CN114278706A - Large-speed-ratio vector cycloid speed reducer - Google Patents
Large-speed-ratio vector cycloid speed reducer Download PDFInfo
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- CN114278706A CN114278706A CN202210043101.1A CN202210043101A CN114278706A CN 114278706 A CN114278706 A CN 114278706A CN 202210043101 A CN202210043101 A CN 202210043101A CN 114278706 A CN114278706 A CN 114278706A
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Abstract
The invention relates to a high speed ratio vector cycloid speed reducer, wherein an epicycloid curve at one end of a driving disc facing a rear cover forms a first-stage planet wheel cycloid groove and is matched with a first ball to complete a shock wave function, an epicycloid curve at one side facing an output disc forms a second-stage planet wheel cycloid groove and is matched with a second ball to complete an output function, when the rear cover is fixed, an eccentric shaft is input at a high speed, the driving disc is driven by an eccentric part to generate a shock wave to push the first and second balls, a reduction function relation exists between the first and second balls, the speed is divided, the speed is reduced and output, namely, the eccentric shaft is input at a high speed, the driving disc is driven by the eccentric part to rotate eccentrically, and the first and second balls are driven to rotate along with an eccentric shaft and reversely rotate, so that the speed reducer with high torque and a ball cycloid is adopted in the speed reducer to achieve zero backlash operation and cycloid motion trajectory, realizing the operation without dead angle.
Description
Technical Field
The invention relates to the field of speed reducers, in particular to a high-speed-ratio vector cycloid speed reducer.
Background
At present, a transmission device applied to a precision servo mechanism of a robot, a precision machine tool, aerospace and the like is required to have the characteristics of high transmission precision, high transmission rigidity, large transmission ratio, high transmission efficiency, small volume, light weight, small transmission return difference, small rotational inertia of a rotating part and the like. The vector cycloid speed reduction transmission in the existing transmission mechanism has many advantages, but has the problems of small transmission ratio (1: 50) and small torque, so that a vector cycloid speed reduction device with a large speed ratio is urgently needed to solve the problem.
Disclosure of Invention
The invention aims to solve the technical problem of providing a high-speed-ratio vector cycloid speed reducer aiming at the defects of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a high speed ratio vector cycloid speed reducer comprises a machine body, a rear cover connected with the machine body, an eccentric shaft with an eccentric structure, a driving disc, an output shaft, a first ball and a second ball, wherein the driving disc, the output shaft, the first ball and the second ball are arranged in the machine body, the output shaft is provided with an output disc which is arranged in parallel with the driving disc and the rear cover, the driving disc is arranged between the output disc and the rear cover, the eccentric shaft is inserted between the rear cover and the output shaft, and the eccentric part of the eccentric shaft is rotatably arranged on the central part of the driving disc so as to drive the driving disc to eccentrically rotate, and the speed reducer is characterized in that: the surface of the back cover towards one side of the driving disc is provided with a first-stage central wheel cycloid groove formed by an hypocycloid curve arranged along the circumferential direction of the back cover, the tooth number of the first-stage central wheel cycloid groove is ZK1, the surface of the output disc towards one side of the driving disc is provided with a second-stage central wheel cycloid groove formed by an hypocycloid curve arranged along the circumferential direction of the output disc, the tooth number of the second-stage central wheel cycloid groove is ZK2, the surface of the driving disc towards one side of the back cover is provided with a first-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, the tooth number of the first-stage planet wheel cycloid groove is ZG1, the surface of the driving disc towards one side of the output disc is provided with a second-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, and the tooth number of the second-stage planet wheel cycloid groove is ZG2, the first ball bearing is rollably placed between the rear cover and the driving disc so as to partially fit with the first-stage center wheel cycloid groove of the rear cover and partially fit with the first-stage planet wheel cycloid groove of the driving disc, the second ball bearing is rollably placed between the output disc and the driving disc so as to partially fit with the second-stage center wheel cycloid groove of the output disc and partially fit with the second-stage planet wheel cycloid groove of the driving disc, the eccentric shaft drives the driving disc to eccentrically rotate and is linked with the output shaft to rotate through the first and second ball bearings, the ZK1, ZK2, ZG1 and ZG2 are integers, and ZK1-ZG1=2, ZK2-ZG2= 2.
By adopting the technical scheme, the epicycloid curve of the driving disc of the vector cycloid speed reducer, which faces to the surface of one end of the rear cover, forms a first-stage planet wheel cycloid groove and is matched with a first ball to complete a shock wave function, the epicycloid curve, which faces to one side of the output disc, forms a second-stage planet wheel cycloid groove and is matched with a second ball to complete an output function, namely, one side corresponding to the cycloid groove of the hypocycloid curve is required to be a cycloid groove of an epicycloid curve stroke, so that two groups of high-speed-ratio speed reducers, namely, an inner group, an outer group, an inner group and an outer group, can be formed, wherein the number of the cycloid groove formed by hypocycloid is 2 more than that formed by epicycloid, when the rear cover is fixed, the eccentric shaft drives the driving disc to generate shock waves through the eccentric part to push the first and the second balls, and the first ball is positioned on the cycloid curved surface of the first-stage center wheel cycloid groove and the first-stage planet wheel cycloid groove, the second ball is positioned on the cycloid curved surface of the stroke of the second-stage central wheel cycloid groove and the second-stage planet wheel cycloid groove, a function reducing relation exists between the first ball and the second ball, the speed is divided, the speed is reduced and output, namely, the eccentric shaft is input at a high speed, the eccentric part drives the driving disc to eccentrically rotate, and then the first ball and the second ball are driven to reversely rotate along with the eccentric shaft, so that the speed reducer with high speed ratio and high torque is formed, and the ball cycloid is adopted in the speed reducer, so that zero backlash operation and cycloid motion trajectory are achieved, and dead-angle-free operation is realized.
The high-speed-ratio vector cycloid speed reducer can be further provided with a high-speed-ratio vector cycloid speed reducer which comprises a machine body, a rear cover connected with the machine body, an eccentric shaft with an eccentric structure, a driving disc, an output shaft, a first ball and a second ball, wherein the driving disc, the output shaft, the first ball and the second ball are arranged in the machine body, an output disc is arranged on the output shaft in parallel with the driving disc and the rear cover, the driving disc is arranged between the output disc and the rear cover, the eccentric shaft is inserted between the rear cover and the output shaft, and an eccentric part of the eccentric shaft is rotatably arranged on the central part of the driving disc so as to drive the driving disc to eccentrically rotate, and the high-speed-ratio vector cycloid speed reducer is characterized in that: the surface of one side of the rear cover, facing the driving disc, is provided with a first-stage central wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the rear cover, the number of teeth of the first-stage central wheel cycloid groove is ZK1, the surface of one side of the output disc, facing the driving disc, is provided with a second-stage central wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the rear cover, the number of teeth of the second-stage central wheel cycloid groove is ZK2, the surface of one side of the driving disc, facing the rear cover, is provided with a first-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, the number of teeth of the first-stage planet wheel cycloid groove is ZG1, the surface of one side of the driving disc, facing the output disc, is provided with a second-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, the number of teeth of the second-stage planet wheel cycloid groove is ZG2, and the first ball can be rollably placed between the rear cover and the driving disc, so as to partially engage with the cycloid grooves of the first-stage center wheel of the rear cover and partially engage with the cycloid grooves of the first-stage planet wheels of the drive plate, and the second balls are rollably placed between the output disc and the drive disc so as to partially engage with the cycloid grooves of the second-stage center wheel of the output disc and partially engage with the cycloid grooves of the second-stage planet wheels of the drive plate, and the eccentric shaft rotates the drive disc eccentrically and rotates the output shaft by the first and second ball linkages, and the ZK1, ZK2, ZG1 and ZG2 are integers, and ZG1-ZK1=2, and ZG2-ZK2= 2.
By adopting the technical scheme, the hypocycloid curve of the driving disc of the vector cycloid speed reducer facing to the surface of one end of the rear cover forms a first-stage planet wheel cycloid groove and is matched with a first ball to complete a shock wave function, the hypocycloid curve facing to one side of the output disc forms a second-stage planet wheel cycloid groove and is matched with a second ball to complete an output function, namely, one side corresponding to the cycloid groove of the hypocycloid curve is required to be a cycloid groove of an epicycloid curve stroke, so that two groups of high-speed-ratio speed reducers of an inner group, an outer group, an inner group and an outer group can be formed, wherein the number of the cycloid grooves formed by hypocycloids is 2 more than that of the cycloid grooves formed by epicycloids all the time, when the rear cover is fixed, the eccentric shaft drives the driving disc to generate shock waves through the eccentric part to push the first and the second balls, and the first ball is positioned on the cycloid curved surface of the first-stage center wheel cycloid groove and the first-stage planet wheel cycloid groove, the second ball is positioned on the cycloid curved surface of the stroke of the second-stage central wheel cycloid groove and the second-stage planet wheel cycloid groove, a function reducing relation exists between the first ball and the second ball, the speed is divided, the speed is reduced and output, namely, the eccentric shaft is input at a high speed, the eccentric part drives the driving disc to eccentrically rotate, and then the first ball and the second ball are driven to reversely rotate along with the eccentric shaft, so that the speed reducer with high speed ratio and high torque is formed, and the ball cycloid is adopted in the speed reducer, so that zero backlash operation and cycloid motion trajectory are achieved, and dead-angle-free operation is realized.
The high-speed-ratio vector cycloid speed reduction device can be further provided with a speed reduction ratio expression formula as follows: reduction ratio = (ZG1 × ZK2)/(ZG1 × ZK2-ZG2 × ZK 1).
By adopting the technical scheme, the following empirical formula is obtained after repeated experiments, and is applied to the speed reducer, so that the transmission ratio of 5-1000 can be realized, the large speed ratio difference can be realized, and the corresponding speed reducer with the transmission ratio can be accurately prepared according to the requirements of users.
The high-speed-ratio vector cycloid speed reduction device can be further provided with an outer output bearing sleeved on the outer peripheral surface of the output shaft.
By adopting the technical scheme, the output shaft is enabled to rotate against the machine body through the outer output bearing by arranging the outer output bearing, so that the friction force is reduced, and the transmission rate of the output shaft is improved.
The high-speed-ratio vector cycloid speed reducer can be further provided with an adjusting nut arranged at one end of the machine body, which is far away from the rear cover, the adjusting nut is in threaded connection with the machine body and is matched with the rear cover to limit the output disc and the driving disc in the machine body, and then pressure is applied to the output disc and the driving disc through an outer output bearing.
By adopting the technical scheme, after the speed reducer works for a long time, the balls are easy to wear and shrink, so that the transmission is unstable, a certain pre-pressure is applied to the transmission of the output disc and the driving disc by arranging the adjusting nut, the multi-tooth meshing transmission can be ensured, the transmission precision and the transmission rigidity are improved, and the transmission return difference is eliminated.
The high-speed-ratio vector cycloid speed reducer can be further provided with a rear cover bearing arranged between the eccentric shaft and the rear cover, and a driving bearing arranged between an inner output bearing arranged between the output shaft and the driving disc.
By adopting the technical scheme, the eccentric shaft is enabled to be abutted and rotated with the rear cover through the rear cover bearing by arranging the rear cover bearing, and the eccentric shaft is enabled to be abutted and rotated with the driving disc through the driving bearing by arranging the driving bearing, so that the friction force is reduced, and the transmission rate of the eccentric shaft is improved.
The vector cycloid speed reducer with the high speed ratio can be further provided with a positioning ring sleeved outside the eccentric shaft, and the positioning ring is arranged between the inner output bearing and the driving bearing and is abutted against the inner output bearing and the driving bearing.
Adopt above-mentioned technical scheme, because can have the tolerance between the decelerator of different reduction ratios, so output shaft inner wall and eccentric portion can have the clearance, lead to interior output bearing to make can slide rotating, through setting up the holding ring, will interior output bearing support can not slide in output shaft inner wall department, improve transmission stability.
The invention is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a cross-sectional view of an embodiment of the present invention.
Fig. 2 is an exploded view of an embodiment of the present invention.
Fig. 3 is an exploded view of an embodiment of the present invention, fig. 2.
FIG. 4 is a schematic diagram of the connection between the driving disk, the output shaft and the rear cover according to the embodiment of the present invention.
FIG. 5 is a schematic view of the connection between the driving disk, the output shaft and the rear cover according to the embodiment of the present invention 2.
Detailed Description
As shown in fig. 1-5, a high speed ratio vector cycloid speed reducer comprises a machine body 1, a rear cover 2 connected with the machine body 1, an eccentric shaft 3 with an eccentric structure, a driving disc 4 arranged in the machine body 1, an output shaft 5, a first ball 6 and a second ball 7, wherein the output shaft 5 is provided with an output disc 51 arranged in parallel with the driving disc 4 and the rear cover 2, the driving disc 4 is arranged between the output disc 51 and the rear cover 2, the eccentric shaft 3 is inserted between the rear cover 2 and the output shaft 5, and an eccentric part 31 of the eccentric shaft is rotatably mounted on a central part of the driving disc 4 so as to drive the driving disc 4 to eccentrically rotate, a surface of the rear cover 2 facing the driving disc 4 is provided with a first-stage central wheel cycloid groove 21 formed by a hypocycloid curve arranged along the circumferential direction of the rear cover 2, and the first-stage central wheel cycloid groove 21 has a tooth number ZK1, the surface of the output disc 51 facing the driving disc 4 is provided with a second-stage central wheel swing groove 52 formed by a hypocycloid curve arranged along the circumferential direction of the output disc 51, the second-stage central wheel swing groove 52 has the tooth number of ZK2, the surface of the driving disc 4 facing the rear cover 2 is provided with a first-stage planet wheel swing groove 41 formed by an epicycloid curve arranged along the circumferential direction of the driving disc 4, the first-stage planet wheel swing groove 41 has the tooth number of ZG1, the surface of the driving disc 4 facing the side of the output disc 51 is provided with a second-stage planet wheel swing groove 42 formed by an epicycloid curve arranged along the circumferential direction of the driving disc 4, the second-stage planet wheel swing groove 42 has the tooth number of ZG2, and the first ball 6 is rollably arranged between the rear cover 2 and the driving disc 4 so as to be partially matched with the first-stage central wheel swing groove 21 of the rear cover 2 and partially matched with the first-stage planet wheel swing groove 41 of the driving disc 4 The second ball bearing 7 is rollably placed between the output disc 51 and the drive disc 4 so as to partially match with the second-stage central wheel swing groove 52 of the output disc 51 and partially match with the second-stage planet wheel swing groove 42 of the drive disc 4, the eccentric shaft 3 drives the drive disc 4 to eccentrically rotate and is linked with the output shaft 5 to rotate through the first ball bearing 6 and the second ball bearing 7, the outer circumferential surface of the output shaft 5 is sleeved with an outer output bearing 32, one end of the machine body 1 far away from the rear cover 2 is provided with an adjusting nut 11, the adjusting nut 11 is in threaded connection with the machine body 1 and is matched with the rear cover 2 to limit the output disc 51 and the drive disc 4 in the machine body 1, so as to apply pressure to the output disc 51 and the drive disc 4 through the outer output bearing 32, a rear cover bearing 33 is arranged between the eccentric shaft 3 and the rear cover 2, and an inner output bearing 34 is arranged between the output shaft 5, And a driving bearing 35 is arranged between the eccentric shaft 3 and the driving disc 4, a positioning ring 8 is sleeved outside the eccentric shaft 3, and the positioning ring 8 is arranged between the inner output bearing 34 and the driving bearing 35 and is abutted against the inner output bearing.
The ZK1, the ZK2, the ZG1 and the ZG2 are integers, ZK1-ZG1=2 and ZK2-ZG2=2, and the reduction ratio expression formula is as follows: the reduction ratio i = (ZG1 × ZK2)/(ZG1 × ZK2-ZG2 × ZK 1);
example 1 when ZK1=62, ZG1=60, ZG2=48, ZK2=50;
example 2 when ZK1=62, ZG1=60, ZG2=58, ZK2= 60;
the following table is obtained;
| ZK1 | ZG1 | ZG2 | ZK2 | reduction ratio i | |
| Example 1 | 62 | 60 | 48 | 50 | 125 |
| Example 2 | 62 | 60 | 58 | 60 | 900 |
Claims (7)
1. A high speed ratio vector cycloid speed reducer comprises a machine body, a rear cover connected with the machine body, an eccentric shaft with an eccentric structure, a driving disc, an output shaft, a first ball and a second ball, wherein the driving disc, the output shaft, the first ball and the second ball are arranged in the machine body, the output shaft is provided with an output disc which is arranged in parallel with the driving disc and the rear cover, the driving disc is arranged between the output disc and the rear cover, the eccentric shaft is inserted between the rear cover and the output shaft, and the eccentric part of the eccentric shaft is rotatably arranged on the central part of the driving disc so as to drive the driving disc to eccentrically rotate, and the speed reducer is characterized in that: the surface of the back cover towards one side of the driving disc is provided with a first-stage central wheel cycloid groove formed by an hypocycloid curve arranged along the circumferential direction of the back cover, the tooth number of the first-stage central wheel cycloid groove is ZK1, the surface of the output disc towards one side of the driving disc is provided with a second-stage central wheel cycloid groove formed by an hypocycloid curve arranged along the circumferential direction of the output disc, the tooth number of the second-stage central wheel cycloid groove is ZK2, the surface of the driving disc towards one side of the back cover is provided with a first-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, the tooth number of the first-stage planet wheel cycloid groove is ZG1, the surface of the driving disc towards one side of the output disc is provided with a second-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, and the tooth number of the second-stage planet wheel cycloid groove is ZG2, the first ball bearing is rollably placed between the rear cover and the driving disc so as to partially fit with the first-stage center wheel cycloid groove of the rear cover and partially fit with the first-stage planet wheel cycloid groove of the driving disc, the second ball bearing is rollably placed between the output disc and the driving disc so as to partially fit with the second-stage center wheel cycloid groove of the output disc and partially fit with the second-stage planet wheel cycloid groove of the driving disc, the eccentric shaft drives the driving disc to eccentrically rotate and is linked with the output shaft to rotate through the first and second ball bearings, the ZK1, ZK2, ZG1 and ZG2 are integers, and ZK1-ZG1=2, ZK2-ZG2= 2.
2. A high speed ratio vector cycloid speed reducer comprises a machine body, a rear cover connected with the machine body, an eccentric shaft with an eccentric structure, a driving disc, an output shaft, a first ball and a second ball, wherein the driving disc, the output shaft, the first ball and the second ball are arranged in the machine body, the output shaft is provided with an output disc which is arranged in parallel with the driving disc and the rear cover, the driving disc is arranged between the output disc and the rear cover, the eccentric shaft is inserted between the rear cover and the output shaft, and the eccentric part of the eccentric shaft is rotatably arranged on the central part of the driving disc so as to drive the driving disc to eccentrically rotate, and the speed reducer is characterized in that: the surface of one side of the rear cover, facing the driving disc, is provided with a first-stage central wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the rear cover, the number of teeth of the first-stage central wheel cycloid groove is ZK1, the surface of one side of the output disc, facing the driving disc, is provided with a second-stage central wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the rear cover, the number of teeth of the second-stage central wheel cycloid groove is ZK2, the surface of one side of the driving disc, facing the rear cover, is provided with a first-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, the number of teeth of the first-stage planet wheel cycloid groove is ZG1, the surface of one side of the driving disc, facing the output disc, is provided with a second-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc, the number of teeth of the second-stage planet wheel cycloid groove is ZG2, and the first ball can be rollably placed between the rear cover and the driving disc, so as to partially engage with the cycloid grooves of the first-stage center wheel of the rear cover and partially engage with the cycloid grooves of the first-stage planet wheels of the drive plate, and the second balls are rollably placed between the output disc and the drive disc so as to partially engage with the cycloid grooves of the second-stage center wheel of the output disc and partially engage with the cycloid grooves of the second-stage planet wheels of the drive plate, and the eccentric shaft rotates the drive disc eccentrically and rotates the output shaft by the first and second ball linkages, and the ZK1, ZK2, ZG1 and ZG2 are integers, and ZG1-ZK1=2, and ZG2-ZK2= 2.
3. A high ratio vector cycloidal reduction gear according to claim 1 or 2, wherein: the reduction ratio expression formula is: reduction ratio = (ZG1 × ZK2)/(ZG1 × ZK2-ZG2 × ZK 1).
4. A high ratio vector cycloidal reduction gear according to claim 3 wherein: and an outer output bearing is sleeved on the outer peripheral surface of the output shaft.
5. The high ratio vector cycloidal reduction gear of claim 4 further including: and an adjusting nut is arranged at one end of the machine body, which is far away from the rear cover, is in threaded connection with the machine body and is matched with the rear cover to limit the output disc and the driving disc in the machine body, and further applies pressure to the output disc and the driving disc through an outer output bearing.
6. The high ratio vector cycloidal reduction gear of claim 4 further including: a rear cover bearing is arranged between the eccentric shaft and the rear cover, and a driving bearing is arranged between the inner output bearing and the driving disc.
7. The high ratio vector cycloidal reduction gear of claim 6 further including: and a positioning ring is sleeved outside the eccentric shaft and is arranged between the inner output bearing and the driving bearing and abutted against the inner output bearing and the driving bearing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210043101.1A CN114278706A (en) | 2022-01-14 | 2022-01-14 | Large-speed-ratio vector cycloid speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210043101.1A CN114278706A (en) | 2022-01-14 | 2022-01-14 | Large-speed-ratio vector cycloid speed reducer |
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| CN114278706A true CN114278706A (en) | 2022-04-05 |
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| CN202210043101.1A Pending CN114278706A (en) | 2022-01-14 | 2022-01-14 | Large-speed-ratio vector cycloid speed reducer |
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| CN (1) | CN114278706A (en) |
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- 2022-01-14 CN CN202210043101.1A patent/CN114278706A/en active Pending
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