CN111677819A - Differential speed reducing mechanism and differential speed reducer - Google Patents

Differential speed reducing mechanism and differential speed reducer Download PDF

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CN111677819A
CN111677819A CN202010557160.1A CN202010557160A CN111677819A CN 111677819 A CN111677819 A CN 111677819A CN 202010557160 A CN202010557160 A CN 202010557160A CN 111677819 A CN111677819 A CN 111677819A
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stage
gear
gears
cycloid
teeth
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祝宗煌
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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
    • 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
    • F16H55/08—Profiling
    • 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
    • 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
    • F16H2001/328—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising balancing means

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a differential speed reducing mechanism and a differential speed reducer, comprising: the speed reducer comprises a parallel multistage gear, n single-stage gears meshed with the parallel multistage gear, an eccentric shaft used for driving the parallel multistage gear, and a balance block arranged on the circumference of the eccentric shaft, wherein the n single-stage gears are consistent with the stage number of the parallel multistage gear, and the balance block keeps the dynamic balance of the differential speed reducer in the operation process. The speed reducing mechanism and the speed reducer can keep dynamic balance in the operation process, have the advantages of high speed ratio, high transmission efficiency, high rigidity, low reverse driving force and the like, and when the number of the parallel multistage gears is more than 2, the speed reducing device with single input shaft and multiple output shafts can be formed.

Description

Differential speed reducing mechanism and differential speed reducer
Technical Field
The invention relates to a speed reducer, in particular to a differential speed reducing mechanism and a differential speed reducer, and belongs to the technical field of mechanical transmission.
Background
The speed reducer plays a role in matching rotating speed and transmitting torque between a prime motor and a working machine or an actuating mechanism, and is widely applied to the fields of robot technology, aviation technology, automation and the like. The method can be divided into the following steps: the cycloidal speed reducer is characterized by comprising a cycloidal speed reducer, a planetary speed reducer and a harmonic speed reducer, wherein in the operation process of the cycloidal speed reducer, theoretically all teeth are meshed, so that the rigidity and the strength of the cycloidal speed reducer far exceed those of the planetary speed reducer and the harmonic speed reducer, and the cycloidal speed reducer is widely applied to the fields of industrial automation, aerospace and the like. However, the conventional cycloid speed reducer has a complicated structure, many parts and bearings, and is difficult to achieve a small-size large-speed reduction ratio, so that only the Spinea company of silovack in the industry can achieve the volume of the cycloid speed reducer at the level of a harmonic speed reducer, but the cycloid speed reducer is still difficult to achieve below 60 mm. In addition, the conventional cycloid speed reducer requires high machining accuracy and also requires a very high material for the speed reducer in order to achieve high accuracy and long service life, and therefore, the cost thereof is very high.
With the continuous development of automation technology and robot technology, the demand for speed reducers with high rigidity, small volume, large reduction ratio and long service life is increasing day by day, and higher requirements on the performance of the speed reducers are also provided, such as high precision, high rigidity, long service life, high efficiency, low input resistance, high reverse driving capability and the like. However, in order to ensure the transmission precision and the strength and rigidity of the speed reducer, each tooth or most of the teeth are in meshing contact with the pin teeth, so that certain friction is generated during operation, and the higher the load is, the higher the friction is, and the transmission efficiency is reduced.
In the patents CN109268452A, CN111005987A, and CN111022588A, which have already been filed, two-stage gears connected in parallel are used, and the two-stage gears move in a cavity formed by matching two internal gears, and the speed difference formed by the different reduction ratios of the two-stage gears is used for speed reduction. It can be seen that the solution of using different reduction ratios of the parallel gear mesh to achieve a small and large reduction ratio is already a general solution. However, the invention patents do not solve the problem of unbalance caused by the motion of the dynamic parallel external gears, so that the speed reducer cannot be applied to actual production life, and the speed reducer has only one output.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a differential speed reducing mechanism and a differential speed reducer.
In order to achieve the above object, the present invention adopts the following technical solutions:
the invention first discloses a differential speed reducing mechanism, which comprises: the speed reducer comprises a parallel multistage gear, n single-stage gears meshed with the parallel multistage gear, an eccentric shaft used for driving the parallel multistage gear, and a balance block arranged on the circumference of the eccentric shaft, wherein the n single-stage gears are consistent with the stage number of the parallel multistage gear and are coaxially arranged, and the balance block keeps the dynamic balance of the differential speed reducer in the operation process. The reducer is at the operation in-process, because parts such as parallelly connected multistage gear do eccentric swing in the mechanism, can arouse dynamic unbalance, and traditional cycloid pinwheel reducer and RV reducer use the eccentric ladder cooperation of a plurality of cycloid external gears on with the eccentric shaft equidirectional, under the drive of eccentric shaft, reach dynamic balance. However, the mechanism of the invention only has one parallel multi-stage gear and cannot be arranged according to the traditional speed reducer to achieve dynamic balance, and the balance block is skillfully arranged on the eccentric shaft to solve the dynamic balance problem of the mechanism.
Preferably, the parallel multi-stage gear is integrally formed or assembled by a plurality of independent gears, and the specific assembly mode can be one or more of pin, screw, welding and the like.
More preferably, the n single-stage gears are coaxially assembled together through a bearing or coaxially arranged on a mounting seat, as long as the coaxial arrangement is realized.
More preferably, n is an integer and is at least 2, and preferably 3, so that the speed reducing mechanism with different stages, such as two stages, three stages, four stages, and the like, can be configured according to the actual application requirements. It should be noted that the gear stage number here refers to only the gear stage number that plays a role of speed reduction in the present device, and the gears used for the transmission of the present device and other devices are not included in the gear stage number, such as: the single-stage gear is also called a single-stage gear, but is not meshed with the parallel multi-stage gear of the device, but is driven by other mechanisms.
Still preferably, the balance weight is in combination withThe eccentric shaft is of an integrated structure or assembled, namely, the balance block can be a single part and assembled on the eccentric shaft according to certain requirements. The balance weight is used for enabling the speed reducer to achieve a dynamic balance state, and therefore the mass and the position of the balance weight are strictly required. The method comprises the following specific steps: in the running process of the reducer, the parallel multi-stage gears revolve around the eccentric shaft reference shaft, and besides the parallel multi-stage gears, the reducer also comprises a plurality of bearings, gaskets, eccentric parts of the eccentric shaft and the like. Because the centers of mass of the parallel multi-stage gears are at the central axes, the relative positions of the centers of mass of the parts are kept unchanged in the operation process, and the mass m can be synthesizedaThe distance from the center of mass a to the rotation center c of the eccentric shaft is laTo achieve dynamic balance of the mechanism, there must be a mass, with a centroid b on the line ac and a mass mbAnd satisfy mblb＝malaWherein l isbThe distance of the centroid b to c.
Preferably, the parallel multi-stage gear and the single-stage gear are both cycloid internal gears or cycloid external gears, and a roller is arranged between the cycloid external gears and the cycloid internal gears meshed at each stage, wherein the meshing mode is pure rolling meshing. The parallel cycloidal multi-stage gears revolve and rotate around the center of the single-stage cycloidal gear under the drive of the eccentric shaft, and the transmission ratio of the parallel cycloidal multi-stage gears meshed with the single-stage cycloidal gears through rolling of the rollers is different, so that a speed difference is generated, and the speed reduction is realized. Due to the arrangement of the rollers, the speed reduction movement is pure rolling, the friction force of internal parts of the speed reducer is greatly reduced, and the efficiency is improved. When the number of the gear stages is more than 2, a certain single-stage cycloid gear is fixed, the eccentric shaft is used as input, other single-stage cycloid gears can be used as output, and therefore the speed reducing mechanism with one input and a plurality of output shafts is formed.
More preferably, the roller diameter is equal to the cycloidal internal gear addendum circle radius-the cycloidal external gear addendum circle radius + the eccentric shaft eccentricity.
More preferably, in the pure rolling type multi-cycloid differential reduction mechanism, the arc lengths of the tooth profiles of the single teeth of the cycloid external gear and the cycloid internal gear which are meshed with each other are equal.
More preferably, in the gear set engaged at each stage, the cycloid internal gear has 1 more teeth than the number of rollers and the cycloid external gear has 1 less teeth than the number of rollers.
More preferably, the differential reduction mechanism further includes a roller cage in which the rollers are disposed and which can roll freely. The number of the roller retainers is n, namely the number of the roller retainers is consistent with the number of the gear stages, each roller retainer comprises a pair of annular sheets arranged side by side, a plurality of through holes are formed in the annular sheets, and the rollers are arranged between the pair of annular sheets and can roll freely.
Further preferably, the tooth profiles of the single-stage gear and the parallel multi-stage gear are two types of needle teeth and cycloid teeth, and the engagement mode of each stage can be inner needle teeth-cycloid outer teeth engagement or cycloid inner teeth-outer needle teeth engagement or cycloid inner teeth-cycloid outer teeth engagement.
Still further preferably, the number of teeth of each stage in mesh differs by m, m preferably being 1.
Still more preferably, the number of stages of the parallel multi-stage gear is n, wherein 0 to n stages are external gears, and correspondingly, 0 to n internal gears are provided in the single-stage gear engaged therewith. That is, in the three-stage parallel gear, if one stage is external teeth, the other two stages are internal teeth, and accordingly, one stage of the single-stage gear should be an internal gear, and two stages should be external gears, so that a three-stage reduction gear set is formed.
Still further preferably, the reduction mechanism comprises at least one stage of pure rolling engagement (epicycloid gear-roller-hypocycloid gear) and at least one stage of pin-cycloid external gear engagement or cycloid internal gear-pin gear engagement or cycloid internal gear-cycloid external gear engagement.
The invention has the advantages that:
(1) the speed reducing mechanism can reliably keep dynamic balance in the operation process, and endows the speed reducing mechanism with better performance;
(2) the speed reducer using the speed reducing mechanism has the characteristics of high speed ratio and high rigidity, and has the advantages of high transmission efficiency, low reverse driving force and the like because no sliding friction exists when a pure rolling meshing mode is adopted.
(3) When the number of the gear number steps on the parallel multi-step gear is more than 2, the speed reducer with single input and multiple output shafts can be formed.
(4) The speed reducing mechanism can realize transmission with larger speed reducing ratio in a limited space. According to specific structural design requirements, all parts are assembled according to requirements, so that gears at all stages on the parallel multi-stage gears correspond to and are meshed with the single-stage gears one by one. In the operation process of the mechanism, the parallel multi-stage gears are meshed with the single-stage gears, and are driven by the eccentric shaft to revolve and rotate around the eccentric shaft reference shaft, at the moment, the eccentric shaft is used as input, one single-stage gear is fixed, and other single-stage gears can be used as output. When the number of teeth of a certain single-stage gear is the same as that of the fixed single-stage gear, the rotating speed of the certain single-stage gear is zero as that of the fixed single-stage gear, if the number of teeth of the certain single-stage gear is different from that of the fixed single-stage gear, the rotating speed exists, the rotating speed depends on the difference of the number of teeth, the smaller the difference of the number of teeth is, the smaller the output rotating speed is, the larger the reduction ratio is, and therefore the speed reduction mode is differential output. A large reduction ratio can be achieved in a limited space, provided that a certain single stage gear tooth count is designed sufficiently close to the fixed single stage gear tooth count.
Drawings
Fig. 1 is an exploded view of a differential reduction mechanism of embodiment 1 of the invention;
FIG. 2 is a schematic sectional view showing the assembled structure of embodiment 1;
FIG. 3 is a schematic view of meshing of an internal gear and an external gear in embodiment 1;
fig. 4 is an exploded view of the differential reduction mechanism of embodiment 2 of the invention;
FIG. 5 is a schematic sectional view showing the assembled structure of embodiment 2;
FIG. 6 is a schematic diagram of a structural variation of the parallel multi-stage gear;
FIG. 7 is a front view of FIG. 6;
fig. 8 is an exploded view of the differential reduction mechanism of embodiment 3 of the invention;
FIG. 9 is an assembled cross-sectional view of embodiment 3 of the present invention;
fig. 10 is an exploded view of the differential reduction mechanism of embodiment 4 of the invention;
FIG. 11 is an exploded view from another perspective of example 4 of the present invention;
FIG. 12 is an assembled cross-sectional view of embodiment 4 of the present invention;
FIG. 13 is a schematic view of a cycloidal internal gear meshing with an external pinion gear;
figure 14 is a schematic view of a cycloidal external gear meshing with an internal pinion gear;
figure 15 is a schematic view of a gerotor gear meshing with a gerotor gear;
FIGS. 16(a), 16(b) and 16(c) are schematic structural views of different parallel multi-stage gears;
FIGS. 17(a) and 17(b) are schematic structural views of different eccentric shafts;
FIGS. 18(a) and 18(b) are schematic views of different configurations of teeth;
fig. 19 is a schematic diagram of the principle of eccentric shaft balance weight position determination.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the present invention, the internal/external gear means that the position where the tooth form thereof is located in the gear body is internal/external, and does not mean that the gear is located in the entire mechanism.
Example 1
The differential speed reducing mechanism of the embodiment is a two-stage pure rolling speed reducing mechanism, the structure of which is shown in fig. 1 to 2, and comprises a single-stage cycloid internal gear 1-1-1, 1-1-2, a two-stage parallel cycloid external gear 1-2, rollers 1-3-1 and 1-3-2 arranged between the internal gear and the external gear, an eccentric shaft 1-4 with a balance block 1-5, the parallel cycloid external gear 1-2 is integrally formed, the two cycloid internal gears 1-1-1, 1-1-2 are coaxially arranged on a bearing, in addition, the speed reducing mechanism also comprises a plurality of bearings, fixed seats and necessary parts such as screws, check rings and the like, the bearing required by the assembly of the speed reducer can be a single bearing, and the inner ring or the outer ring of the bearing and the parts of the speed reducer can form an integral, this is basically similar to the prior art, and therefore, the description thereof is omitted here.
Each cycloid internal gear is meshed with the cycloid external gear through a roller, the arc lengths of the tooth profiles of single teeth of the two cycloid gears which are meshed with each other are equal, and the diameter of the roller is equal to the radius of the top circle of the cycloid internal gear teeth, the radius of the top circle of the cycloid external gear teeth and the eccentric shaft eccentricity. Under the drive of the input eccentric shaft, the cycloid external gear makes cycloid motion relative to the roller, and the roller makes cycloid motion relative to the cycloid internal gear, so that a primary speed reducing mechanism is formed.
Specifically in this embodiment, the cycloid internal gear teeth are 1 more than the number of cooperating rollers and the cycloid external gear teeth are 1 less than the number of cooperating rollers. Each set of the cycloid external gears, cycloid internal gears and rollers which are meshed with each other form a one-stage speed reducing mechanism, and the front view of each speed reducing gear set is shown in fig. 3.
The tooth profile of the cycloidal gear is formed by the motion track of a point on the circumference or the inner circle of a moving circle which does non-sliding rolling on a fixed circle. In the operation process, the rollers roll on the inner gear, and the outer gear rolls on the rollers, so that the speed reducing mechanism has no sliding friction in the operation process, and has the advantages of high speed ratio, high transmission efficiency and the like.
Because the mechanism is in operation, the pendulumThe line external gear 1-2, the rollers 1-3-1, 1-3-2 and the roller retainer do eccentric swing in the cycloidal internal gear, which can cause dynamic unbalance, so in order to achieve dynamic balance, a balance block is skillfully arranged on the eccentric shaft, the structure of the balance block 1-5 can refer to the attached figures 17(a) and 17(b), and the arrangement scheme of the balance block is the balance block arrangement method according to the scheme of the invention, but is not limited to the structure of the figure 17. The position of the balance blocks 1-5 is important for realizing dynamic balance, the setting principle is shown in figure 19, and the relative position of the centroids of the parallel cycloid external gears 1-2 is kept unchanged in the operation process because the centroids of the components are at the central axis, and the synthesized mass can be maThe distance from the center of mass a to the center of rotation c of the eccentric shaft 1-4 is laTo achieve dynamic balance of the mechanism, there must be a mass, with a centroid b on the line ac and a mass mbAnd satisfy mblb＝malaWherein l isbThe distance of the centroid b to c.
Example 2
The differential speed reducing mechanism of the embodiment is a three-stage pure rolling speed reducing mechanism, the structural schematic diagram is shown in fig. 4 and fig. 5, and the difference from the embodiment 1 is mainly that the parallel cycloid external gear 2-2 is a three-stage gear, correspondingly, the cycloid internal gear comprises 2-1-1, 2-1-2 and 2-1-3, correspondingly, the rollers are also 3 groups comprising 2-3-1, 2-3-2 and 2-3-3. Other principles and structures are the same as those of embodiment 1, and are not described in detail in this embodiment.
In the running process of the speed reducing mechanism, the eccentric shaft 2-4 is used as input, and if the cycloidal internal gear 2-1-1 is fixed, the cycloidal internal gears 2-1-2 and 2-1-3 are used as output; similarly, the cycloidal internal gears 2-1-2 are fixed, and the cycloidal internal gears 2-1-1 and 2-1-3 can be used as output; therefore, a one-input two-output operation mode is formed, and flexible adjustment of the transmission ratio can be realized.
Example 3
The differential reduction mechanism of the present embodiment is schematically shown in fig. 8 and 9, and includes a parallel three-stage gear 3-2, three single-stage gears 3-1-1, 3-1-2 and 3-1-3, an eccentric shaft 3-4, a balance weight 3-5 disposed on the eccentric shaft 3-4, and further includes peripheral components such as bearings, fixing seats, screws, and gaskets.
The scheme shown in fig. 13 is selected for each stage of gear engagement, namely, all the parallel three-stage gears 3-2 are cycloid external gears, and the single-stage gear is an inner needle gear. Firstly, the weight and the position of a balance block 3-5 on an eccentric shaft 3-4 are determined according to the mass and the eccentricity of parts such as a parallel three-stage gear 3-2, a relevant bearing seat 3-6, a gasket and the like. The number of teeth between each stage of gears which are meshed with each other is different by 1, wherein the number of teeth of the single-stage gears 3-1-1 and 3-1-3 is equal, the number of teeth of the 1 stage gear and the 3 stage gear on the parallel three-stage gear is equal, the eccentric shaft 3-4 is used as input, and at the moment, if the single-stage gear 3-1-2 is fixed, the single-stage gears 3-1-1 and 3-1-3 are used as output.
If the rotational speed of the eccentric shaft is wiThen the output rotation speed of the single-stage gears 3-1-1 and 3-1-3 is:
Figure BDA0002543438560000091
the transmission ratio is as follows:
Figure BDA0002543438560000092
wherein w1-1Is the rotating speed, w, of the single-stage gear 3-1-11-3For a single gear 3-1-3, Z2-1,Z2-2,Z2-3The first stage, the second stage and the third stage of the parallel three-stage gear have the tooth number Z1-1Is the number of teeth of gear 3-1-1, Z1-2For gear 3-1-2 teeth number, Z1-3The number of teeth is 3-1-3.
In this example, the output rotation speed and the reduction ratio are the same when the gears 3-1-1 and 3-1-3 have the same number of teeth and the number of teeth is different, and will not be described herein again.
Example 4
Fig. 10, 11, and 12 are schematic structural views of a differential reduction mechanism according to embodiment 4 of the present invention. The scheme of figure 15 is selected for each stage of meshing gear, one parallel secondary gear 4-2 is adopted, the teeth of the two single-stage gears 4-1-1 and 4-1-2 and the parallel secondary gear 4-2 are all cycloid teeth, the weight and the position of a balance block 4-5 on the eccentric shaft 4-4 are determined according to the scheme of the invention, and finally all parts (including a bearing 4-6 and a bearing seat 4-7) are assembled, and the calculation mode of the transmission ratio is not repeated in the embodiment.
In the parallel two-stage gear 4-2 of the present embodiment, one stage is an external gear and the other stage is an internal gear, and accordingly, in the two single-stage gears 4-1-1, 4-1-2, the corresponding external gear is a cycloid internal gear, and the matching internal gear is a cycloid external gear, as can be clearly seen in fig. 6 and 7.
In addition, the structure of the parallel multi-stage gear can be flexibly changed, as shown in fig. 17(a) and 17(b), in the parallel multi-stage gear, one or more stages of cycloid teeth are arranged, and other stages are needle teeth; or one or more stages of the gears are internal gears, and the other stages are external gears. As long as the corresponding number of reduction gear sets can be formed, which is easily understood and changed by those skilled in the art, and will not be described herein.
Example 5
The differential reduction mechanism of the present embodiment is the same in structure as embodiment 3, except that the scheme of fig. 14 is selected for each stage of meshing gears, i.e., the parallel two-stage gear 5-2 is a pin gear, and the single-stage gear 5-1 is a cycloid gear, and the pin gear is inserted into the gear body through the pin 5-3. In addition, the structure of the gear can be flexibly changed with reference to fig. 16(a), 16(b), and 16 (c).
In addition, the shape of the pin teeth can be changed, for example, the pin teeth can be deformed by simple rounding and the like, and still be pin gears, as shown in fig. 18(a) and 18 (b).
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims (10)

1. A differential reduction mechanism comprising a parallel multi-stage gear, n single-stage gears engaged with the parallel multi-stage gear, and an eccentric shaft for driving the parallel multi-stage gear, characterized in that: the number of the n single-stage gears is consistent with that of the parallel multi-stage gears, the n single-stage gears are coaxially arranged, a balance block is arranged on the eccentric shaft in the circumferential direction, and the balance block enables the differential speed reducer to keep dynamic balance in the operation process.
2. The differential reduction mechanism according to claim 1, characterized in that: the parallel multistage gear is integrally processed and formed or assembled by a plurality of independent gears; the n single-stage gears are coaxially assembled together through a bearing or coaxially arranged on a mounting seat.
3. The differential reduction mechanism according to claim 1, characterized in that: said n is an integer and is at least 2, preferably 3.
4. The differential deceleration mechanism according to any one of claims 1 to 3, characterized in that: the balance block and the eccentric shaft are of an integrated structure or are formed by assembling and installing.
5. The differential reduction mechanism according to claim 4, wherein: the tooth profiles of the parallel multi-stage gear and the single-stage gear are all cycloid teeth, the gears can be selected from cycloid internal gears or cycloid external gears, and the arc lengths of the tooth profiles of the single teeth of the cycloid external gears and the cycloid internal gears which are meshed with each other are equal; and rollers are arranged between the cycloid outer gears and the cycloid inner gears of each stage.
6. The differential reduction mechanism according to claim 5, wherein: the diameter of the roller = cycloidal internal gear tooth top circle radius-cycloidal external gear tooth top circle radius + eccentric shaft eccentricity; in the gear set meshing at each stage, the cycloid internal gear has 1 more teeth than the number of rollers and the cycloid external gear has 1 less teeth than the number of rollers.
7. The differential reduction mechanism according to claim 6, wherein: the roller retainer comprises n roller retainers, wherein the rollers are arranged in the roller retainers and can roll freely, each roller retainer comprises a pair of annular sheets arranged side by side, and a plurality of through holes used for installing the rollers are formed in the annular sheets.
8. The differential reduction mechanism according to claim 4, wherein: the tooth profiles of the parallel multi-stage gear and the single-stage gear are needle teeth and cycloid teeth, and the meshing mode of each stage is inner needle teeth-cycloid external teeth meshing or cycloid inner teeth-outer needle teeth meshing or cycloid inner teeth-cycloid external teeth meshing.
9. The differential reduction mechanism of claim 8, wherein: the number of teeth of each meshed stage is different by m, m is preferably 1; 0-n stages of the parallel multi-stage gears are external teeth, and correspondingly, 0-n stages of the parallel multi-stage gears are internal teeth in the single-stage gears meshed with the parallel multi-stage gears.
10. A differential reducer, includes the casing, its characterized in that: comprising a differential reducer as claimed in any one of claims 1 to 9 mounted in a housing.
CN202010557160.1A 2020-06-17 2020-06-17 Differential speed reducing mechanism and differential speed reducer Pending CN111677819A (en)

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CN113007285A (en) * 2021-02-25 2021-06-22 成都跟驰科技有限公司 Differential gear transmission mechanism

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