CN1183523A - Cycloidal ball planet speed reducer - Google Patents
Cycloidal ball planet speed reducer Download PDFInfo
- Publication number
- CN1183523A CN1183523A CN 97123214 CN97123214A CN1183523A CN 1183523 A CN1183523 A CN 1183523A CN 97123214 CN97123214 CN 97123214 CN 97123214 A CN97123214 A CN 97123214A CN 1183523 A CN1183523 A CN 1183523A
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- China
- Prior art keywords
- steel ball
- cycloid
- gear
- speed reducer
- cycloidal
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Abstract
A speed reducer is composed of eccentric axle installed to input axle, balance block at both sides of eccentric axle, cycloidal planetary wheel outside the eccentric axle, steel ball wheel connected to input axle, and external gears with short cycloidal arc tooth face at both ends of cycloidal planetary wheel for engaging with steel ball's internal gear on end cover and steel ball wheel. It has high transmission precision and long service life because of big engaged curvature radius of gear set, no transmission reverse difference as use of axial pre-press nut to apply pre-pressure, and high drive ration. It can be used in precise machinery such as robot.
Description
The present invention relates to be used for other friction gearings of conveying rotary motion, is a kind of cycloidal ball planet speed reducer.
The transmission device that is applied to elaborate servo mechanisms such as robot, precision machine tool, Aero-Space has required high transmission accuracy, high transmission stiffness, and velocity ratio is big, transmission efficiency height, characteristics such as volume is little in light weight, and the transmission return difference is little, and the rotary inertia of rotating component is little.Cycloid pinwheel planetary gear transmission system in the existing driving mechanism, though have many advantages, processed complex and transmission accuracy are not high, the transmission return difference is big; It is big that worm drive has a velocity ratio, but transmission efficiency is low; Harmonic driving can satisfy above-mentioned requirements preferably, but harmonic driving relies on the distortion transferring power and the motion of flexbile gear, and flexbile gear material requirements height and life-span are shorter." differential speed reducer of gearless " patent (application number 86104457) of and for example Japanese Kamo Seko Co., Ltd. in China's application, adopting a pair of dish that is processed with the dish of hypocycloid raceway respectively and is processed with the epicycloid raceway is the engagement driving pair, two coil relatively and put into the transmission steel ball in raceway, it has utilized the advantage of cycloid transmission, and steel ball energy shuttling movement, but velocity ratio is less, raceway is semi-circle or two semi-circle, and have two kinds of raceways of curtate hypocycloid and curtate epicycloid, processing difficulties.
The objective of the invention is: adopt the cycloidal ball planet speed reducer of steel ball internal gear and cycloid external gear formation, can satisfy the transmission device of above-mentioned precision optical machinery requirement.
For achieving the above object, the technical solution used in the present invention is: it comprises the eccentric shaft on the one section input shaft that is contained in end cap and the casing, there is the eccentric shaft equilibrium block eccentric shaft both sides, eccentric shaft is equipped with the cycloid in planet wheel outward, the steel ball wheel that fuses with output shaft is arranged, between the big end of casing one end and output shaft pre-load nut is housed, cycloid in planet is taken turns an end and is processed with the steel ball internal gear that the external gear of cycloid circular-arc tooth surface and the steel ball on rubbing surface of end cover dense arrangement one circumference form and forms interior engagement driving, and the external gear that the cycloid in planet wheel the other end is processed with the cycloid circular-arc tooth surface forms interior engagement driving with the steel ball internal gear that steel ball is taken turns the steel ball composition on an end face dense arrangement one circumference.
The present invention compares with background technique, and the useful effect that is had is:
1. owing to adopted solid matter is formed on the circumference highi degree of accuracy to harden the standard steel ball, can obtain high-precision internal gear as the flank of tooth of internal gear, and surface abrasion resistance, and help keeping transmission accuracy;
2. external gear is the curtate cyclod circular-arc tooth surface, and to contact composite curve radius big with the gear of steel ball internal gear, and the sliding ratio of cycloidal gear is little, and to improving and keeping the precision and the transmission life-span of transmission very favourable, the flank of tooth is easy to process;
3. by pre-load nut transmission is applied certain precompression, guarantee multiple tooth engagement driving, improve transmission accuracy and transmission rigidity and eliminate the transmission return difference.
4. this structure is 2K-H (NN) positive sign mechanism driving type, gear range 100～5000.
Therefore, the present invention can promote the use of in the demanding transmission devices of precision optical machinery such as robot, precision machine tool, Aero-Space.
Description of drawings:
Fig. 1, structural representation of the present invention;
Fig. 2, steel ball inner gear structure schematic representation;
Fig. 3, be processed with the external gear structural representation of cycloid circular-arc tooth surface.
Below in conjunction with accompanying drawing, provide details of the present invention by description to embodiment.
Cycloidal ball planet speed reducer as shown in Figure 1, it comprises the eccentric shaft 23 that is contained on the interior one section input shaft 1 of end cap 2 and casing 13, there is eccentric shaft equilibrium block 17,24 eccentric shaft 23 both sides, the eccentric shaft 23 outer cycloid in planet wheels 7 that are equipped with, the steel ball wheel 25 that fuses with output shaft 16 is arranged, in steel ball wheel 25 bearings 11 that are bearing in casing 13 holes.Input shaft 1 is bearing in the bearing 3 of end cap 2 and steel ball and takes turns in the bearing 10 in 25 holes, and the eccentric shaft 23 on the input shaft 1 is bearing in cycloid in planet and takes turns in the bearing 20 in 7 holes.Between the big end of casing 13 1 ends and output shaft 16 pre-load nut 14 is housed, takes turns 25 pairs of transmissions by bearing 12, the steel ball of output shaft 16 and apply certain pretightening force, guarantee multiple tooth engagement driving.As shown in Figure 1 and Figure 2, cycloid in planet is taken turns 7 one ends and is processed with the steel ball internal gear that the external gear of cycloid circular-arc tooth surface 6 and the steel ball on end cap 2 inner side surface dense arrangement one circumference 18 form and forms interior engagement driving, steel ball 18 usefulness annular pressing plates 19 are pushed down, and are fixing with screw 5; Cycloid in planet is taken turns 7 the other ends and is processed with the external gear of cycloid circular-arc tooth surface 8 and steel ball and takes turns the steel ball internal gear that the steel ball 22 on 25 1 end face dense arrangement, one circumference forms and form interior engagement driving, and steel ball 22 usefulness annular pressing plates 21 are pushed down, and fix with screw 9.End cap 2 is fixing with casing 13 usefulness screws 4, and 15 for being contained in the seal ring on pre-load nut 14 endoporus and the output shaft 16.
It is that the standard steel ball dense arrangement of d is on the standard pitch circle circumference of D at diameter that the gear of steel ball internal gear adopts diameter, and the pass of the number Z of steel ball and steel ball gear standard pitch diameter D is D=d/Sin (π/Z).Cycloid circular- arc tooth surface 6,8 is the curtate cyclod circular-arc tooth surface.The few tooth of the number of teeth of corresponding two the steel ball internal gears of the gear ratio of two cycloid external gears.
Cycloid Steel Ball Planetary Transmission principle and cycloid pinwheel planetary gear transmission system principle are similar, just because steel ball is a spheroid, in different cross section perpendicular to axis, the steel ball cross section is a circle that becomes diameter, according to equidistant conjugate curved surface principle, in each cross section, steel ball gear and cycloid wheel all meet the gear engagement fundamental theorem.As Fig. 1, shown in Figure 3, when input shaft 1 is done rotation motion, the eccentric shaft 23 that links to each other with input shaft 1 turns round synchronously, make cycloid in planet wheel 7 do planetary motion by eccentric shaft bearing 20, cycloid in planet is taken turns 7 both ends of the surface curtate cyclod circular- arc tooth surface 6,8, the left side is processed with the external gear of curtate cyclod circular-arc tooth surface 6 and the steel ball internal gear of steel ball 18 compositions forms interior engagement driving, the right side is processed with the external gear of curtate cyclod circular-arc tooth surface 8 and the steel ball internal gear of steel ball 22 compositions forms interior engagement driving, thereby by output shaft 16 outputs, its velocity ratio formula is identical with the 2K-H planetary mechanism with the rotation motion after the speed change.
If steel ball 18 numbers of teeth of steel ball internal gear are Z
A Steel ball 22 numbers of teeth of steel ball external gear are Z
BThe velocity ratio i of mechanism is input ω
1/ output ω
2
i＝ω
1/ω
2＝Z
B(Z
A-1)/Z
B(Z
A-1)-Z
A(Z
B-1)]
Claims (4)
1. cycloidal ball planet speed reducer, it is characterized in that: it comprises the eccentric shaft [23] on the one section input shaft [1] that is contained in end cap [2] and the casing [13], there is eccentric shaft equilibrium block [17] eccentric shaft [23] both sides, [24], the outer cycloid in planet wheel [7] that is equipped with of eccentric shaft [23], the steel ball wheel [25] that fuses with output shaft [16] is arranged, between the big end of casing [13] one ends and output shaft [16] pre-load nut [14] is housed, cycloid in planet wheel [7] one ends are processed with the external gear of cycloid circular-arc tooth surface [6] and the steel ball internal gear of the composition of the steel ball [18] on end cap [2] inner side surface dense arrangement one circumference forms interior engagement driving, and cycloid in planet wheel [7] the other end is processed with the external gear of cycloid circular-arc tooth surface [8] and the steel ball internal gear of steel ball [22] composition on steel ball wheel [25] one end face dense arrangement one circumference forms interior engagement driving.
2. cycloidal ball planet speed reducer according to claim 1, it is characterized in that: it is that the standard steel ball dense arrangement of d is on the standard pitch circle circumference of D at diameter that the gear of steel ball internal gear adopts diameter, and the pass of the number Z of steel ball and steel ball gear standard pitch diameter D is D=d/Sin (π/Z).
3. cycloidal ball planet speed reducer according to claim 1 is characterized in that: cycloid circular-arc tooth surface [6], [8] are the curtate cyclod circular-arc tooth surface.
4. cycloidal ball planet speed reducer according to claim 1 is characterized in that: the few tooth of the number of teeth of the gear ratio steel ball internal gear of cycloid external gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN97123214A CN1060556C (en) | 1997-11-21 | 1997-11-21 | Cycloidal ball planet speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN97123214A CN1060556C (en) | 1997-11-21 | 1997-11-21 | Cycloidal ball planet speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1183523A true CN1183523A (en) | 1998-06-03 |
| CN1060556C CN1060556C (en) | 2001-01-10 |
Family
ID=5177002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97123214A Expired - Fee Related CN1060556C (en) | 1997-11-21 | 1997-11-21 | Cycloidal ball planet speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1060556C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883693A (en) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | Double-stage rigid tooth surface cycloid steel ball planetary gear reducer |
| CN105508542A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Return-difference-free two-stage cycloidal cone gear speed reducer |
| CN105508531A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Two-stage-series cycloidal steel ball speed reducer |
| CN106678341A (en) * | 2017-02-17 | 2017-05-17 | 黄溧震 | Miniature reducer |
| CN107701684A (en) * | 2016-08-08 | 2018-02-16 | 项惠仲 | Compressional wave reductor |
| CN113007285A (en) * | 2021-02-25 | 2021-06-22 | 成都跟驰科技有限公司 | Differential gear transmission mechanism |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2057716U (en) * | 1989-05-23 | 1990-05-30 | 林甍 | Cycloid planetary speed reducer |
| CN2089995U (en) * | 1990-01-18 | 1991-12-04 | 东北工学院 | Rolling friction cycloidal planetary reducing device |
-
1997
- 1997-11-21 CN CN97123214A patent/CN1060556C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883693A (en) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | Double-stage rigid tooth surface cycloid steel ball planetary gear reducer |
| CN105508542A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Return-difference-free two-stage cycloidal cone gear speed reducer |
| CN105508531A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Two-stage-series cycloidal steel ball speed reducer |
| CN107701684A (en) * | 2016-08-08 | 2018-02-16 | 项惠仲 | Compressional wave reductor |
| CN106678341A (en) * | 2017-02-17 | 2017-05-17 | 黄溧震 | Miniature reducer |
| CN106678341B (en) * | 2017-02-17 | 2023-10-20 | 黄溧震 | Miniature speed reducer |
| CN113007285A (en) * | 2021-02-25 | 2021-06-22 | 成都跟驰科技有限公司 | Differential gear transmission mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1060556C (en) | 2001-01-10 |
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