding protection of the inner gear ring component 4, and the working principle is as follows:
The belt 41 is made of a non-metallic material with certain elasticity, the tightening degree of the tightening surface 32 and the belt 41 is adjusted by rotating the adjusting nut 31, and when the position of the adjusting nut 31 is fixed, the tightening force (contact force) between the tightening surface 32 and the belt 41 is fixed. Because of the friction characteristic, the belt 41 generates a maximum static friction torque relative to the tightening surface 32, when the torque (external load) applied to the belt 41 is smaller than the maximum static friction torque, the belt 41 is fixed relative to the tightening surface 32, at this time, the output rotation speed ratio (transmission ratio) of the reduction mechanism is fixed, the rotation force of the cycloid gear is provided by the tooth form of the belt 41, and the rotation speed ratio is related to the number of teeth of the cycloid gear, the number of teeth of the belt 41 and the eccentric amount of the cycloid gear; when the external load torque is too large and is larger than the maximum static friction torque between the belt 41 and the tightening surface 32, the inner gear ring component 4 can slide relative to the tightening surface 32, and the motor only works under the condition of approaching the maximum static friction torque and cannot generate current overload due to incapability of rotating, so that overload protection effect is achieved on the motor. The protection mechanism is mainly related to the maximum static friction torque of the belt 41 relative to the tightening surface 32, and the maximum static friction torque is in direct proportion to the friction coefficient of the surface of the belt 41 and the positive pressure of the tightening surface 32 to the surface of the belt 41, so that the maximum static friction torque can be changed by reasonably selecting the material of the belt 41 and the roughness of the contact surface between the rotating adjusting nut 31 or the belt 41 and the tightening surface 32, and the maximum output load of the reduction mechanism is the maximum output load of the reduction mechanism.
The second protection mechanism is cycloidal gear sliding tooth protection, and the working principle is as follows:
This protection mechanism is used in a state where the belt 41 is relatively fixed with respect to the tightening surface 32. The transmission between the belt 41 and the cycloidal gear is realized by the engagement of the convex tooth surface 411 of the belt 41 with the concave tooth surface 621 of the cycloidal gear, as shown in fig. 5. Since the belt 41 is made of a nonmetallic material, when the moment is excessively large due to the rapid increase of the load, the meshing state of the convex tooth surface 411 of the belt 41 and the concave tooth surface 621 on the cycloid gear can generate a sliding tooth phenomenon due to the deformation of the belt 41, so that the output rotation speed ratio of the speed reducing mechanism is 0; when the load returns to normal, the belt 41 deforms and returns to normal due to the torque being lost, and the rotation speed ratio returns. The protection mechanism can reasonably design the form of the convex tooth surface 411 of the belt 41 and the concave tooth surface 621 on the cycloid gear by selecting proper materials of the belt 41, or reasonably design the eccentric amounts of the two eccentric sections 12 and 13 of the eccentric shaft 1, so that the maximum load moment when the cycloid gear slides relative to the belt 41 reaches the expected design value, namely the maximum output load of the speed reducing mechanism.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (6)
1. The speed reducing mechanism with the overload protection function is characterized by comprising an eccentric shaft (1), a shell (2), a tightening device (3), a cycloidal gear device, a transmission part (7) and an upper shell (8), wherein a first non-eccentric section (14) and an eccentric section are arranged on the eccentric shaft (1), the first non-eccentric section (14) is connected with the transmission part (7), the eccentric section is connected with the cycloidal gear device, the cycloidal gear device is circumferentially connected with the tightening device (3), the cycloidal gear device is connected with the transmission part (7), an accommodating space is formed after the shell (2) and the upper shell (8) are connected, the eccentric shaft (1), the tightening device (3), the cycloidal gear device and the transmission part (7) are all positioned in the accommodating space, the eccentric shaft (1) is connected with a motor, and the transmission part (7) is connected with a load;
The tightening device (3) comprises an adjusting nut (31) and a tightening surface (32), the tightening surface (32) is one or more arc-shaped parts, one or more bolts are arranged on the outer side of the tightening surface (32) and are connected with the adjusting nut (31),
The tightening surfaces (32) are uniformly distributed on the circumference of the cycloid gear device, and the tightening surfaces (32) adjust the fitting degree of the inner sides of the tightening surfaces and the edges of the cycloid gear device through adjusting nuts (31);
the motor is characterized by further comprising an inner gear ring component (4), gear teeth are arranged on the edge of the cycloid gear device, and a second non-eccentric section (11) is further arranged at one end of the eccentric shaft (1) connected with the motor;
The inner gear ring component (4) comprises a belt (41), an outer gear (42) and a gear ring bearing (43), wherein the outer gear (42) is connected with the second non-eccentric section (11) through the gear ring bearing (43) and can rotate along with the eccentric shaft (1), and the belt (41) is connected with the outer gear (42) and a cycloid gear of the cycloid gear device respectively;
The belt (41) is made of elastic nonmetallic materials, the inner ring of the belt (41) is provided with gear teeth, the number of the gear teeth is equal to the number of teeth of the external gear (42), the pitch circle diameter of the gear teeth is equal to the pitch circle diameter of the external gear (42), and the belt (41) is connected with the external gear (42) in a matched mode through the gear teeth and can rotate along with the external gear (42);
The tooth shape of the gear teeth on the edge of the cycloid gear device is the same as the tooth shape of the external gear (42), and the number of the gear teeth is smaller than the number of the teeth of the external gear (42);
The cycloidal gear of the cycloidal gear device is connected with a belt (41) in a matching way through gear teeth, the belt (41) comprises a convex tooth surface (411), the cycloidal gear of the cycloidal gear device comprises a concave tooth surface (621), and the convex tooth surface (411) is meshed with the concave tooth surface (621);
When the moment is excessively large due to the rapid increase of the load, the meshing state of the convex tooth surface (411) of the belt (41) and the concave tooth surface (621) on the cycloid gear can generate a sliding tooth phenomenon due to the deformation of the belt (41), so that the output rotation speed ratio of the speed reducing mechanism is 0; when the load returns to normal, the belt (41) is deformed and returns to normal due to the torque being lost, and the rotation speed ratio returns.
2. The speed reducing mechanism with the overload protection function according to claim 1, wherein one or more eccentric sections are arranged on the eccentric shaft (1), the centers of the eccentric sections are uniformly distributed in the circumferential direction taking the center of the eccentric shaft (1) as the center of a circle, and the distances from the centers of the eccentric sections to the center of the eccentric shaft (1) are equal.
3. The speed reducing mechanism with overload protection function according to claim 1, wherein the cycloidal gear device comprises one or more cycloidal gears, the cycloidal gears are connected with the eccentric sections in a one-to-one correspondence,
The cycloidal gear comprises a pin sleeve, a cycloidal gear disc and a disc bearing, wherein one or more pin sleeves are arranged on the cycloidal gear disc, the cycloidal gear disc is connected with a transmission part (7) through the pin sleeve, and the cycloidal gear disc is connected with an eccentric section through the disc bearing and can rotate freely relative to the eccentric section;
the cycloidal wheel is smooth in edge, the cycloidal wheel is connected with the tightening device (3) through the edge, and the edge of the cycloidal wheel is namely the edge of the cycloidal wheel.
4. The deceleration mechanism with overload protection function according to claim 1, characterized in that the inner side of the tightening surface (32) is provided with a friction surface (33) made of non-metallic material;
The torque between the friction surface (33) and the cycloidal gear edge, which torque is generated by the maximum static friction force, can be adjusted by changing the friction coefficient of the friction surface (33) and/or the cycloidal gear edge and the positive pressure exerted by the friction surface (33) on the cycloidal gear edge;
The motor operates with a friction torque between the friction surface (33) and the edge of the cycloidal gear that is less than the torque produced by the maximum static friction between the two.
5. The speed reduction mechanism with overload protection function according to claim 1, wherein the transmission member (7) comprises a driven bearing (71), an output shaft disc (72), a driven disc (73), a transmission pin (74) and an output shaft (75), the driven disc (73) is connected with a pin bush of the cycloid gear device through the transmission pin (74) and can rotate along with the cycloid gear device, the driven disc (73) is connected with the output shaft disc (72), the output shaft disc (72) is connected with the first non-eccentric section (14) through the driven bearing (71), the output shaft disc (72) is provided with the output shaft (75), and the output shaft (75) is connected with a load.
6. The speed reducing mechanism with the overload protection function according to claim 1, wherein the upper shell (8) comprises an outer bearing (81), an end cover (82) and a connecting piece (83), the end cover (82) is connected with the outer shell (2) through the connecting piece (83), the middle part of the end cover (82) is provided with an outer bearing (81) installation position and is connected with an output shaft (75) of the transmission piece (7) through the outer bearing (81);
The end of the shell (2) is provided with a through hole for the eccentric shaft (1) to pass through, the circumferential direction is provided with a through hole for the bolt of the tightening device (3) to pass through, and an adjusting nut (31) of the tightening device (3) is positioned on the circumferential surface of the shell (2) and connected with the bolt of the tightening device (3) positioned on the circumferential surface of the shell (2).
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