CN202203345U - Compound precision cycloid decelerator - Google Patents

Compound precision cycloid decelerator Download PDF

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Publication number
CN202203345U
CN202203345U CN2011202596143U CN201120259614U CN202203345U CN 202203345 U CN202203345 U CN 202203345U CN 2011202596143 U CN2011202596143 U CN 2011202596143U CN 201120259614 U CN201120259614 U CN 201120259614U CN 202203345 U CN202203345 U CN 202203345U
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CN
China
Prior art keywords
cycloid
wheel
gear
pin
housing
Prior art date
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CN2011202596143U
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Chinese (zh)
Inventor
孔向东
叶胜康
董平
金良华
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浙江恒丰泰减速机制造有限公司
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Priority to CN2011202596143U priority Critical patent/CN202203345U/en
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Publication of CN202203345U publication Critical patent/CN202203345U/en

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Abstract

The utility model relates to a compound precision cycloid decelerator, comprising an eccentric shaft whose eccentric portion is connected to a cycloidal gear through a turning arm bearing. The cycloidal gear cooperates with a needle tooth pin fixed on a needle tooth housing. The eccentric shaft is provided with a plurality of eccentric positions in a stagger manner. The cycloidal gear outside of each eccentric position is divided into two groups: a reverse cycloidal gear and a forward cycloidal gear. The reverse and forward cycloidal gears are provided with different teeth and connection driving holes. The needle tooth housing is divided into a stationary needle tooth housing and an output needle tooth housing. The reverse cycloidal gear cooperates with a stationary needle tooth pin fixed on the stationary needle tooth housing. The forward cycloidal gear cooperates with a movable needle tooth pin fixed on the output needle tooth housing. The eccentric shaft is connected to a bull gear which is engaged with an input shaft gear. The compound precision cycloid decelerator is advantageous in that with the composite design of the first-class involute planetary gear transmission and the epicyclic gear train of the cycloidal needle gear, the cycloid decelerator has high precision, high efficiency, high rigidity, high bearing and long service lifetime; the cycloid decelerator is especially suitable to be used for heavy-duty industrial robots.

Description

Compound accurate cycloidal reducer
Technical field
The utility model relates to a kind of compound accurate cycloidal reducer.
Background technique
At present, the retarder of heavily loaded industrial machine philtrum generally uses Rotate Vector (being called for short RV) retarder and the Japanese Harmonic Drive high-performance harmonic speed reducer of the smart machine of Japanese Nabtesco Supreme Being people company.
Because the transmission of harmonic speed reducer is radial elastic distortion realization transformation of speed and transmission of power through the thin-walled flexible gear; Its bearing capacity and transmission stiffness are relatively low; Flexible gear also is prone to because of cyclic deformation fatigue ruption take place simultaneously; So in being mainly used in, underloaded precision transmission system, in fact be not suitable as the accurate gearing down of heavily loaded industrial robot.
The RV retarder (Rotate Vector Reducer) of the smart machine of Japan Supreme Being people company is composited by primary planet pinion transmission and the transmission of one-level cycloid.Characteristics on the structural design are: after power is imported by driver pinion; Drive the interlace cycloid wheel of the eccentric cloth of 180 degree position of three two of pivoted arm synchronous drive by three planetary pinions of circumferentially being uniformly distributed with, be meshed with the pin tooth output torque of generation of cycloid wheel is exported by the rotating speed output mechanism.The RV retarder has compact structure, velocity ratio is big, many with the grinding tooth number, bearing capacity is strong and many advantages such as transmission stiffness height.Yet the basic structure of RV still is defective.In the RV transmission, bent axle drives cycloid wheel and pinwheel engagement with minimum offset, and its radial load is very big, in the bearing of crankshaft two end, produces very big support reaction.On the other hand, the output torque of cycloid wheel in the RV transmission and pinwheel engagement generation is also stirred output disc through these little bearings.These little bearings are positioned on the turning radius less on the output disc, so the load that output torque produced is very big.The stack of formed load of support reaction and the formed load of output torque; Make these bearings be in operation under the high load all the time; The bearing at causes crankshaft two ends becomes the geneogenous weak link of RV transmission, is the restriction point of such retarder life-span and bearing capacity.In addition, this type precision speed reduction device in order to obtain little return difference and load evenly to be distributed, needs very high accuracy of manufacturing in the mill.In particular for guaranteeing that three pivoted arms realization precise synchronization drive, technological requirement is very high.In addition, the stage gear ratio of RV is limited, is merely 9-87.Under large speed ratio, for avoiding interfering, gear pin is done very for a short time, causes bending to fracture easily.
The model utility content
For overcoming the above-mentioned defective of existing technology; The purpose of the utility model provides a kind of compound accurate cycloidal reducer; Particularly a kind of compound accurate cycloidal reducer that is applicable to heavily loaded industrial robot; The velocity ratio of this compound accurate cycloidal reducer is big, has the characteristics of highi degree of accuracy, high efficiency, high rigidity, high-mechanic, long service life.
The utility model solves the technological scheme that its technical problem adopted: the eccentric part that comprises eccentric shaft, eccentric shaft connects cycloid wheel through rotary arm bearing; Cycloid wheel matches with gear pin on being fixed on pin wheel housing; Have a plurality of eccentric positions that interlace on the eccentric shaft, each outer cycloid wheel in eccentric position is divided into reverse cycloid wheel and two groups of cycloid wheel forward, reverse cycloid wheel with forward have the different numbers of teeth and offer attachment hole on the cycloid wheel; Pin wheel housing is divided into static pin wheel housing and output pin wheel housing; Reverse cycloid wheel matches with static gear pin on being fixed on static pin wheel housing, and forward cycloid wheel matches with servo-actuated gear pin on being fixed on the output pin wheel housing, and eccentric shaft links to each other with gearwheel; Gearwheel engagement input shaft gear is linked to each other by thrust ball between static pin wheel housing and the output pin wheel housing; Static pin wheel housing is provided with platen and output flange respectively with a side of output pin wheel housing, is connected by angular contact bearing between platen and the static pin wheel housing, is connected by spring bearing between output flange and the output pin wheel housing; Bearing is set respectively between eccentric shaft and platen, the output flange; The extension part of output flange passes reverse cycloid wheel and attachment hole and the platen Joint on the cycloid wheel forward.
By oil sealing sealing, input shaft gear passes platen, static pin wheel housing and output pin wheel housing and gearwheel engagement between output flange and the output pin wheel housing.
Have three and be distributed in the output flange with the gearwheel of input shaft gear engagement, three gearwheels link to each other with three eccentric shafts respectively; Reverse cycloid wheel is provided with three with the driving hole that is connected on the cycloid wheel forward, and connects the attachment hole that joins with eccentric shaft on driving hole and the cycloid wheel and is spaced.
Reverse cycloid wheel and forward cycloid wheel respectively be the cycloid wheels of a plurality of cycloid wheel combination, respectively arrange the cycloid wheel 360 degree/n that interlace in each cycloid wheels, n is for arranging number.
The utility model is compared with the RV driving mechanism through above-mentioned concrete design, and its advantage is that a stage gear ratio can be realized RV two stage gear ratios, but the used pin number of teeth is less than the used total pin number of teeth of RV secondary transmission; Realize same gear ratios, the used pin number of teeth of the utility model is far fewer than the used pin number of teeth of RV transmission.Such as, the velocity ratio of RV cycloid drive part is 81, with 82 pin teeth, the utility model cycloid pin number of teeth is only used 19.In the same structure space, the pin number of teeth order of the utility model reduces a lot and diameter can strengthen a lot; The tooth number of the cycloid wheel that matches with it reduces a lot, and the single teeth size of taking turns increases a lot; Pin size and throw of eccentric also all increase a lot.This not only can improve transmission efficiency, precision, rigidity, has also improved bearing capacity and life-span.The increase of velocity ratio has broken through RV to the power of retarder transmission and the restriction of moment of torsion, and to high-power, high pulling torque that industrial robot requires, the high efficiency highi degree of accuracy is highly beneficial.In the utility model; Input torque is behind cycloid wheel and bearing pin engagement deceleration force amplifier, and output torque is directly passed to ring gear by bearing pin and exported, and output torque is not passed through bent axle; Bent axle does not bear heavy output torque, and crankshaft bearing is stressed to be able to very big improvement thereby make.
Description of drawings
The detailed content of the utility model is described below in conjunction with accompanying drawing and embodiment.
Fig. 1 is the structural representation schematic representation of the utility model.
Fig. 2 is the B-B sectional view of Fig. 1.
Fig. 3 is the D-D sectional view of Fig. 1.
Embodiment
As shown in the figure; The utility model comprises that the eccentric part of eccentric shaft 1, eccentric shaft 1 connects cycloid wheel through rotary arm bearing 2; Cycloid wheel matches with gear pin on being fixed on pin wheel housing, has a plurality of eccentric positions that interlace on the eccentric shaft 1, and each outer cycloid wheel in eccentric position is divided into reverse cycloid wheel 3 and 4 liang of groups of cycloid wheel forward; Reverse cycloid wheel 3 with forward have the different numbers of teeth and offer attachment hole 5 on the cycloid wheel 4; Reverse cycloid wheel 3 and forward cycloid wheel 4 also can be designed to respectively cycloid wheels for a plurality of cycloid wheel combinations, respectively arrange the cycloid wheel 360 degree/n that interlace in each cycloid wheels, n is for arranging number.Pin wheel housing is divided into static pin wheel housing 6 and output pin wheel housing 7; Reverse cycloid wheel 3 matches with static gear pin 8 on being fixed on static pin wheel housing 6; Forward cycloid wheel 4 be fixed on the servo-actuated gear pin 9 of output on the pin wheel housing 7 and match; Eccentric shaft 1 links to each other with gearwheel 10, gearwheel 10 engagement input shaft gears 11.Have three and be distributed in the output flange 14 with the gearwheel 10 of input shaft gear 11 engagement, three gearwheels 10 link to each other with three eccentric shafts 1 respectively; Reverse cycloid wheel 3 and forward the attachment hole 5 on the cycloid wheel 4 be provided with 3, the attachment hole 18 that joins with eccentric shaft 1 on attachment hole 5 and the cycloid wheel is spaced.Link to each other by thrust ball 12 between static pin wheel housing 6 and the output pin wheel housing 7; Static pin wheel housing 6 is provided with platen 13 and output flange 14 respectively with a side of output pin wheel housing 7, is connected by angular contact bearing 15 between platen 13 and the static pin wheel housing 6, is connected by spring bearing 16 between output flange 14 and the output pin wheel housing 7 and by oil sealing 17 sealings; Between eccentric shaft 1 and platen 13 and the output flange 14 bearing 19 is set respectively; The extension part 20 of output flange 14 passes reverse cycloid wheel 3 and forward attachment hole on the cycloid wheel 45 and platen 13 Joints, and input shaft gear 11 passes platen 13, static pin wheel housing 6 and output pin wheel housing 7 and gearwheel 10 engagements.The concrete design of the utility model is: input shaft gear 11 (external motor) is meshed with three gearwheels 10, passes motion to the eccentric shaft 1 that links to each other with gearwheel 10, and rotary arm bearing 2 is arranged on the eccentric shaft 1, and rotary arm bearing 2 adopts roller bearing.The reverse cycloid wheel 3 that two groups of numbers of teeth are different and forward cycloid wheel 4 180 degree of being separated by respectively be arranged on the rotary arm bearing 2 of eccentric shaft 1.The bore area of cycloid wheel is directly as raceway.Gear pin and pin wheel housing are formed pinwheel, and the profile of tooth of gear pin is the cylndrical surface.When eccentric shaft 1 circles; Rotation along with eccentric shaft 1; Reverse cycloid wheel 3 and forward cycloid wheel 4 rotate with angular velocity because cycloidal gear teeth and the theoretical number of teeth of gear pin differ 1 and be meshed with the cylindrical needle alligator with the flank profil of lacking secondary epicycloid equidistant curve, so cycloid wheel is only changeed a tooth.In working order down, static gear pin 8 fixed installations, input shaft gear 11 (external motor) passes motion to eccentric shaft 1 through three gearwheels 10; The eccentric part of eccentric shaft 1 is given reverse cycloid wheel 3 and cycloid wheel 4 forward through the rotary arm bearing 2 on it with transmission of power; When eccentric shaft 1 rotated counterclockwise, reverse cycloid wheel 3 was also with its motion, but clockwise rotated because of it is meshed to become with static gear pin 8; Because forward cycloid wheel 4 is same shaft drive with reverse cycloid wheel 3; Forward cycloid wheel 4 is also with its motion, again because forward cycloid wheel 4 is different with the number of teeth of reverse cycloid wheel 3, therefore; Forward the motion of cycloid wheel 4 is that eccentric shaft 1 rotates counterclockwise and the compound motion that clockwise rotates with reverse cycloid wheel 3, the result of compound motion be with eccentric shaft 1 to rotate counterclockwise direction consistent.Forward cycloid wheel 4 is meshed with the servo-actuated gear pin 9 of output on the pin wheel housing 7 behind the deceleration force amplifier, and motion and power after will slowing down through output pin wheel housing 7 are exported away with one heart.Because the assembly relation of eccentric shaft 1, platen 13, output flange 14 and cycloid wheel, platen 13 and output flange 14 are for rotating counterclockwise.Above-described embodiment describes the preferred implementation of the compound accurate cycloidal reducer of the utility model; Be not that design and scope to model utility limits; Under the prerequisite that does not break away from the utility model scheme; Various external form modification and improvement that those skilled in the art make the technological scheme of the utility model all should fall into the protection domain of the compound accurate cycloidal reducer of the utility model.

Claims (4)

1. compound accurate cycloidal reducer; The eccentric part that comprises eccentric shaft, eccentric shaft connects cycloid wheel through rotary arm bearing; Cycloid wheel matches with gear pin on being fixed on pin wheel housing; It is characterized in that having on the eccentric shaft (1) a plurality of eccentric positions that interlace, each outer cycloid wheel in eccentric position is divided into reverse cycloid wheel (3) and (4) two groups of cycloid wheel forward, reverse cycloid wheel (3) with forward have the different numbers of teeth and offer attachment hole (5) on the cycloid wheel (4); Pin wheel housing is divided into static pin wheel housing (6) and output pin wheel housing (7); Reverse cycloid wheel (3) matches with static gear pin (8) on being fixed on static pin wheel housing (6), and forward cycloid wheel (4) matches with servo-actuated gear pin (9) on being fixed on output pin wheel housing (7), and eccentric shaft (1) links to each other with gearwheel (10); Gearwheel (10) engagement input shaft gear (11) is linked to each other by thrust ball (12) between static pin wheel housing (6) and the output pin wheel housing (7); One side of static pin wheel housing (6) and output pin wheel housing (7) is provided with platen (13) and output flange (14) respectively; Connect by angular contact bearing (15) between platen (13) and the static pin wheel housing (6), connect by spring bearing (16) between output flange (14) and the output pin wheel housing (7); Between eccentric shaft (1) and platen (13), the output flange (14) bearing (19) is set respectively; The extension part (20) of output flange (14) passes reverse cycloid wheel (3) and forward attachment hole (5) on the cycloid wheel (4) and platen (13) Joint.
2. compound accurate cycloidal reducer according to claim 1; It is characterized in that being sealed by oil sealing (17) between output flange (14) and the output pin wheel housing (7), input shaft gear (11) passes platen (13), static pin wheel housing (6) and output pin wheel housing (7) and gearwheel (10) engagement.
3. compound accurate cycloidal reducer according to claim 1 and 2; It is characterized in that gearwheel (10) with input shaft gear (11) engagement has three and be distributed in the output flange (14), three gearwheels (10) link to each other with three eccentric shafts (1) respectively; Reverse cycloid wheel (3) is provided with three with the driving hole (5) that is connected on the cycloid wheel (4) forward, and connects the attachment hole (18) that joins with eccentric shaft (1) on driving hole (5) and the cycloid wheel and is spaced.
4. compound accurate cycloidal reducer according to claim 3, it is characterized in that reverse cycloid wheel (3) and forward cycloid wheel (4) respectively be the cycloid wheels of a plurality of cycloid wheel combination, respectively arrange the cycloid wheel 360 degree/n that interlace in each cycloid wheels, n is for arranging number.
CN2011202596143U 2011-07-21 2011-07-21 Compound precision cycloid decelerator CN202203345U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011202596143U CN202203345U (en) 2011-07-21 2011-07-21 Compound precision cycloid decelerator

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Application Number Priority Date Filing Date Title
CN2011202596143U CN202203345U (en) 2011-07-21 2011-07-21 Compound precision cycloid decelerator

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102252062A (en) * 2011-07-21 2011-11-23 浙江恒丰泰减速机制造有限公司 Complex precise cycloidal speed reducer
CN103206490A (en) * 2013-02-04 2013-07-17 湖南省特斯拉科技有限公司 Rotation checkable speed reducer
CN104913009A (en) * 2014-03-12 2015-09-16 住友重机械工业株式会社 Eccentric swinging type gear device
CN105020345A (en) * 2014-04-21 2015-11-04 天津职业技术师范大学 Hollow shaft type precision 2K-V transmission device
CN107044511A (en) * 2017-04-26 2017-08-15 珠海飞马传动机械有限公司 A kind of robot poor tooth reductor of cycloid

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102252062A (en) * 2011-07-21 2011-11-23 浙江恒丰泰减速机制造有限公司 Complex precise cycloidal speed reducer
CN102252062B (en) * 2011-07-21 2013-11-06 浙江恒丰泰减速机制造有限公司 Complex precise cycloidal speed reducer
CN103206490A (en) * 2013-02-04 2013-07-17 湖南省特斯拉科技有限公司 Rotation checkable speed reducer
CN103206490B (en) * 2013-02-04 2015-10-21 湖南省特斯拉科技有限公司 The speed reducer that check rotates
CN104913009A (en) * 2014-03-12 2015-09-16 住友重机械工业株式会社 Eccentric swinging type gear device
CN105020345A (en) * 2014-04-21 2015-11-04 天津职业技术师范大学 Hollow shaft type precision 2K-V transmission device
CN107044511A (en) * 2017-04-26 2017-08-15 珠海飞马传动机械有限公司 A kind of robot poor tooth reductor of cycloid

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AV01 Patent right actively abandoned

Granted publication date: 20120425

Effective date of abandoning: 20131106

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