CN117307685A - High-reduction-ratio miniature speed reducer - Google Patents

High-reduction-ratio miniature speed reducer Download PDF

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Publication number
CN117307685A
CN117307685A CN202311343011.5A CN202311343011A CN117307685A CN 117307685 A CN117307685 A CN 117307685A CN 202311343011 A CN202311343011 A CN 202311343011A CN 117307685 A CN117307685 A CN 117307685A
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CN
China
Prior art keywords
gear
disc
speed reducer
input
shell
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.)
Pending
Application number
CN202311343011.5A
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Chinese (zh)
Inventor
张靖
黄襄茂
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Zhejiang Huandong Robot Joint Technology Co ltd
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Zhejiang Huandong Robot Joint Technology Co ltd
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Application filed by Zhejiang Huandong Robot Joint Technology Co ltd filed Critical Zhejiang Huandong Robot Joint Technology Co ltd
Priority to CN202311343011.5A priority Critical patent/CN117307685A/en
Publication of CN117307685A publication Critical patent/CN117307685A/en
Pending legal-status Critical Current

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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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
    • 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
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • 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

Abstract

The invention discloses a high reduction ratio miniature speed reducer, and belongs to the technical field of speed reducers. The composition of the invention comprises: the device comprises a shell, an annular gear, a fixed disc, an output disc, a cycloid gear, a limiting retainer ring, an input gear, a primary planetary disc and a secondary input crankshaft, wherein the shell is provided with uniformly distributed arc grooves, rolling pins are arranged in the arc grooves, and the cycloid gear meshed with the rolling pins is hinged on the secondary input crankshaft through a rolling pin bearing; the second-stage input crankshaft is positioned at the center of the speed reducer, the first-stage planetary disc is connected with the second-stage input crankshaft through interference fit, and the planetary gears are respectively meshed with the input gears and the inner gear ring. The cycloidal gear has reasonable structure, high contact ratio, impact resistance and long service life, is fixedly integrated with a plurality of cylindrical bosses, reduces the design size of the cycloidal gear on one hand, increases the strength of parts on the other hand, and has compact whole device.

Description

High-reduction-ratio miniature speed reducer
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to a high reduction ratio miniature speed reducer.
Background
The speed reducer is used as a core component of industrial robots, humanoid robots and collaborative robots, and has wide application fields. The main products of the speed reducer are classified into RV speed reducer, harmonic speed reducer, planetary speed reducer and the like. In some joints, a high speed ratio, high stiffness and compact miniature speed reducer is required.
The RV speed reducer has large torsional rigidity and fatigue strength and long service life, but the speed reducer has large volume and large weight; the harmonic speed reducer utilizes the controllable elastic deformation of the flexible element to transmit motion and power, so that the small-volume large-speed-ratio function is realized, but the gear transmission based on the flexible deformation has the advantages of low fatigue life and low torsional rigidity; the planetary reducer is driven by a sun gear, the planetary gear is meshed with the sun gear and the outer gear simultaneously, rotates around the sun gear while revolving, and finally realizes low-speed output through a planet carrier, so that the rigidity, impact resistance and precision of the planetary reducer are inferior to those of the RV reducer.
Designing a speed reducer meeting the use requirement under a given space and a high reduction ratio, wherein if the RV speed reducer or the single-stage cycloidal gear speed reducer is adopted, the cycloidal gear can have tooth profile curvature interference phenomenon; if a harmonic speed reducer is adopted, the phenomena of low service life and rigidity are caused; if the planetary reducer is adopted, the rigidity is between the RV reducer and the harmonic reducer, the overload resistance is lower than that of the RV reducer, the back clearance precision is slightly low, and the control is not easy. All three types of speed reducers can not simultaneously meet the requirements of small space, low abrasion, light weight and high reduction ratio.
Disclosure of Invention
In order to solve the problems, the invention adopts the following technical scheme.
The invention provides a high-reduction-ratio miniature speed reducing device, which comprises a shell, an annular gear, a plurality of planetary gears, a primary planetary disc, a secondary input crankshaft, an output disc, cycloidal gears and input gears, wherein the annular gear is arranged on the shell;
the shell is connected with the annular gear through interference fit, the shell, the input gear and the annular gear are concentric, and all the planetary gears are meshed with the input gear and the annular gear respectively;
the first-stage planetary disc is provided with bosses which are uniformly distributed in the circumferential direction, and the planetary gear is sleeved on the bosses of the first-stage planetary disc through needle bearings; the first-stage planetary disc is connected with one end of the second-stage input crankshaft through interference fit, and the cycloid gear is sleeved on an eccentric section in the middle of the second-stage input crankshaft through a needle bearing; the inner wall of the shell is provided with evenly distributed arc grooves, rolling pins are embedded in the arc grooves, and the rolling pins are meshed with the cycloid gear; the cycloid gear is provided with cylindrical bosses which are uniformly distributed, the output disc is provided with counter bores corresponding to the cylindrical bosses, and the cylindrical bosses of the cycloid gear are arranged in the corresponding counter bores;
when the shell is fixed, power is input by the input gear, the planetary gear transmits the power to the primary planetary disc after receiving the acting force of the inner teeth of the input gear and the inner gear ring, the primary planetary disc transmits the power to the secondary input crankshaft, the cycloid gear transmits the rotation vector to the output disc through the cylindrical boss of the cycloid gear under the action of the needle roller and the secondary input crankshaft, and the output disc outputs torque.
As a preferred scheme of the invention, the device further comprises a limiting check ring, the shell is connected with the limiting check ring through interference fit, the length of the needle roller is larger than the width of the circular arc groove of the shell, holes with the same number as the needle roller are formed in the annular gear and the limiting check ring, two ends of the needle roller are respectively embedded into the holes of the annular gear and the limiting check ring, the needle roller is in clearance fit with the holes of the annular gear and the limiting check ring in the radial direction and the axial direction, and the needle roller is limited in the circular arc groove by the annular gear and the limiting check ring and can rotate in the circular arc groove.
As a preferable scheme of the invention, the number of the arc grooves on the shell is Z p The number of the needle rollers is Z p The tooth number of the cycloid gear is Z c ，Z p ＝Z c +1, the number of teeth of the inner gear ring is Z 1 Number of teeth Z of input gear 2 When the shell is fixed, power is input by the input gear and output by the output disc, the speed ratio of the speed reducing device is Z c ×(1+Z 1 /Z 2 )。
As the preferable scheme of the invention, the device also comprises a steel sleeve, and the cylindrical boss of the cycloidal gear is arranged in the corresponding counter bore, specifically: the cycloid gear cylindrical boss is provided with a needle bearing, the needle bearing is externally provided with a steel sleeve, the diameter of a distribution circle of the cylindrical boss is equal to that of a counter bore of the output disc, the steel sleeve is arranged in the counter bore corresponding to the cylindrical boss, and the diameter of the counter bore on the output disc is equal to the outer diameter of the steel sleeve plus two times of the eccentric value e of the eccentric section of the secondary input crankshaft.
As the preferable scheme of the invention, the bottom surface of the counter bore of the needle bearing output disc is provided with a groove for installing the steel ball, and the steel ball is arranged between the end surface of the cylindrical boss of the cycloid gear and the groove in the counter bore of the output disc; the steel ball is made of bearing steel, the depth of the steel ball embedded into the groove is half of the diameter of the steel ball, and the steel ball is used for reducing friction between the end face of the cylindrical boss of the cycloid gear and a counter bore of the output disc.
As a preferable scheme of the invention, the output disc is sleeved at the other end of the secondary input crankshaft opposite to the primary planetary disc through a needle bearing, so that the output disc is coaxial with the secondary input crankshaft.
As a preferable scheme of the invention, a gasket is fixed on the cylindrical boss of the primary planetary disc through a screw, and the needle bearing at the planetary gear and the planetary gear are limited between the gasket and the end face of the primary planetary disc.
As the preferable scheme of the invention, the secondary input crankshaft is provided with only one section of eccentric section, the eccentric quantity e is equal to the eccentric quantity of the cycloid gear, a counterweight structure is arranged beside the eccentric section, the installation direction of the counterweight structure and the eccentric direction of the eccentric section form 180 degrees, the stability of the speed reducer is improved, and two ends of the secondary input crankshaft are concentric shafts.
As a preferable scheme of the invention, the device also comprises a fixed disc, and a first sealing ring is arranged between the fixed disc and the input gear; a second sealing ring is arranged between the shell and the output disc; the fixed disk is fixedly matched with the annular gear, a grease injection hole and a grease discharge hole are formed in the fixed disk, a sealing screw is arranged on the grease injection hole, and sealing rubber is arranged on the grease discharge hole; sealing rubber and sealing screw are used for injection and discharge of grease, and a fixing plate is used for preventing seepage of grease.
As a preferable scheme of the invention, the shell, the annular gear and the fixed disk are externally provided with uniformly distributed clamping grooves with consistent phases, so that the miniature speed reducer can be directly embedded in a part suitable for the miniature speed reducer, and the output disk is provided with threaded holes, so that different output disk interfaces can be replaced according to different load demands.
Compared with the prior art, the invention has the following advantages:
the cycloidal gear is reasonable in structure, high in contact ratio, impact-resistant, long in tooth surface life and capable of being fixedly integrated with a plurality of cylindrical bosses, so that the design size of the cycloidal gear is reduced, the strength of parts is increased, and the whole device is compact; meanwhile, only one cycloidal gear is arranged, so that interference of two cycloidal gears with cylindrical bosses is avoided, and the size of the device is reduced;
the crankshaft of the existing RV speed reducer passes through the bearing holes of the cycloid gear, a plurality of bearing holes are formed in the circumferential direction of the cycloid gear, so that the strength and rigidity of the cycloid gear are weakened to a certain extent;
the steel sleeve is hinged on the boss with the needle roller bearing, is contacted with the slotted hole of the output disc, rolls, and reduces the abrasion of the boss wall; a steel ball is arranged between the end face of the boss and the sinking groove of the output disc, so that end face friction is reduced;
the input crankshaft is arranged in the secondary transmission, and the rotation speed of the secondary input crankshaft is reduced by (1+Z) compared with the rotation speed of the input end 1 /Z 2 ) The influence of inertia generated by the rotating speed on the speed reducer is reduced; the secondary input crankshaft is provided with only one section of eccentric section, the eccentric quantity is equal to the forming parameter eccentric quantity of the cycloid gear, a counterweight structure is arranged beside the eccentric section, the direction of the counterweight structure and the eccentric direction of the eccentric section form 180 degrees, and in the rotating process, inertial force and vibration which are opposite to the cycloid gear are generated, so that the stability of the speed reducer is improved;
the number of the arc grooves uniformly distributed on the shell is Zp, the number of the needle rollers is Zp, and the cycloid teeth are formedThe numbers of teeth of the gears are Zc, zp=Zc+1, and the numbers of teeth of the inner gear ring are Z 1 Number of teeth Z of input gear 2 When the shell is fixed, the power is input by the input gear with the internal spline and output by the output disc, and the speed ratio of the speed reduction device is Zc× (1+Z 1 /Z 2 ) Forming a high reduction ratio output; for the existing RV reducer, when the shell is fixed and the output disc outputs, the number of the rolling pins is Z d Planetary gear tooth number Z a Input gear number Z b The reduction ratio of the RV speed reducer is Z a /Z b ×Z d +1, under the condition that the occupied space of the device is consistent, the speed ratio is larger than that of the existing RV reducer;
the outside of the speed reducing device is provided with a clamping groove, the speed reducing device can be directly embedded in a part which is suitable for the speed reducing device, the output disc is hinged on the input crankshaft through a needle bearing, the output disc is provided with a threaded hole, and different output disc interfaces can be replaced according to different load demands; meanwhile, the speed reducer is provided with seals at a plurality of positions, and can be directly used for field installation after grease is injected.
Drawings
FIG. 1 is a front view of a schematic diagram of an embodiment of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a schematic view of a mounting plate in accordance with an embodiment of the present invention;
fig. 5 is a schematic view of an inner gear ring in the embodiment of the present invention;
FIG. 6 is a primary planetary plate in a schematic diagram of an embodiment of the present invention;
FIG. 7 is a schematic illustration of a two-stage input crankshaft in accordance with an embodiment of the present invention;
FIG. 8 is a cycloidal gear in a schematic view of an embodiment of the present invention;
FIG. 9 is an output tray in a schematic diagram of an embodiment of the present invention;
FIG. 10 is a schematic illustration of a retaining ring in an embodiment of the present invention;
in the figure, 1-sealing rubber; 2-a fixed disk; 3-a sealing ring; 4-input gear; 5-primary planetary plate; 6-planetary gears; 7-a first needle bearing; 8-sealing screws; 9-hexagon socket head cap screw; 10-a gasket; 11-an inner gear ring; 12-rolling needles; 13-limiting check rings; 14-sealing rings; 15-steel sleeve; 16-a second needle bearing; 17-cycloidal gears; 18-a third needle bearing; 19-a secondary input crankshaft; 20-fourth needle bearings; 21-an output tray; 22-steel balls; 23-a housing.
Detailed Description
The invention is further illustrated and described below in connection with specific embodiments. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
As shown in fig. 1 to 10, the speed reducing device of the present invention comprises a housing 23, a fixed disk 2, an output disk 21, an inner gear ring 11, a planetary gear 6, a primary planetary disk 5, a secondary input crankshaft 19, a limit retainer ring 13, a cycloidal gear 17, a seal screw 8, a seal rubber 1, and the like. The output disc 21 is hinged to the secondary input crankshaft 19 by a fourth needle bearing 20, and is provided with a threaded hole for connection of external parts. As shown in fig. 1, a front view of the present invention, i.e., a schematic view of the outer surfaces of the output disc 21 and the housing 23.
In this embodiment, the axial length of the reduction gear is 55mm and the diameter of the outer circumference of the housing is 83mm. The shell 23, the annular gear 11 and the fixed disc 5 are annular parts with clamping grooves, the shell 23 is connected with the annular gear 11 through interference fit, and the fixed disc 2 is in interference fit with the annular gear 11. The primary planetary disc 5 is connected with the secondary input crankshaft 19 through interference fit, the primary planetary disc 5 is provided with three bosses which are uniformly distributed in the circumferential direction, the cylindrical bosses are provided with first needle bearings 7, and the planetary gears 6 with the number of teeth of 24 are hinged on the bosses of the primary planetary disc 5 through the first needle bearings 7 and respectively connected with the internal tooth number Z 1 Ring gear 11 of 96 and tooth number Z 2 45 of the input gear 4 is meshed, the planetary gear 6 and the first needle roller bearing 7 are limited between the gasket 10 and the end face of the primary planetary disc 5 through the connection of the hexagon socket head cap screw 9 and the gasket 10 with the boss on the primary planetary disc 5, the inner gear ring 11 and the limit retainer ring 13 are respectively provided with holes with the same number as the needle rollers 12, and the number Z of the needle rollers 12 P 52, the needle roller 12 is in clearance fit with the hole in the radial and axial directions, and the shell 23The cycloidal gear is respectively connected with the annular gear 11 and the limiting retainer ring 13 through interference fit, a shell 23 is provided with arc grooves which are uniformly distributed, a needle roller 12 is arranged in each arc groove, the needle roller 12 spans between the annular gear 11 and the limiting retainer ring 13, the length of the needle roller is larger than the width of each arc groove of the shell, a cycloidal gear 17 meshed with the needle roller 12 is hinged to a secondary input crankshaft 19 through a third needle bearing 18, the tooth number Zc of the cycloidal gear is 51, 6 uniformly distributed cylindrical bosses are arranged on the cycloidal gear 17, a second needle bearing 16 is arranged on each cylindrical boss, a steel sleeve 15 is arranged outside each second needle bearing 16, the diameter of a distributed circle of each cylindrical boss is equal to the diameter of a distributed circle of a counter bore of an output disc 21, the steel sleeve 15 is arranged on an output disc 21 corresponding to the output disc 21, the diameter of the counter bore of the output disc 21 is equal to the diameter of the outer diameter of the steel sleeve 15 plus twice the eccentric amount e, the secondary input crankshaft 19 is only one eccentric section, the eccentric amount e is equal to the forming parameter eccentric amount of the cycloidal gear, a balancing weight is fixedly integrated with the secondary input crankshaft, the balancing weight is opposite to the eccentric section, the position of the balancing weight is 180 degrees of the eccentric section and the eccentric section is opposite to the eccentric section, the eccentric section is 180 is opposite to the left end of the two end face of the input shaft, and the counter shaft is provided with the right end face of the gear 21, and is provided with a steel balls and is corresponding to the right end face of the input disc 21, and is provided with a driving groove 21, and is corresponding to the driving groove, and is corresponding to the driving disc 21, and is provided with a gear, and has a driving groove, and is opposite groove and is and has a driving gear and is and a driving gear.
The fixed disk 2 is provided with a grease injection hole and a grease discharge hole, the grease injection hole is provided with a sealing screw 8, the grease discharge hole is provided with sealing rubber 1, a sealing ring 14 is arranged between the shell 23 and the output disk 21, and a sealing ring 3 is arranged between the fixed disk 2 and the input gear 4. When the grease is injected, the sealing rubber (1) and the sealing screw (8) are taken out, the grease is injected into the threaded hole where the sealing screw (8) is positioned, and the hole where the sealing rubber (1) is positioned is used for exhausting air, so that the internal pressure is prevented from rising. After the injection, the sealing rubber (1) and the sealing screw (8) are installed at the corresponding positions.
In the actual use process of the speed reducing device of the embodiment, when the shell 23 is fixed, if power is input clockwise from the input gear 4 with splines, the primary planetary disc 5 outputs clockwise to drive the secondary input crankshaft 19 to input clockwise, the cycloid gear 17 is hinged on the secondary input crankshaft 19 through the third needle bearing 18 and meshed with the needle roller 12 placed on the circular arc groove of the shell 23, and the cycloid gear 17 forms revolution under the action of the eccentric shaft section of the crankshaft and forms moment opposite to the revolution direction of the cycloid gear 17 on the needle roller 12 in the circular arc groove of the shell 23, so that the rotation motion of the output disc 21 is caused and anticlockwise rotation is realized.
Number Z of evenly distributed circular arc grooves on the housing 23 p =52, 12 numbers Z of needle roller p Number of teeth Z of cycloid gear 17 =52 c Number of teeth Z of ring gear 11 =51 1 Number of teeth Z of input gear =96 2 When the shell 23 is fixed, the power is input by the input gear 4 with internal spline, the output disc 21 outputs, the speed ratio of the speed reducer is Z c ×(1+Z 1/ Z 2 )＝51×(1+96/45)＝159.8。
The invention has reasonable structure, adopts the cycloid gear, has high overlap ratio, impact resistance and long service life of tooth surfaces, the cycloid gear and a plurality of cylindrical bosses are fixedly integrated, on one hand, the design size of the cycloid gear is reduced, on the other hand, the strength of parts is increased, compared with the RV structure, the tapered roller bearing is omitted, the whole device is compact, a steel sleeve is hinged on the boss through the needle bearing and contacts with a countersink hole of an output disc, rolling exists, the abrasion of the wall of the boss is reduced, a steel ball is arranged between the end surface of the boss and the countersink hole of the output disc, the friction of the end surface is reduced, an input crankshaft is arranged in secondary transmission, the influence of inertia on a speed reducing device due to rotation speed is reduced, on the secondary input crankshaft, only one section of eccentric section is provided, the eccentric quantity is equal to the eccentric quantity of forming parameters of the cycloid gear, a counterweight structure is arranged beside the eccentric section, the direction is 180 DEG with the eccentric direction of the eccentric section, the inertial force and vibration which is opposite to the cycloid gear value are generated in the rotation process, the stability of the speed reducing device is improved, the number Z of circular arc grooves uniformly distributed on a shell is reduced p =52, number of needle rollers Z p =52, tooth number of cycloid gear is equal Z c ＝51，Z p ＝Z c +1, number of teeth Z of ring gear 1 Number of teeth Z of input gear =96 2 When the shell is fixed, the power is controlled by the beltThe input gear of the spline is input, the output disc is output, and the speed ratio of the speed reducer is Z c ×(1+Z 1 /Z 2 ) The speed reducer is externally provided with a clamping groove, can be directly embedded in a part matched with the speed reducer, the output disc is hinged on an input crankshaft through a fourth needle bearing 20, a threaded hole is formed in the output disc, different output disc interfaces can be replaced according to different load demands, and meanwhile, the speed reducer is provided with seals at a plurality of positions and can be directly used for field installation after grease is injected.
If the RV structure is adopted, the gear ring is fixed, the input gear is input, the fixed disk is output, the number of teeth of the input gear is 45, the number of teeth of the planetary gear is 24, the number of teeth of the cycloid gear is 51, the number of needle teeth is 52, and the speed ratio of the speed reducer is 52×24/45+1=28.73. The radial dimension of the RV structure of this ratio is significantly greater than the radial dimension of the inventive device. And under the condition of the same device size, the cycloidal gear of the RV reducer has 39 teeth, 40 needle teeth and 22.33 reduction ratio, and the reduction ratio of the invention is 7.16 times of that of the RV reducer.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.

Claims (10)

1. The high-reduction-ratio miniature speed reducer is characterized by comprising a shell (23), an annular gear (11), a plurality of planetary gears (6), a primary planetary disc (5), a secondary input crankshaft (19), an output disc (21), cycloid gears (17) and an input gear (4);
the shell (23) is connected with the annular gear (11) through interference fit, the shell (23), the input gear (4) and the annular gear (11) are concentric, and all the planetary gears (6) are respectively meshed with the input gear (4) and the annular gear (11);
the primary planetary disc (5) is provided with bosses which are uniformly distributed in the circumferential direction, and the planetary gear (6) is sleeved on the bosses of the primary planetary disc (5) through needle bearings; the primary planetary disc (5) is connected with one end of the secondary input crankshaft (19) through interference fit, and the cycloid gear (17) is sleeved on an eccentric section in the middle of the secondary input crankshaft (19) through a needle bearing; the inner wall of the shell (23) is provided with evenly distributed arc grooves, rolling pins (12) are embedded in the arc grooves, and the rolling pins (12) are meshed with the cycloid gear (17); the cycloid gear (17) is provided with cylindrical bosses which are uniformly distributed, the output disc (21) is provided with counter bores corresponding to the cylindrical bosses, and the cylindrical bosses of the cycloid gear (17) are arranged in the corresponding counter bores;
when the shell (23) is fixed, power is input by the input gear (4), the planetary gear (6) transmits power to the primary planetary disc (5) after receiving the acting force of the internal teeth of the input gear (4) and the internal tooth ring (11), the primary planetary disc (5) transmits power to the secondary input crankshaft (19), the cycloid gear (17) transmits rotation vectors to the output disc (21) through the cylindrical boss of the cycloid gear (17) under the action of the needle roller (12) and the secondary input crankshaft (19), and the output disc (13) outputs torque.
2. The miniature speed reducer with high reduction ratio according to claim 1, further comprising a limit retainer ring (13), wherein the shell (23) is connected with the limit retainer ring (13) through interference fit, the length of the needle roller (12) is larger than the width of the circular arc groove of the shell (23), holes equal to the number of the needle rollers are formed in the annular gear (11) and the limit retainer ring (13), two ends of the needle roller (12) are respectively embedded into the holes of the annular gear (11) and the limit retainer ring (13), the needle rollers (12) are in clearance fit with the holes of the annular gear (11) and the limit retainer ring (13) in the radial direction and the axial direction, and the needle roller (12) is limited in the circular arc groove by the annular gear (11) and the limit retainer ring (13) and can rotate in the circular arc groove.
3. A high reduction ratio miniature speed reducer according to claim 1, characterized in that the number of arc grooves on the housing (23) is Z p The number of the rolling needles (12) is Z p The number of teeth of the cycloid gear (17) is Z c ，Z p ＝Z c +1, the number of teeth of the inner gear ring (11) is Z 1 The number of teeth Z of the input gear (4) 2 When the shell (23) is fixed, the power is input by the input gear (4) and output by the output disc (21), the speed ratio of the speed reducer is Z c ×(1+Z 1 /Z 2 )。
4. The miniature high reduction ratio speed reducer according to claim 1, further comprising a steel sleeve (15), wherein the cylindrical boss of the cycloidal gear (17) is mounted in a corresponding counter bore, specifically: the cycloid gear (17) is provided with a needle bearing, a steel sleeve (15) is arranged outside the needle bearing, the diameter of a distribution circle of the cylindrical boss is equal to that of a counter bore of the output disc (21), the steel sleeve (15) is arranged in the counter bore corresponding to the steel sleeve, and the diameter of the counter bore on the output disc (21) is equal to the outer diameter of the steel sleeve (15) plus two times of the eccentric value e of the eccentric section of the secondary input crankshaft (19).
5. The miniature speed reducer with high reduction ratio according to claim 1, characterized in that a groove for installing a steel ball is arranged on the bottom surface of a counter bore of the needle bearing output disc (21), and the steel ball is arranged between the end surface of a cylindrical boss of the cycloid gear (17) and the groove in the counter bore of the output disc (21); the steel ball is made of bearing steel, the depth of the steel ball embedded into the groove is half of the diameter of the steel ball, and the steel ball is used for reducing friction between the end face of the cylindrical boss of the cycloid gear (17) and a counter bore of the output disc (21).
6. A high reduction ratio miniature speed reducer according to claim 1, characterized in that the output disc (21) is sleeved on the other end of the secondary input crankshaft (19) opposite to the primary planetary disc (5) through a needle bearing, so that the output disc (21) is coaxial with the secondary input crankshaft (19).
7. The miniature speed reducer with high reduction ratio according to claim 1, characterized in that a gasket is fixed on a cylindrical boss of the primary planetary disc (5) through a screw, and a needle bearing at the planetary gear (6) and the planetary gear (6) are limited between the gasket (10) and the end face of the primary planetary disc (5).
8. The miniature speed reducer with high reduction ratio according to claim 1, characterized in that the secondary input crankshaft (19) has only one eccentric section, the eccentric value e is equal to the eccentric value of the cycloid gear, a counterweight structure is arranged beside the eccentric section, the installation direction of the counterweight structure is 180 degrees with the eccentric direction of the eccentric section, for improving the stability of the speed reducer, and two ends of the secondary input crankshaft (19) are concentric shafts.
9. The high reduction ratio miniature speed reducing device according to claim 1, further comprising a fixed disc (2), wherein a first sealing ring (3) is arranged between the fixed disc (2) and the input gear (4); a second sealing ring (14) is arranged between the shell (23) and the output disc (21); the fixed disc (2) is fixedly matched with the annular gear (11), a grease injection hole and a grease discharge hole are formed in the fixed disc (2), a sealing screw (8) is arranged on the grease injection hole, and sealing rubber (1) is arranged on the grease discharge hole; the sealing rubber (1) and the sealing screw (8) are used for injecting and discharging lubricating grease, and the fixed disc (2) is used for preventing the lubricating grease from exuding.
10. The miniature speed reducer with high reduction ratio according to claim 9, characterized in that the shell (23), the annular gear (11) and the fixed disk (2) are externally provided with uniformly distributed clamping grooves with consistent phases, so that the device can be directly embedded in a part suitable for the clamping grooves, and the output disk (21) is provided with threaded holes, so that different output disk interfaces can be replaced according to different load demands.
CN202311343011.5A 2023-10-17 2023-10-17 High-reduction-ratio miniature speed reducer Pending CN117307685A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311343011.5A CN117307685A (en) 2023-10-17 2023-10-17 High-reduction-ratio miniature speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311343011.5A CN117307685A (en) 2023-10-17 2023-10-17 High-reduction-ratio miniature speed reducer

Publications (1)

Publication Number Publication Date
CN117307685A true CN117307685A (en) 2023-12-29

Family

ID=89249759

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311343011.5A Pending CN117307685A (en) 2023-10-17 2023-10-17 High-reduction-ratio miniature speed reducer

Country Status (1)

Country Link
CN (1) CN117307685A (en)

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