CN115163756A - Lightweight hollow precision speed reducer - Google Patents
Lightweight hollow precision speed reducer Download PDFInfo
- Publication number
- CN115163756A CN115163756A CN202210688917.XA CN202210688917A CN115163756A CN 115163756 A CN115163756 A CN 115163756A CN 202210688917 A CN202210688917 A CN 202210688917A CN 115163756 A CN115163756 A CN 115163756A
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- Prior art keywords
- disc
- transmission
- needle
- wheel
- eccentric
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 210000004907 gland Anatomy 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 208000032369 Primary transmission Diseases 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 238000005255 carburizing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H2057/02091—Measures for reducing weight of gearbox
Abstract
The invention relates to a lightweight hollow precise speed reducer which comprises an input wheel, a hollow crankshaft with two eccentric outer circle parts, two transmission wheels, an inner gear ring, an output disc, a rigid disc, a needle cylinder and a needle sleeve, wherein the hollow crankshaft is provided with two eccentric outer circle parts; the input wheel is fixedly connected with one end of the crank shaft; the output disc and the rigid disc are fixedly connected through a plurality of transmission screws; the rigid disc is in running fit with one end of the crankshaft through a rolling body, and the output disc is in running fit with the other end of the crankshaft through a deep groove ball bearing; the two driving wheels are respectively sleeved on the peripheries of the two eccentric circles and are in running fit with the corresponding eccentric circle parts through rolling bodies; the needle posts are respectively and intermittently sleeved outside the transmission screws, the needle sleeves are respectively and intermittently sleeved outside the needle posts and penetrate through the corresponding transmission holes on the two transmission wheels one by one, and one ends of the needle posts, which are far away from the input shaft, are fixedly connected with the output disc; the smooth surface part of the inner gear ring is in contact fit with the outer circular surface of the output disc through a crossed roller bearing, and is in tooth meshing with the two driving wheels through the tooth surface part. The invention has small axial size, light weight and high transmission precision.
Description
Technical Field
The invention belongs to the technical field of speed reduction devices for industrial robots, and particularly relates to a light hollow precision speed reduction device.
Background
In recent years, with the continuous expansion of the application field of industrial robots, the demand for high-speed and light-weight reduction devices for industrial robots is rapidly increasing year by year. From the current industry, aim at
The reduction gear with the length size less than 65 generally adopts a harmonic or planetary transmission mode, but the harmonic reducer has low fatigue strength, rigidity and service life, the return difference precision is unstable, and the motion precision is obviously reduced along with the increase of the service time; the planetary reduction gear has the advantages of small transmission ratio, non-compact structure, large volume and long axial distance, and cannot meet the requirements of high speed and light weight.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the light-weight central control precision speed reducer which is compact in structure, small in axial size, light in weight, high in transmission precision and good in transmission stability.
The above purpose of the invention is realized by the following technical scheme:
the utility model provides a precision decelerator of lightweight cavity which characterized in that: comprises an input wheel, a crank shaft, a first driving wheel, a second driving wheel, an inner gear ring, an output disc, a rigid disc, a needle cylinder and a needle sleeve;
the input wheel, the first transmission wheel, the second transmission wheel and the inner gear ring are all involute gears; the crank shaft is a hollow shaft; two eccentric outer circle parts which are arranged in parallel are arranged in the middle of the crank shaft, the eccentric distances of the two eccentric outer circle parts are equal, and the two eccentric outer circle parts are eccentrically arranged by 180 degrees. A plurality of transmission holes with equal number are uniformly distributed on the first transmission wheel and the second transmission wheel along the circumferential direction;
the input wheel is coaxially and fixedly connected with one end of the crankshaft; the output disc and the rigid disc are coaxially sleeved on the periphery of the crank shaft and are respectively positioned on two sides of two eccentric circular parts of the crank shaft, the output disc is positioned on one side far away from the input wheel, the rigid disc is positioned on one side close to the input wheel, and the output disc and the rigid disc are fixedly connected through a plurality of transmission screws along the circumferential direction; the rigid disc is coaxially and rotationally matched with one end of the crankshaft through rolling bodies which are uniformly distributed on the circumference, and the output disc is coaxially and rotationally matched with the other end of the crankshaft through a deep groove ball bearing; the first driving wheel and the second driving wheel are respectively sleeved on the peripheries of two eccentric circles of the crankshaft and are respectively in running fit with corresponding eccentric circle parts through rolling bodies uniformly distributed on the circumference; the needle columns and the needle sleeves are multiple and equal in number, the needle columns are of hollow column structures, the needle columns are respectively sleeved outside the transmission screws in a clearance fit manner, the needle sleeves are respectively sleeved outside the needle columns in a clearance fit manner and penetrate through corresponding transmission holes in the two transmission wheels one by one, and one ends, far away from the input shaft, of the needle columns are fixedly connected with the output disc; the inner gear ring is a fixed part which is borne outside the whole speed reducer, is sleeved on the periphery of the output disc and the two driving wheels, is in contact fit with the outer circular surface of the output disc through a smooth surface part through a crossed roller bearing, and is in tooth engagement with the two driving wheels through a tooth surface part.
And further: the device also comprises an output connecting disc and an inner gear ring gland; the inner gear ring gland is coaxially and fixedly installed outside one end, far away from the input wheel, of the inner gear ring through a screw, and a limiting table top for limiting the outer ring of the crossed roller bearing is arranged on the inner end face of the inner gear ring gland; the output connecting disc is coaxially and fixedly connected with one end, far away from the input wheel, of the output disc through a screw, a limiting table top for limiting the inner ring of the crossed roller bearing is arranged on the inner end face of the output connecting disc, and a limiting table top for limiting the outer ring of the deep groove ball bearing is arranged.
And further: one end of the crank shaft adopts a thin shaft head structure to form an installation table board, and the input wheel is matched with the thin shaft head in an interference fit mode and is axially installed and limited through the installation table board.
The invention has the advantages and positive effects that:
1. the invention adopts a design scheme of two-stage involute gear transmission, and greatly improves the transmission ratio and carrying capacity of the speed reducer by introducing a design of small tooth difference, and the transmission ratio can reach 90.18.
2. The crank shaft is designed to be in a large hollow form, so that the self weight of the speed reducer is reduced.
3. The motion transmission between each stage of the invention is mutually coupled, thereby greatly shortening the axial dimension of the whole set of device and achieving the aim that the axial dimension is less than 65.
4. The transmission wheel adopts a mode of oppositely arranging two pieces, so that the bearing capacity and the running stability of the speed reducing device are enhanced.
5. The invention adopts a supporting mode of combining the deep groove ball bearing and the roller, and ensures the stability of the motion output of the whole machine.
6. The output disc and the inner gear ring are supported by the crossed roller bearings, so that the motion bearing and the stress bearing of the whole device are ensured.
Drawings
FIG. 1 is a cross-sectional view of the overall construction of the present invention;
fig. 2 is a transmission schematic diagram of the present invention.
Detailed Description
The structure of the present invention will be further described by way of examples with reference to the accompanying drawings. It is to be understood that this embodiment is illustrative and not restrictive.
A lightweight hollow precision speed reducer, please refer to fig. 1-2, the invention points are: the hollow needle cylinder mainly comprises an input wheel 11, a crank shaft 10, a first transmission wheel 5, a second transmission wheel 6, an inner gear ring 3, an output disc 14, a rigid disc 9, a needle sleeve 8, a needle cylinder 7, an output connecting disc 1 and an inner gear ring gland 2.
The input wheel, the first transmission wheel, the second transmission wheel and the inner gear ring are all of involute gear structures. The input wheel is used for inputting power, such as meshing with a motor connecting gear. The crankshaft is of a hollow shaft structure, is made of carburizing bearing steel G20CrNi2MoA with the standard of GB/T3203, and is forged and processed. Two eccentric outer circle parts which are arranged in parallel are integrally formed at the middle position of the crank shaft, the eccentric distances of the two eccentric outer circle parts are equal, and the two eccentric outer circle parts are eccentrically arranged by 180 degrees. A plurality of transmission holes with equal quantity are uniformly distributed on the first transmission wheel and the second transmission wheel along the circumferential direction.
The input wheel is fixedly connected with one end of the crank shaft in a coaxial mode, preferably but not limited to be fixedly connected in an interference fit mode, specifically, the end of the crank shaft can adopt a thin shaft head structure to form an installation table top, the input wheel is installed on the thin shaft head, axial installation and limiting are carried out through the installation table top, and power is transmitted to the crank shaft. The output disc and the rigid disc are coaxially sleeved on the periphery of the crank shaft and are respectively positioned on two sides of two eccentric circular parts of the crank shaft, the output disc is positioned on one side far away from the input wheel, the rigid disc is positioned on one side close to the input wheel, and the output disc and the rigid disc are fixedly connected through a plurality of transmission screws along the circumferential direction. The inner hole of the output disc is in contact fit with the outer axial surface of the crankshaft through a deep groove ball bearing 13. The inner hole of the rigid disk is in contact fit with the outer axial surface of the crankshaft through rolling bodies 12 (adopting a specification of phi 6 multiplied by 6) which are uniformly distributed along the circumferential direction. The first transmission wheel and the second transmission wheel are respectively sleeved on the peripheries of the two eccentric circles of the crankshaft, and the inner hole of the first transmission wheel and the inner hole of the second transmission wheel are respectively in contact fit with the outer circular surfaces of the two eccentric circles of the crankshaft through rolling bodies (adopting a specification of phi 6 multiplied by 6). The needle cylinder and the needle sleeves are multiple and equal in number, the needle cylinder and the needle sleeves are both made of bearing steel GCr15 and are of hollow cylinder structures, the needle cylinders are respectively sleeved outside the transmission screws in a clearance fit mode, the needle sleeves are respectively sleeved outside the needle cylinders in a clearance fit mode and penetrate through corresponding transmission holes in the two transmission wheels one by one, one ends, far away from the input shaft, of the needle cylinders are fixedly connected with the output disc, specifically, needle cylinder insertion holes can be formed in the inner end of the output disc in the circumferential direction, and the ends of the needle cylinders are inserted into the needle sleeve insertion holes in a tight fit mode to achieve fixed connection with the output disc. The inner gear ring is sleeved on the periphery of the output disc and the two driving wheels, the inner gear ring is a fixed part borne outside the whole speed reducing device and does not rotate, and the inner gear ring is fixedly connected with a base or a rack of the using equipment when the speed reducing device is used. The inner hole of the inner ring gear is partially smooth and partially tooth-surface, the smooth surface is in contact fit with the outer circular surface of the output disc through a crossed roller bearing 4, and the crossed roller bearing is a bearing with a compact structure, wherein rollers are orthogonally arranged between an inner ring and an outer ring. The rolling surfaces are in line contact, so that the elastic deflection caused by bearing load is extremely small, the rollers in the crossed roller bearing are crossed with each other and arranged in a right-angle mode, the axial load and the radial load can be simultaneously borne at multiple points, and the crossed roller bearing has the advantages of high rigidity, high precision, impact resistance and installation space saving. The tooth surface part is in tooth engagement with the two transmission wheels.
The inner gear ring gland is coaxially and fixedly installed outside one end, far away from the input wheel, of the inner gear ring through a screw, and mainly functions as follows: axially installing and limiting the outer ring of the crossed roller bearing; the output connection disc is coaxially and fixedly connected with one end, far away from the input wheel, of the output disc through a screw, and the output connection disc mainly functions as follows: and axially installing and limiting the inner ring of the crossed roller bearing, and axially limiting the outer ring of the deep groove ball bearing. The output land is an output end part of the precision reduction gear, and outputs power to an actuator of an industrial robot.
The transmission principle of the lightweight hollow precise speed reducer is as follows:
the input wheel is connected with an external power source (such as a motor connecting gear 15), the input wheel is a primary transmission part, the subsequent part is a secondary transmission part, the power is transmitted to the crank shaft, due to the eccentric design characteristic of the crank shaft, the two transmission wheels move, when the two transmission wheels move, the two transmission wheels are in meshing contact with the inner gear ring, further, the small tooth difference deceleration motion is generated, the small tooth difference deceleration motion is transmitted to the output disc through the needle cylinder, and the output disc finally outputs the power to the output connecting disc, so that the precise deceleration motion is realized.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit of the invention and the scope of the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (3)
1. The utility model provides a precision decelerator of lightweight cavity which characterized in that: comprises an input wheel, a crank shaft, a first driving wheel, a second driving wheel, an inner gear ring, an output disc, a rigid disc, a needle cylinder and a needle sleeve;
the input wheel, the first transmission wheel, the second transmission wheel and the inner gear ring are all involute gears; the crank shaft is a hollow shaft; two eccentric outer circle parts which are arranged in parallel are arranged in the middle of the crank shaft, the eccentric distances of the two eccentric outer circle parts are equal, and the two eccentric outer circle parts are eccentrically arranged by 180 degrees; a plurality of transmission holes with equal number are uniformly distributed on the first transmission wheel and the second transmission wheel along the circumferential direction;
the input wheel is coaxially and fixedly connected with one end of the crankshaft; the output disc and the rigid disc are coaxially sleeved on the periphery of the crank shaft and are respectively positioned on two sides of two eccentric circular parts of the crank shaft, the output disc is positioned on one side far away from the input wheel, the rigid disc is positioned on one side close to the input wheel, and the output disc and the rigid disc are fixedly connected through a plurality of transmission screws along the circumferential direction; the rigid disc is coaxially and rotationally matched with one end of the crankshaft through rolling bodies uniformly distributed on the circumference, and the output disc is coaxially and rotationally matched with the other end of the crankshaft through a deep groove ball bearing; the first driving wheel and the second driving wheel are respectively sleeved on the peripheries of two eccentric circles of the crankshaft and are respectively in running fit with corresponding eccentric circle parts through rolling bodies uniformly distributed on the circumference; the needle columns and the needle sleeves are multiple and equal in number, the needle columns are of hollow column structures, the needle columns are respectively sleeved outside the transmission screws in a clearance fit manner, the needle sleeves are respectively sleeved outside the needle columns in a clearance fit manner and penetrate through corresponding transmission holes in the two transmission wheels one by one, and one ends, far away from the input shaft, of the needle columns are fixedly connected with the output disc; the inner gear ring is a fixed part which is borne outside the whole speed reducer, is sleeved on the periphery of the output disc and the two driving wheels, is in contact fit with the outer circular surface of the output disc through a smooth surface part through a crossed roller bearing, and is in tooth engagement with the two driving wheels through a tooth surface part.
2. The lightweight hollow precision deceleration device according to claim 1, characterized in that: the device also comprises an output connecting disc and an inner gear ring gland; the inner gear ring gland is coaxially and fixedly installed outside one end, far away from the input wheel, of the inner gear ring through a screw, and a limiting table top for limiting the outer ring of the crossed roller bearing is arranged on the inner end face of the inner gear ring gland; the output connecting disc is coaxially and fixedly connected with one end, far away from the input wheel, of the output disc through screws, a limiting table top for limiting the inner ring of the crossed roller bearing is arranged on the inner end face of the output connecting disc, and a limiting table top for limiting the outer ring of the deep groove ball bearing is arranged on the inner end face of the output connecting disc.
3. The lightweight hollow precision reduction gear according to claim 1, characterized in that: one end of the crank shaft adopts a thin shaft head structure to form an installation table board, and the input wheel is matched with the thin shaft head in an interference fit mode and is axially installed and limited through the installation table board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688917.XA CN115163756A (en) | 2022-06-17 | 2022-06-17 | Lightweight hollow precision speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688917.XA CN115163756A (en) | 2022-06-17 | 2022-06-17 | Lightweight hollow precision speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115163756A true CN115163756A (en) | 2022-10-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210688917.XA Pending CN115163756A (en) | 2022-06-17 | 2022-06-17 | Lightweight hollow precision speed reducer |
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| Country | Link |
|---|---|
| CN (1) | CN115163756A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0300108A2 (en) * | 1987-07-18 | 1989-01-25 | Hunan Research Inst. Of Machinery | Planetary transmission mechanism and device of involute gears with complex minor teeth differences |
| DE19515146A1 (en) * | 1995-04-25 | 1996-04-18 | Lothar Strach | Gear=drive with internally and externally-toothed gears |
| CN102022490A (en) * | 2009-09-22 | 2011-04-20 | 李睿 | Stepless speed changer with no-pressure friction transmission |
| CN102797797A (en) * | 2011-05-27 | 2012-11-28 | 吴小杰 | Three-ring decelerator with high bearing capacity |
| JP2013061013A (en) * | 2011-09-13 | 2013-04-04 | Jtekt Corp | Gear device |
| JP2013117284A (en) * | 2011-12-05 | 2013-06-13 | Jtekt Corp | Speed reduction mechanism, and motor torque transmission device including the same |
| CN106032835A (en) * | 2015-03-12 | 2016-10-19 | 哈尔滨理工大学 | Micro-miniature decelerator for aviation |
| JP2019056478A (en) * | 2017-09-22 | 2019-04-11 | 株式会社ニッセイ | Differential reduction gear |
| CN209587058U (en) * | 2019-01-28 | 2019-11-05 | 湖北斯微特传动有限公司 | Retarder with high-adaptability input mechanism |
-
2022
- 2022-06-17 CN CN202210688917.XA patent/CN115163756A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0300108A2 (en) * | 1987-07-18 | 1989-01-25 | Hunan Research Inst. Of Machinery | Planetary transmission mechanism and device of involute gears with complex minor teeth differences |
| DE19515146A1 (en) * | 1995-04-25 | 1996-04-18 | Lothar Strach | Gear=drive with internally and externally-toothed gears |
| CN102022490A (en) * | 2009-09-22 | 2011-04-20 | 李睿 | Stepless speed changer with no-pressure friction transmission |
| CN102797797A (en) * | 2011-05-27 | 2012-11-28 | 吴小杰 | Three-ring decelerator with high bearing capacity |
| JP2013061013A (en) * | 2011-09-13 | 2013-04-04 | Jtekt Corp | Gear device |
| JP2013117284A (en) * | 2011-12-05 | 2013-06-13 | Jtekt Corp | Speed reduction mechanism, and motor torque transmission device including the same |
| CN106032835A (en) * | 2015-03-12 | 2016-10-19 | 哈尔滨理工大学 | Micro-miniature decelerator for aviation |
| JP2019056478A (en) * | 2017-09-22 | 2019-04-11 | 株式会社ニッセイ | Differential reduction gear |
| CN209587058U (en) * | 2019-01-28 | 2019-11-05 | 湖北斯微特传动有限公司 | Retarder with high-adaptability input mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 李充宁等: "摆线2K-V型传动曲柄轴承的载荷分析与选型设计", 《天津职业技术师范学院学报》 * |
| 王光建等: "新型双曲柄式可调侧隙精密行星传动装置参数设计与仿真", 《机械工程学报》 * |
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Application publication date: 20221011 |