CN113565932B - Cycloid planetary gear speed reducing mechanism - Google Patents
Cycloid planetary gear speed reducing mechanism Download PDFInfo
- Publication number
- CN113565932B CN113565932B CN202110981245.7A CN202110981245A CN113565932B CN 113565932 B CN113565932 B CN 113565932B CN 202110981245 A CN202110981245 A CN 202110981245A CN 113565932 B CN113565932 B CN 113565932B
- Authority
- CN
- China
- Prior art keywords
- gear
- shell
- speed reducing
- coupler
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001603 reducing effect Effects 0.000 title claims abstract description 45
- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 230000009467 reduction Effects 0.000 claims abstract description 68
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 44
- 239000010959 steel Substances 0.000 claims description 44
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000011435 rock Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0006—Vibration-damping or noise reducing means specially adapted for 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
-
- 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
- F16H2001/289—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two or more coaxial and identical sets of orbital gears, e.g. for distributing torque between the coaxial sets
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- 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
- F16H2055/176—Ring gears with inner teeth
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The application relates to the technical field of speed reducers and discloses a cycloidal planetary gear speed reducing mechanism which comprises a shell, a coupler and an output shaft, wherein the coupler and the output shaft are both rotationally connected with the shell, a primary speed reducing assembly and a secondary speed reducing assembly are arranged in the shell, the coupler penetrates into the shell and then is connected with the primary speed reducing assembly, the output shaft penetrates into the shell and then is connected with the secondary speed reducing assembly, and the primary speed reducing assembly is connected with the secondary speed reducing assembly. According to the application, the primary motor works to drive the coupler to rotate, and the coupler drives the primary speed reduction assembly to work, so that primary speed reduction is realized; the primary speed reduction assembly and the secondary speed reduction assembly cooperate to drive the secondary speed reduction assembly to work, two-stage deceleration is realized; the transmission ratio of the speed reducing mechanism is effectively improved through the cooperation of two-stage speed reducing effects, and the speed reducing mechanism has the advantages of being simple in structure, large in speed reducing ratio, small in axial size, large in output torque and low in noise.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a cycloidal planetary gear speed reducing mechanism.
Background
The speed reducer is generally used for low-rotation-speed and high-torque transmission equipment, and a motor, an internal combustion engine or other power running at high speed is meshed with a large gear on an output shaft through a gear with small teeth on an input shaft of the speed reducer to achieve the purpose of speed reduction, so that the speed reducer has the functions of matching rotation speed and transmitting torque between the prime motor and a working machine or an actuating mechanism, and is extremely widely applied to modern machinery.
At present, the Chinese patent of the invention with publication number CN111536208B discloses a planetary gear reducer, which comprises a shell, a planet carrier, an input shaft and an output shaft, wherein a circular gear and three planet gears are rotationally arranged in the shell, and the circular gear is positioned in the center of the shell and connected with the input shaft; a gear ring is fixedly arranged in the shell, and three planetary gears are uniformly arranged around the circumference of the round gear and are meshed with the round gear and the gear ring; one end of the planet carrier is connected with the three planet gears, and the other end of the planet carrier is connected with the output shaft. When the planetary gear is in operation, the input shaft drives the round gear to rotate, the round gear is meshed with the planetary gear and drives the planetary gear to rotate, meanwhile, the planetary gear is meshed with the gear ring and revolves around the axis of the round gear, so that the planetary carrier is driven to rotate, and the aim of decelerating the output shaft is achieved.
However, according to the scheme, the planetary gears combined on the planetary carrier are rotated only through the round gears, so that the planetary gear system automatically rotates around the gear ring to realize a speed reduction mode, the requirement of a large transmission ratio of a user is difficult to meet, the speed reduction effect is poor, and the defects of small speed reduction ratio and small output torque exist.
Disclosure of Invention
In order to solve the technical problems in the background technology, the application provides a cycloidal planetary gear speed reducing mechanism.
The application provides a cycloidal planetary gear speed reducing mechanism, which comprises a shell, a coupler and an output shaft, wherein the coupler and the output shaft are both rotationally connected with the shell, and the cycloidal planetary gear speed reducing mechanism is characterized in that: be equipped with one-level speed reduction assembly and second grade speed reduction assembly in the casing, the shaft coupling penetrates in the casing and is connected with one-level speed reduction assembly, the output shaft penetrates in the casing and is connected with second grade speed reduction assembly, one-level speed reduction assembly is connected with second grade speed reduction assembly.
By adopting the technical scheme, when the speed reducing mechanism is used, the speed reducing mechanism is arranged on the prime motor, so that the coupler is connected with the output shaft of the prime motor, the prime motor can drive the coupler to rotate when working, and the coupler drives the primary speed reducing assembly to work, thereby realizing primary speed reduction; the primary speed reduction assembly and the secondary speed reduction assembly cooperate to drive the secondary speed reduction assembly to work, two-stage deceleration is realized; the transmission ratio of the speed reducing mechanism is effectively improved through the cooperation of two-stage speed reducing effects, and the speed reducing mechanism has the advantages of large speed reducing ratio and large output torque.
Preferably, the first-stage speed reducing assembly comprises a swinging shaft fixedly mounted on the coupler, a movable gear rack fixedly mounted in the shell and a circular gear rotatably sleeved on the movable gear rack, a plurality of ball holes are formed in the movable gear rack, movable tooth steel balls are movably arranged in the ball holes, a plurality of tooth profile grooves are formed in the inner wall of the circular gear, and the movable tooth steel balls are tangential to the outer peripheral surface of the swinging shaft and the inner wall of the tooth profile grooves.
Through adopting above-mentioned technical scheme, when the prime mover drives the shaft coupling, the shaft coupling drives the cycloid axle and rotates, because the outer peripheral face of oscillating tooth steel ball and oscillating tooth spool and the interior top surface in tooth profile groove are all tangent, the cycloid axle promotes oscillating tooth steel ball and rotates in the ball hole, and oscillating tooth steel ball and the interior top surface in tooth profile groove support tightly and promote the circular gear rotation, realize the one-level speed reduction, the simple structure of one-level speed reduction subassembly makes this reduction gears have axial dimension little, low noise's advantage.
Preferably, one end of the cycloid shaft far away from the coupler is a transmission part with an elliptic cross section.
Through adopting above-mentioned technical scheme, because the transversal ellipse that personally submits of drive division, when the shaft coupling drove pendulum spool and rotates, the drive division promotes the oscillating tooth steel ball and carries out the rotation when doing the osculum and reciprocate in the ball hole, and the oscillating tooth steel ball that is located at drive division both ends is tight with the interior top surface in its tooth profile groove to this promotes the circular gear wheel rotation and realizes one-level speed reduction, and the oscillating tooth steel ball has further reduced the transmission of speed between circular gear and the shaft coupling along the cooperation with drive division elliptical surface, has improved the speed reduction efficiency of one-level speed reduction effectively.
Preferably, the movable rack comprises a fixed disc fixed in the shell and a convex ring fixedly connected with the fixed disc, the convex ring is rotatably sleeved on the transmission part, and the ball hole is formed in the convex ring.
Through adopting above-mentioned technical scheme, the oscillating tooth frame passes through the fixed disk to be fixed in the casing, and when cycloid axle rotated, the drive part was in the bulge loop internal rotation, and the oscillating tooth steel ball was in the ball downthehole reciprocating of oval face along cycloid axle this moment, and the restriction in ball hole made the oscillating tooth steel ball take place the autorotation simultaneously, reached oscillating tooth steel ball promotion round gear pivoted purpose.
Preferably, a fixing groove is formed in the shell, and the fixing disc is in interference fit with the fixing groove.
Through adopting above-mentioned technical scheme, fixed disk interference fit is in the fixed slot, and the fixed slot has the restriction effect to the fixed disk, has prevented effectively that the movable rack from taking place to rock, ensures the speed reduction effect of one-level speed reduction subassembly.
Preferably, the cycloid shaft and the coupler are provided with pin holes, elastic pins are inserted into the pin holes, and the cycloid shaft is fixedly arranged on the coupler through the elastic pins.
Through adopting above-mentioned technical scheme, the elastic pin has good elasticity and shear force resistance, and pendulum spool passes through the elastic pin with the shaft coupling to be connected, has good shock resistance and stability when making both connect.
Preferably, the secondary speed reduction assembly comprises an inner gear ring fixedly installed in the shell and a planet wheel rotatably arranged on the end face of the output shaft, the output shaft and the circular gear are coaxially arranged, the planet wheel is arranged around the periphery of the circular gear, and the planet wheel is meshed with the circular gear and the inner gear ring.
Through adopting above-mentioned technical scheme, when the round gear rotates, round gear and planet wheel meshing drive planet wheel rotation, planet wheel and ring gear meshing simultaneously, the restriction of ring gear makes the planet wheel revolve around the axis of round gear this moment, and then drives output shaft and rotate, realizes the second grade speed reduction.
Preferably, the planetary gears are uniformly distributed with at least three planetary gears along the circumferential direction of the circular gear.
Through adopting above-mentioned technical scheme, because the rotation of round gear is by the extrusion of drive part and oscillating tooth steel ball causes, oval drive part rotates and easily leads to round gear to take place to rock, and at this moment at least three planet wheel exerts even external force to it along the circumferencial direction of round gear, makes round gear can rotate steadily, ensures the stability of connecting between each part inside the reduction gears.
Preferably, the shaft coupling and the output shaft are respectively in rotary connection with the shell through a first bearing and a second bearing.
Through adopting above-mentioned technical scheme, the shaft coupling realizes being connected with the input end cover through first bearing, and the output shaft realizes being connected with the output end cover through the second bearing, and first bearing and second bearing all play the effect of reducing the coefficient of friction when rotating and assurance rotation accuracy, have improved reduction gears's flexibility.
Preferably, the shell is provided with through holes for the output shafts to pass through, two second bearings are arranged, and the two second bearings are respectively positioned at two ends of the through holes.
Through adopting above-mentioned technical scheme, two second bearings form stable support by the both ends of through-hole to the output shaft, have prevented effectively that the output shaft from taking place to rock at pivoted in-process, play the effect that improves output shaft stability.
In summary, the present application includes at least one of the following beneficial technical effects:
1. The primary motor can drive the coupler to rotate when working, and the coupler drives the primary speed reduction assembly to work so as to realize primary speed reduction; the primary speed reduction assembly and the secondary speed reduction assembly cooperate to drive the secondary speed reduction assembly to work, two-stage deceleration is realized; the transmission ratio of the speed reducing mechanism is effectively improved through the cooperation of two-stage speed reducing effects, and the speed reducing mechanism has the advantages of large speed reducing ratio and large output torque;
2. When the cycloid shaft rotates, the transmission part pushes the movable tooth steel balls to move up and down in the ball holes and simultaneously rotate, at the moment, the movable tooth steel balls positioned at the two ends of the transmission part are abutted against the inner top surfaces of tooth profile grooves where the movable tooth steel balls are positioned, so that the circular tooth steel balls are pushed to rotate to realize primary speed reduction, the movable tooth steel balls are matched with the elliptical surfaces of the transmission part to further reduce the speed transmission between the circular gear and the coupler, and the speed reduction efficiency of the primary speed reduction is effectively improved; the structure is simple, and the axial size is small, and the noise is low;
3. The movable tooth frame is fixed in the shell through the fixed disc, when the cycloid shaft rotates, the transmission part rotates in the convex ring, at the moment, the movable tooth steel ball moves up and down in the ball hole along the elliptical surface of the cycloid shaft, and simultaneously, the movable tooth steel ball rotates due to the limitation of the ball hole, so that the aim that the movable tooth steel ball drives the round gear to rotate is fulfilled.
Drawings
Fig. 1 is a cross-sectional view of the overall structure of an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a primary reduction assembly according to an embodiment of the present application.
FIG. 3 is a schematic diagram of a wobble shaft according to an embodiment of the application.
Fig. 4 is a schematic structural view of a movable rack according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a housing according to an embodiment of the application.
Fig. 6 is a schematic structural diagram of a circular gear in an embodiment of the present application.
Fig. 7 is a schematic structural diagram of a secondary reduction assembly according to an embodiment of the present application.
Fig. 8 is a schematic diagram illustrating a state of cooperation between a primary reduction assembly and a secondary reduction assembly according to an embodiment of the present application.
Reference numerals illustrate: 1. a housing; 11. a through hole; 12. a fixing groove;
2. a coupling; 21. a pin hole; 22. an elastic pin; 23. a first bearing;
31. a swinging shaft; 311. a connection part; 312. a transmission part;
32. a movable rack; 321. a fixed plate; 322. a convex ring; 323. a ball hole;
33. A movable tooth steel ball;
34. a circular gear; 341. tooth profile grooves;
41. a planet wheel; 42. an inner gear ring;
5. an output shaft; 51. and a second bearing.
Detailed Description
The application is described in further detail below with reference to fig. 1-8.
The embodiment of the application discloses a cycloidal planetary gear speed reducing mechanism. Referring to fig. 1, the cycloidal planetary gear reduction mechanism includes a housing 1, a coupling 2, a primary reduction assembly, a secondary reduction assembly, and an output shaft 5. The coupling 2 and the output shaft 5 are respectively positioned at two ends of the shell 1 and are both in rotary connection with the shell 1. The primary speed reducing assembly and the secondary speed reducing assembly are arranged in the shell 1, the coupling 2 penetrates into the shell 1 and then is connected with the primary speed reducing assembly, the output shaft 5 penetrates into the shell 1 and then is connected with the secondary speed reducing assembly, and the primary speed reducing assembly is connected with the secondary speed reducing assembly.
Referring to fig. 1, a coupling 2 is a conventional apparatus, and the coupling 2 is clamped by bolts. Through holes 11 are formed in two ends of the shell 1, one end of the coupler 2 is connected with the output shaft 5 of the prime motor, and the other end of the coupler is rotatably connected with the shell 1 through the through holes 11 and the first bearing 23. The output shaft 5 is cylindrical, one end of the output shaft close to the coupler 2 is integrally formed into a disc shape, and the output shaft 5 and the coupler 2 are coaxially arranged. One end of the output shaft 5 is connected to the working machine, and the other end is rotatably connected to the housing 1 through the through hole 11 and the second bearing 51. The second bearings 51 are provided in two, and the two second bearings 51 are respectively fixed at both ends of the through hole 11 at the rear end of the housing 1, so as to form a stable support for the output shaft 5 and prevent the output shaft 5 from shaking.
Referring to fig. 2 and 3, the primary reduction assembly includes a wobble shaft 31, a movable rack 32, a movable-tooth steel ball 33, and a circular gear 34. The swinging shaft 31 comprises a connecting part 311 and a transmission part 312 which are integrally formed, the cross section of the connecting part 311 is circular, and the connecting part is in plug-in fit with the coupler 2. The transmission portion 312 has an elliptical cross section and is located at an end of the connection portion 311 remote from the coupling 2. The pin holes 21 are formed in the cylindrical surface of the connecting portion 311 and the coupling 2, the pin holes 21 of the connecting portion 311 are aligned with the pin holes 21 of the coupling 2 during installation, then the elastic pins 22 are inserted, and the swing shaft 31 and the coupling 2 can be fixedly connected, and at the moment, the coaxiality of the swing shaft 31 and the coupling 2 can be achieved. The elastic pin 22 has good elasticity and shear resistance, so that the connection between the cycloid shaft 31 and the coupling 2 is stable, and has good shock resistance.
Referring to fig. 2 and 4, the movable rack 32 includes a fixing plate 321 and a convex ring 322 which are integrally formed, the fixing plate 321 and the convex ring 322 are all circular, a central hole is formed in the center of the circular surface of the fixing plate 321, and the convex ring 322 is communicated with the central hole. Referring to fig. 5, a fixing groove 12 is formed in the inner wall of the housing 1, and a fixing plate 321 is in interference fit with the fixing groove 12, so that the movable rack 32 is fixed in the housing 1, and the movable rack 32 is prevented from shaking. The convex ring 322 is rotatably sleeved on the transmission part 312 and is coaxial with the cycloid shaft 31. The convex ring 322 is provided with a plurality of ball holes 323, and the ball holes 323 are uniformly distributed along the circumferential direction of the convex ring 322. The oscillating tooth steel ball 33 is movably arranged in the ball hole 323 and is tangential to the elliptical surface of the transmission part 312.
Referring to fig. 2 and 6, the circular gear 34 is rotatably sleeved on the convex ring 322, and is coaxially arranged with the movable gear frame 32. The outer wall of the round gear 34 is integrally formed with a plurality of teeth, the inner wall of the round gear is provided with a plurality of tooth profile grooves 341, the diameter of each tooth profile groove 341 is larger than that of the movable tooth steel ball 33, and the movable tooth steel ball 33 is tangent with the inner wall of each tooth profile groove 341. When the coupler 2 rotates, the coupler 2 drives the swinging shaft 31 to rotate, the transmission part 312 of the swinging shaft 31 pushes the movable tooth steel ball 33 to move up and down in the ball hole 323, meanwhile, the movable tooth steel ball 33 rotates, and at the moment, the movable tooth steel balls 33 at the two ends of the transmission part 312 are abutted against the inner top surfaces of the tooth profile grooves 341 where the movable tooth steel balls are positioned, so that the round gear 34 is pushed to rotate, and one-stage speed reduction is realized.
Referring to fig. 1 and 7, the secondary reduction assembly includes a planet 41 and an annulus 42. The planet wheel 41 is rotatably mounted on the disc face of the output shaft 5 with its axis of rotation parallel to the axis of rotation of the output shaft 5. The planetary gears 41 are provided in three, and the three planetary gears 41 are uniformly arranged along the circumferential direction of the output shaft 5. The ring gear 42 is fixedly mounted on the inner wall of the housing 1, which is arranged coaxially with the circular gear 34. As shown in fig. 8, three planetary gears 41 are uniformly arranged around the outer periphery of the circular gear 34 and meshed with both the circular gear 34 and the ring gear 42, at which time the circular gear 34 is coaxial with the output shaft 5. When the circular gear 34 rotates, the circular gear 34 is meshed with the planetary gear 41 and drives the planetary gear 41 to rotate, meanwhile, the planetary gear 41 is meshed with the annular gear 42, and accordingly revolution is carried out around the axis of the circular gear 34, and then the planetary carrier and the output shaft 5 are driven to rotate, so that two-stage speed reduction is achieved.
When designing the reduction mechanism, the reduction ratio, the circular gear 34 and the parameters related to the cycloid shaft 31 are calculated as follows.
The calculation formula of the total reduction ratio:
Wherein, the reduction ratio of the oscillating tooth steel ball 33 Z k, the number of tooth profile grooves 341 of the circular gear 34, Z G, the number of movable tooth steel balls 33, Z B, the number of teeth of the inner gear ring 42 and Z A, the number of teeth of the circular gear 34.
The theoretical tooth profile equation for the tooth profile groove 341 face of the circular gear 34 is as follows:
Wherein: x 1 is the abscissa of the face of the profile groove 341; y 1 is the ordinate of the tooth profile groove 341 face; the parameter t is an angle, and the value range of the parameter t is 0-360 degrees; a is a constant coefficient, and the formula is: a=r 2*(9+k2); b is an amplitude coefficient, and the formula is: b=6 x k x r 2; c is a frequency coefficient, and the formula is: c=i+1.
The theoretical tooth profile equation for the elliptical face of the drive portion 312 of the wobble shaft 31 is as follows:
wherein: x 2 is the abscissa of the elliptical face of the transmission portion 312; y 2 is the ordinate of the elliptical face of the transmission portion 312; the parameter t is an angle, and the value range of the parameter t is 0-360 degrees; e and F are both amplitude coefficients, and the calculation formula of E is as follows: e=3×r, and f has the following formula: f=r×k; wherein r is the radius of the generated circle; k is a short-amplitude factor.
In order to embody the positional relationship between the tooth profile groove 341 surface of the circular gear 34 and the elliptical surface of the transmission portion 312 of the wobble shaft 31, specific values of the following parameters are set in this embodiment, as shown in table 1:
Table 1 parameter table of cycloidal oscillating tooth speed reducer
| Sequence number | Project | Sign symbol | Results |
| 1 | 33 Number of steel balls with movable teeth | ZG | 12 |
| 2 | Number of tooth profile grooves 341 of circular gear 34 | ZK | 10 |
| 3 | Radius of oscillating tooth steel ball 33 | rZ | 2mm |
| 4 | Radius of circle | r | 4mm |
| 5 | Short-range factor | k | 0.15 |
The theoretical tooth profile equation for the tooth profile groove 341 face of the circular gear 34 is available as:
the theoretical tooth profile equation for the elliptical face of the drive portion 312 of the wobble shaft 31 is:
The tooth profile groove 341 surfaces of the circular gear 34 and the elliptical surfaces of the transmission portion 312 of the cycloid shaft 31 are set according to the above equation. For the speed reduction equipment in different fields, according to the speed reduction ratio required by the rotating speed between the prime motor and the working machine, the tooth profile groove 341 surface of the circular gear 34 and the elliptical surface of the transmission part 312 of the cycloid shaft 31 are designed, and the adjustment of the output rotating speed of the movable gear 321 can be achieved by changing the number of the movable tooth steel balls 33, the tooth profile groove 341 surface of the circular gear 34 and the tooth profile of the elliptical surface of the transmission part 312 of the cycloid shaft 31.
The implementation principle of the application is as follows: when the speed reducing mechanism works, the speed reducing mechanism is arranged on a prime motor, so that the coupler 2 is connected with an output shaft 5 of the prime motor; the prime motor works to drive the coupler 2 and the cycloid shaft 31 to rotate, the transmission part 312 of the cycloid shaft 31 pushes the movable tooth steel ball 33 to move up and down in the ball hole 323, meanwhile, the movable tooth steel ball 33 rotates due to the tangency between the movable tooth steel ball 33 and the elliptical surface of the transmission part 312, at the moment, the movable tooth steel ball 33 positioned at two ends of the transmission part 312 is abutted against the inner top surface of the tooth profile groove 341 where the movable tooth steel ball 33 is positioned, and the movable tooth steel ball 33 can push the circular gear 34 to rotate while rotating, so that the process realizes primary speed reduction; the circular gear 34 is meshed with the planetary gear 41 and drives the planetary gear 41 to rotate, meanwhile, the planetary gear 41 is meshed with the annular gear 42, so that revolution is carried out around the axis of the circular gear 34, and the planetary carrier and the output shaft 5 are driven to rotate, so that secondary speed reduction is realized; the coordination of the swinging shaft 31, the movable gear rack 32, the circular gear 34 and the movable gear steel ball 33 forms primary speed reduction, the coordination of the circular gear 34, the planet gear 41 and the inner gear ring 42 forms secondary speed reduction, and the coordination of the two-stage speed reduction effect effectively improves the transmission ratio of the speed reduction mechanism; the device has a simple structure, can select the corresponding movable tooth steel ball 33, the round gear 34 and the cycloid shaft 31 to adjust the output rotation speed according to the reduction ratio required by the rotation speed between the prime motor and the working machine, and has the advantages of large reduction ratio, small axial size, large output torque and low noise.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides a cycloid planetary gear reduction gears, includes casing (1), shaft coupling (2) and output shaft (5), and shaft coupling (2) and output shaft (5) all rotate with casing (1) to be connected, its characterized in that: the novel speed reducer is characterized in that a first-stage speed reducer assembly and a second-stage speed reducer assembly are arranged in the shell (1), the coupler (2) penetrates into the shell (1) and then is connected with the first-stage speed reducer assembly, the output shaft (5) penetrates into the shell (1) and then is connected with the second-stage speed reducer assembly, and the first-stage speed reducer assembly is connected with the second-stage speed reducer assembly;
the primary speed reduction assembly comprises a cycloid shaft (31) fixedly arranged on a coupler (2), a movable gear rack (32) fixedly arranged in a shell (1) and a circular gear (34) rotationally sleeved on the movable gear rack (32), a plurality of ball holes (323) are formed in the movable gear rack (32), movable tooth steel balls (33) are movably arranged in the ball holes (323), a plurality of tooth profile grooves (341) are formed in the inner wall of the circular gear (34), and the movable tooth steel balls (33) are tangent to the outer peripheral surface of the cycloid shaft (31) and the inner wall of the tooth profile grooves (341); one end of the cycloid shaft (31) far away from the coupler (2) is a transmission part (312) with an elliptical cross section.
2. The cycloidal planetary gear speed reducing mechanism according to claim 1, characterized in that: the movable gear rack (32) comprises a fixed disc (321) fixed in the shell (1) and a convex ring (322) fixedly connected to the fixed disc (321), the convex ring (322) is rotationally sleeved on the transmission part (312), and the ball hole (323) is formed in the convex ring (322).
3. The cycloidal planetary gear reduction mechanism according to claim 2, characterized in that: a fixing groove (12) is formed in the shell (1), and the fixing disc (321) is in interference fit with the fixing groove (12).
4. The cycloidal planetary gear speed reducing mechanism according to claim 1, characterized in that: the cycloid shaft (31) and the coupler (2) are provided with pin holes (21), elastic pins (22) are inserted into the pin holes (21), and the cycloid shaft (31) is fixedly arranged on the coupler (2) through the elastic pins (22).
5. The cycloidal planetary gear speed reducing mechanism according to claim 1, characterized in that: the secondary speed reduction assembly comprises an annular gear (42) fixedly installed in the shell (1) and a planet wheel (41) rotatably arranged on the end face of the output shaft (5), the output shaft (5) and the circular gear (34) are coaxially arranged, the planet wheel (41) is arranged around the periphery of the circular gear (34), and the planet wheel (41) is meshed with the circular gear (34) and the annular gear (42).
6. The cycloidal planetary gear speed reducing mechanism according to claim 5 characterized in that: at least three planetary gears (41) are uniformly distributed along the circumferential direction of the circular gear (34).
7. The cycloidal planetary gear speed reducing mechanism according to claim 1, characterized in that: the coupler (2) and the output shaft (5) are respectively connected with the shell (1) in a rotating way through a first bearing (23) and a second bearing (51).
8. The cycloidal planetary gear speed reducing mechanism according to claim 7 characterized in that: the shell (1) is provided with through holes (11) for the output shafts (5) to pass through, two second bearings (51) are arranged, and the two second bearings (51) are respectively positioned at two ends of the through holes (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110981245.7A CN113565932B (en) | 2021-08-25 | 2021-08-25 | Cycloid planetary gear speed reducing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110981245.7A CN113565932B (en) | 2021-08-25 | 2021-08-25 | Cycloid planetary gear speed reducing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113565932A CN113565932A (en) | 2021-10-29 |
| CN113565932B true CN113565932B (en) | 2024-08-16 |
Family
ID=78172720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110981245.7A Active CN113565932B (en) | 2021-08-25 | 2021-08-25 | Cycloid planetary gear speed reducing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113565932B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215861557U (en) * | 2021-08-25 | 2022-02-18 | 合肥波林新材料股份有限公司 | Cycloidal planetary gear speed reducing mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB189823292A (en) * | 1898-11-05 | 1899-10-14 | Telford Charles Field | Improvements in or connected with Variable Speed Driving Gear for Bicycles, and other Velocipedes, and Motor Carriages. |
| CN1967017A (en) * | 2005-11-18 | 2007-05-23 | 杨光笋 | Double-impeller cycloid wheel decelerator |
| CN101358416B (en) * | 2007-08-05 | 2011-04-13 | 浙江三星机电股份有限公司 | Double wave movable teeth reducer of washing machine decelerating clutch |
| CN103671743A (en) * | 2013-11-29 | 2014-03-26 | 清华大学 | Planetary and harmonic combined speed reducer |
| CN106224450A (en) * | 2016-07-20 | 2016-12-14 | 湘潭大学 | A kind of wind power yawing driving means containing Harmonic Gears |
| CN110242708A (en) * | 2019-05-12 | 2019-09-17 | 天津大学 | Secondary seal formula eccentric disc swing movable teeth reducer |
-
2021
- 2021-08-25 CN CN202110981245.7A patent/CN113565932B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215861557U (en) * | 2021-08-25 | 2022-02-18 | 合肥波林新材料股份有限公司 | Cycloidal planetary gear speed reducing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113565932A (en) | 2021-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109882552B (en) | Two-stage plane steel ball speed reducer | |
| CN210461550U (en) | Small worm gear speed reducer | |
| CN102230518B (en) | Drum-type inner ring plate speed reducer with less tooth difference | |
| CN215861557U (en) | Cycloidal planetary gear speed reducing mechanism | |
| CN111075891A (en) | Eccentric cycloidal pin gear speed reducer | |
| CN113565932B (en) | Cycloid planetary gear speed reducing mechanism | |
| CN109780163B (en) | Reciprocating type cylindrical sine end face oscillating tooth speed reducer | |
| CN210265711U (en) | Cycloidal gear speed reducer | |
| CN215908330U (en) | Return difference type RV speed reducer | |
| CN211951340U (en) | Eccentric cycloidal pin gear speed reducer | |
| CN211259503U (en) | Large-speed-ratio hollow ultra-small robot joint speed reducer | |
| CN209309233U (en) | Multiple tooth difference ring plate cascades retarder | |
| CN210218568U (en) | Speed reducer | |
| CN209212899U (en) | The cascade retarder of balance wheel gear unit | |
| CN209212895U (en) | Balance wheel transmission component, deceleration unit and retarder | |
| CN113669419A (en) | Speed reducing mechanism with variable speed reducing ratio | |
| US6652406B2 (en) | Transmission | |
| CN111946796A (en) | Multistage gear drive's harmonic speed reducer ware and robot | |
| CN109139812A (en) | A kind of New-type cycloidal planetary reducer | |
| CN110864085A (en) | Speed reducer | |
| CN221800523U (en) | Combined speed reducer | |
| CN217002989U (en) | Double-acting gear ring stage inner speed change planetary reducer | |
| CN217081280U (en) | Simple cycloid wheel type cycloid speed reducer for robot | |
| CN216478713U (en) | Eccentric shaft planetary reducer | |
| CN211231451U (en) | Large-speed-ratio gear train output mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |